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Fix WASM build.

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This commit is contained in:
Crozet Sébastien
2021-01-23 13:11:00 +01:00
parent 00caa7ce35
commit e45e5f109c
3 changed files with 4 additions and 2 deletions
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2
src/dynamics/solver/velocity_constraint.rs
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@@ -207,7 +207,7 @@ impl VelocityConstraint {
constraint.dir1 = force_dir1; constraint.dir1 = force_dir1;
constraint.im1 = rb1.effective_inv_mass; constraint.im1 = rb1.effective_inv_mass;
constraint.im2 = rb2.effective_inv_mass; constraint.im2 = rb2.effective_inv_mass;
constraint.limit = manifold.data.friction; constraint.limit = 0.0;
constraint.mj_lambda1 = mj_lambda1; constraint.mj_lambda1 = mj_lambda1;
constraint.mj_lambda2 = mj_lambda2; constraint.mj_lambda2 = mj_lambda2;
constraint.manifold_id = manifold_id; constraint.manifold_id = manifold_id;

2
src/dynamics/solver/velocity_ground_constraint.rs
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@@ -130,7 +130,7 @@ impl VelocityGroundConstraint {
{ {
constraint.dir1 = force_dir1; constraint.dir1 = force_dir1;
constraint.im2 = rb2.effective_inv_mass; constraint.im2 = rb2.effective_inv_mass;
constraint.limit = manifold.data.friction; constraint.limit = 0.0;
constraint.mj_lambda2 = mj_lambda2; constraint.mj_lambda2 = mj_lambda2;
constraint.manifold_id = manifold_id; constraint.manifold_id = manifold_id;
constraint.manifold_contact_id = l * MAX_MANIFOLD_POINTS; constraint.manifold_contact_id = l * MAX_MANIFOLD_POINTS;

2
src/geometry/mod.rs
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@@ -87,11 +87,13 @@ pub(crate) use self::narrow_phase::ContactManifoldIndex;
pub(crate) use cdl::partitioning::SimdQuadTree; pub(crate) use cdl::partitioning::SimdQuadTree;
pub use cdl::shape::*; pub use cdl::shape::*;
#[cfg(feature = "serde-serialize")]
pub(crate) fn default_persistent_query_dispatcher( pub(crate) fn default_persistent_query_dispatcher(
) -> std::sync::Arc<dyn cdl::query::PersistentQueryDispatcher<ContactManifoldData, ContactData>> { ) -> std::sync::Arc<dyn cdl::query::PersistentQueryDispatcher<ContactManifoldData, ContactData>> {
std::sync::Arc::new(cdl::query::DefaultQueryDispatcher) std::sync::Arc::new(cdl::query::DefaultQueryDispatcher)
} }
#[cfg(feature = "serde-serialize")]
pub(crate) fn default_query_dispatcher() -> std::sync::Arc<dyn cdl::query::QueryDispatcher> { pub(crate) fn default_query_dispatcher() -> std::sync::Arc<dyn cdl::query::QueryDispatcher> {
std::sync::Arc::new(cdl::query::DefaultQueryDispatcher) std::sync::Arc::new(cdl::query::DefaultQueryDispatcher)
} }