diff --git a/.github/workflows/rapier-ci-build.yml b/.github/workflows/rapier-ci-build.yml
index 86b56aa..08c5da5 100644
--- a/.github/workflows/rapier-ci-build.yml
+++ b/.github/workflows/rapier-ci-build.yml
@@ -60,3 +60,18 @@ jobs:
         run: cd build/rapier2d && cargo build --verbose --features wasm-bindgen --target wasm32-unknown-unknown;
       - name: build rapier3d
         run: cd build/rapier3d && cargo build --verbose --features wasm-bindgen --target wasm32-unknown-unknown;
+  build-wasm-emscripten:
+    runs-on: ubuntu-latest
+    env:
+      RUSTFLAGS: -D warnings
+    steps:
+      - uses: actions/checkout@v2
+      - run: rustup target add wasm32-unknown-emscripten
+      - name: build rapier2d
+        run: cd build/rapier2d && cargo build --verbose --target wasm32-unknown-emscripten;
+      - name: build rapier3d
+        run: cd build/rapier3d && cargo build --verbose --target wasm32-unknown-emscripten;
+      - name: build rapier2d --features simd-stable
+        run: cd build/rapier2d && cargo build --verbose --target wasm32-unknown-emscripten --features simd-stable;
+      - name: build rapier3d --features simd-stable
+        run: cd build/rapier3d && cargo build --verbose --target wasm32-unknown-emscripten --features simd-stable;
diff --git a/src/dynamics/solver/velocity_constraint_element.rs b/src/dynamics/solver/velocity_constraint_element.rs
index d1ad6ac..b1c244a 100644
--- a/src/dynamics/solver/velocity_constraint_element.rs
+++ b/src/dynamics/solver/velocity_constraint_element.rs
@@ -16,7 +16,7 @@ pub(crate) struct VelocityConstraintTangentPart<N: SimdRealField> {
 }
 
 impl<N: SimdRealField> VelocityConstraintTangentPart<N> {
-    #[cfg(not(target_arch = "wasm32"))]
+    #[cfg(any(not(target_arch = "wasm32"), feature = "simd-is-enabled"))]
     fn zero() -> Self {
         Self {
             gcross1: [na::zero(); DIM - 1],
@@ -130,7 +130,7 @@ pub(crate) struct VelocityConstraintNormalPart<N: SimdRealField> {
 }
 
 impl<N: SimdRealField> VelocityConstraintNormalPart<N> {
-    #[cfg(not(target_arch = "wasm32"))]
+    #[cfg(any(not(target_arch = "wasm32"), feature = "simd-is-enabled"))]
     fn zero() -> Self {
         Self {
             gcross1: na::zero(),
@@ -193,7 +193,7 @@ pub(crate) struct VelocityConstraintElement<N: SimdRealField> {
 }
 
 impl<N: SimdRealField> VelocityConstraintElement<N> {
-    #[cfg(not(target_arch = "wasm32"))]
+    #[cfg(any(not(target_arch = "wasm32"), feature = "simd-is-enabled"))]
     pub fn zero() -> Self {
         Self {
             normal_part: VelocityConstraintNormalPart::zero(),
diff --git a/src/dynamics/solver/velocity_ground_constraint_element.rs b/src/dynamics/solver/velocity_ground_constraint_element.rs
index c4c6393..edf84c7 100644
--- a/src/dynamics/solver/velocity_ground_constraint_element.rs
+++ b/src/dynamics/solver/velocity_ground_constraint_element.rs
@@ -15,7 +15,7 @@ pub(crate) struct VelocityGroundConstraintTangentPart<N: SimdRealField> {
 }
 
 impl<N: SimdRealField> VelocityGroundConstraintTangentPart<N> {
-    #[cfg(not(target_arch = "wasm32"))]
+    #[cfg(any(not(target_arch = "wasm32"), feature = "simd-is-enabled"))]
     fn zero() -> Self {
         Self {
             gcross2: [na::zero(); DIM - 1],
@@ -104,7 +104,7 @@ pub(crate) struct VelocityGroundConstraintNormalPart<N: SimdRealField> {
 }
 
 impl<N: SimdRealField> VelocityGroundConstraintNormalPart<N> {
-    #[cfg(not(target_arch = "wasm32"))]
+    #[cfg(any(not(target_arch = "wasm32"), feature = "simd-is-enabled"))]
     fn zero() -> Self {
         Self {
             gcross2: na::zero(),
@@ -143,7 +143,7 @@ pub(crate) struct VelocityGroundConstraintElement<N: SimdRealField> {
 }
 
 impl<N: SimdRealField> VelocityGroundConstraintElement<N> {
-    #[cfg(not(target_arch = "wasm32"))]
+    #[cfg(any(not(target_arch = "wasm32"), feature = "simd-is-enabled"))]
     pub fn zero() -> Self {
         Self {
             normal_part: VelocityGroundConstraintNormalPart::zero(),