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perf(rbd): skip inactive joint-limit constraint rows #14

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Merged
sebcrozet merged 2 commits into from
Jul 16, 2026
Merged

perf(rbd): skip inactive joint-limit constraint rows #14

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perf(rbd): skip inactive joint-limit constraint rows
haixuanTao Jul 14, 2026
6478317
chore: make limits constraint skip comment more concise
sebcrozet Jul 16, 2026
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4 changes: 4 additions & 0 deletions src_rbd_shaders/dynamics/multibody/joint_constraints.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -370,6 +370,10 @@ fn emit_limit_constraint(
// near-rigid, matching the old hardcoded `1/dt`).
let min_enabled = curr_pos < limits[0];
let max_enabled = limits[1] < curr_pos;
// No limit is active, skip the constraint for the current substep.
if !min_enabled && !max_enabled {
return;
}
let lo_excess = (limits[0] - curr_pos).max(0.0);
let hi_excess = (curr_pos - limits[1]).max(0.0);
let rhs_bias = (hi_excess - lo_excess) * erp_inv_dt;
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