From 96ecb877e290ad15459258a415aca64ca4af3a69 Mon Sep 17 00:00:00 2001
From: Crozet Sébastien <developer@crozet.re>
Date: Wed, 24 Feb 2021 13:26:51 +0100
Subject: Implement dominance.

---
 src/dynamics/solver/position_ground_constraint_wide.rs | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

(limited to 'src/dynamics/solver/position_ground_constraint_wide.rs')

diff --git a/src/dynamics/solver/position_ground_constraint_wide.rs b/src/dynamics/solver/position_ground_constraint_wide.rs
index f52b3f4..1869c9c 100644
--- a/src/dynamics/solver/position_ground_constraint_wide.rs
+++ b/src/dynamics/solver/position_ground_constraint_wide.rs
@@ -39,7 +39,7 @@ impl WPositionGroundConstraint {
         let mut flipped = [false; SIMD_WIDTH];
 
         for ii in 0..SIMD_WIDTH {
-            if !rbs2[ii].is_dynamic() {
+            if manifolds[ii].data.relative_dominance < 0 {
                 flipped[ii] = true;
                 std::mem::swap(&mut rbs1[ii], &mut rbs2[ii]);
             }
-- 
cgit