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/velocity_constraint_wide.rs | 4 ++++
 1 file changed, 4 insertions(+)

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

diff --git a/src/dynamics/solver/velocity_constraint_wide.rs b/src/dynamics/solver/velocity_constraint_wide.rs
index 97fa261..82a764e 100644
--- a/src/dynamics/solver/velocity_constraint_wide.rs
+++ b/src/dynamics/solver/velocity_constraint_wide.rs
@@ -67,6 +67,10 @@ impl WVelocityConstraint {
         out_constraints: &mut Vec<AnyVelocityConstraint>,
         push: bool,
     ) {
+        for ii in 0..SIMD_WIDTH {
+            assert_eq!(manifolds[ii].data.relative_dominance, 0);
+        }
+
         let inv_dt = SimdReal::splat(params.inv_dt());
         let rbs1 = array![|ii| &bodies[manifolds[ii].data.body_pair.body1]; SIMD_WIDTH];
         let rbs2 = array![|ii| &bodies[manifolds[ii].data.body_pair.body2]; SIMD_WIDTH];
-- 
cgit