Fix tests and wasm build.

src/geometry/broad_phase_multi_sap/broad_phase.rs

@@ -598,7 +598,7 @@ mod test {
         let rb = RigidBodyBuilder::new_dynamic().build();
         let co = ColliderBuilder::ball(0.5).build();
         let hrb = bodies.insert(rb);
-        let coh = colliders.insert(co, hrb, &mut bodies);
+        let coh = colliders.insert_with_parent(co, hrb, &mut bodies);
 
         let mut events = Vec::new();
         broad_phase.update(0.0, &mut colliders, &[coh], &[], &mut events);
@@ -610,7 +610,7 @@ mod test {
         let rb = RigidBodyBuilder::new_dynamic().build();
         let co = ColliderBuilder::ball(0.5).build();
         let hrb = bodies.insert(rb);
-        let coh = colliders.insert(co, hrb, &mut bodies);
+        let coh = colliders.insert_with_parent(co, hrb, &mut bodies);
 
         // Make sure the proxy handles is recycled properly.
         broad_phase.update(0.0, &mut colliders, &[coh], &[], &mut events);

src/pipeline/physics_hooks.rs

@@ -133,17 +133,27 @@ impl Default for ActiveHooks {
     }
 }
 
+// TODO: right now, the wasm version don't have the Send+Sync bounds.
+//       This is because these bounds are very difficult to fulfill if we want to
+//       call JS closures. Also, parallelism cannot be enabled for wasm targets, so
+//       not having Send+Sync isn't a problem.
+/// User-defined functions called by the physics engines during one timestep in order to customize its behavior.
 #[cfg(target_arch = "wasm32")]
 pub trait PhysicsHooks<Bodies, Colliders> {
+    /// Applies the contact pair filter.
     fn filter_contact_pair(
         &self,
         _context: &PairFilterContext<Bodies, Colliders>,
     ) -> Option<SolverFlags> {
         None
     }
+
+    /// Applies the intersection pair filter.
     fn filter_intersection_pair(&self, _context: &PairFilterContext<Bodies, Colliders>) -> bool {
         false
     }
+
+    /// Modifies the set of contacts seen by the constraints solver.
     fn modify_solver_contacts(&self, _context: &mut ContactModificationContext<Bodies, Colliders>) {
     }
 }

src/pipeline/physics_pipeline.rs

@@ -745,12 +745,12 @@ mod test {
         let rb = RigidBodyBuilder::new_static().build();
         let h1 = bodies.insert(rb.clone());
         let co = ColliderBuilder::ball(10.0).build();
-        colliders.insert(co.clone(), h1, &mut bodies);
+        colliders.insert_with_parent(co.clone(), h1, &mut bodies);
 
         // The same but with a kinematic body.
-        let rb = RigidBodyBuilder::new_kinematic().build();
+        let rb = RigidBodyBuilder::new_kinematic_position_based().build();
         let h2 = bodies.insert(rb.clone());
-        colliders.insert(co, h2, &mut bodies);
+        colliders.insert_with_parent(co, h2, &mut bodies);
 
         pipeline.step(
             &Vector::zeros(),
@@ -786,7 +786,7 @@ mod test {
         let h2 = bodies.insert(rb.clone());
 
         // The same but with a kinematic body.
-        let rb = RigidBodyBuilder::new_kinematic().build();
+        let rb = RigidBodyBuilder::new_kinematic_position_based().build();
         let h3 = bodies.insert(rb.clone());
 
         // The same but with a static body.
@@ -864,7 +864,7 @@ mod test {
         let body = RigidBodyBuilder::new_dynamic().build();
         let b_handle = bodies.insert(body);
         let collider = ColliderBuilder::ball(1.0).build();
-        let c_handle = colliders.insert(collider, b_handle, &mut bodies);
+        let c_handle = colliders.insert_with_parent(collider, b_handle, &mut bodies);
         colliders.remove(c_handle, &mut islands, &mut bodies, true);
         bodies.remove(b_handle, &mut islands, &mut colliders, &mut joints);