pub fn writeback_impulses(&self, joints_all: &mut [JointGraphEdge]) {
        for ii in 0..SIMD_WIDTH {
            let joint = &mut joints_all[self.joint_id[ii]].weight;
            if let JointParams::GenericJoint(fixed) = &mut joint.params {
                fixed.impulse = self.impulse.extract(ii)
            }
        }
    }
// FIXME: duplicated code with the non-ground constraint.
duplicated code with the non-ground constraint.
duplicated code with the non - ground constraint .
pub fn writeback_impulses(&self, joints_all: &mut [JointGraphEdge]) {
        for ii in 0..SIMD_WIDTH {
            let joint = &mut joints_all[self.joint_id[ii]].weight;
            if let JointParams::GenericJoint(fixed) = &mut joint.params {
                fixed.impulse = self.impulse.extract(ii)
            }
        }
    }
pub fn writeback_impulses ( & self , joints_all : & mut [ JointGraphEdge ] ) { for ii in 0 .. SIMD_WIDTH { let joint = & mut joints_all [ self . joint_id [ ii ] ] . weight ; if let JointParams :: GenericJoint ( fixed ) = & mut joint . params { fixed . impulse = self . impulse . extract ( ii ) } } }
FIXME: duplicated code with the non-ground constraint.
FIXME : duplicated code with the non - ground constraint .
&self
joints_all
&mut [JointGraphEdge]