Fix compilation of the parallel version

src/pipeline/collision_pipeline.rs

@@ -3,16 +3,19 @@
 use crate::data::{ComponentSet, ComponentSetMut, ComponentSetOption};
 use crate::dynamics::{
     RigidBodyActivation, RigidBodyChanges, RigidBodyColliders, RigidBodyDominance, RigidBodyHandle,
-    RigidBodyIds, RigidBodyPosition, RigidBodySet, RigidBodyType, RigidBodyVelocity,
+    RigidBodyIds, RigidBodyPosition, RigidBodyType, RigidBodyVelocity,
 };
 use crate::geometry::{
     BroadPhase, BroadPhasePairEvent, ColliderBroadPhaseData, ColliderChanges, ColliderGroups,
-    ColliderHandle, ColliderMaterial, ColliderPair, ColliderParent, ColliderPosition, ColliderSet,
+    ColliderHandle, ColliderMaterial, ColliderPair, ColliderParent, ColliderPosition,
     ColliderShape, ColliderType, NarrowPhase,
 };
 use crate::math::Real;
 use crate::pipeline::{EventHandler, PhysicsHooks};
 
+#[cfg(feature = "default-sets")]
+use crate::{dynamics::RigidBodySet, geometry::ColliderSet};
+
 /// The collision pipeline, responsible for performing collision detection between colliders.
 ///
 /// This structure only contains temporary data buffers. It can be dropped and replaced by a fresh

src/pipeline/physics_pipeline.rs

@@ -183,7 +183,7 @@ impl PhysicsPipeline {
             use rayon::prelude::*;
             use std::sync::atomic::Ordering;
 
-            let num_islands = ilands.num_islands();
+            let num_islands = islands.num_islands();
             let solvers = &mut self.solvers[..num_islands];
             let bodies = &std::sync::atomic::AtomicPtr::new(bodies as *mut _);
 
@@ -200,6 +200,7 @@ impl PhysicsPipeline {
                         solver.solve_position_constraints(
                             scope,
                             island_id,
+                            islands,
                             integration_parameters,
                             bodies,
                         )
@@ -306,7 +307,7 @@ impl PhysicsPipeline {
             use rayon::prelude::*;
             use std::sync::atomic::Ordering;
 
-            let num_islands = bodies.num_islands();
+            let num_islands = islands.num_islands();
             let solvers = &mut self.solvers[..num_islands];
             let bodies = &std::sync::atomic::AtomicPtr::new(bodies as *mut _);
             let manifolds = &std::sync::atomic::AtomicPtr::new(&mut manifolds as *mut _);
@@ -331,6 +332,7 @@ impl PhysicsPipeline {
                         solver.init_constraints_and_solve_velocity_constraints(
                             scope,
                             island_id,
+                            islands,
                             integration_parameters,
                             bodies,
                             manifolds,