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| author | Sébastien Crozet <developer@crozet.re> | 2021-03-08 15:31:36 +0100 |
|---|---|---|
| committer | GitHub <noreply@github.com> | 2021-03-08 15:31:36 +0100 |
| commit | 4b637c66ca40695f97f1ebdc38965e0d83ac5934 (patch) | |
| tree | 6d93f9d570af14e485f2e30ce1fed54e41095bf3 | |
| parent | 808ea026720d61b28cefa02563ae95ee07318fc8 (diff) | |
| parent | 8dab63bda15071be1ed4a4de5951382386f8e5c0 (diff) | |
| download | rapier-4b637c66ca40695f97f1ebdc38965e0d83ac5934.tar.gz rapier-4b637c66ca40695f97f1ebdc38965e0d83ac5934.tar.bz2 rapier-4b637c66ca40695f97f1ebdc38965e0d83ac5934.zip | |
Merge pull request #149 from dimforge/fix_wasm_solver
Fix regression in the WASM version of the velocity solver.
| -rw-r--r-- | src/dynamics/solver/velocity_constraint.rs | 5 | ||||
| -rw-r--r-- | src/dynamics/solver/velocity_ground_constraint.rs | 5 |
2 files changed, 10 insertions, 0 deletions
diff --git a/src/dynamics/solver/velocity_constraint.rs b/src/dynamics/solver/velocity_constraint.rs index 643facb..3e8cb61 100644 --- a/src/dynamics/solver/velocity_constraint.rs +++ b/src/dynamics/solver/velocity_constraint.rs @@ -185,6 +185,11 @@ impl VelocityConstraint { #[cfg(target_arch = "wasm32")] { constraint.dir1 = force_dir1; + #[cfg(feature = "dim3")] + { + constraint.tangent1 = tangents1[0]; + constraint.tangent_rot1 = tangent_rot1; + } constraint.im1 = rb1.effective_inv_mass; constraint.im2 = rb2.effective_inv_mass; constraint.limit = 0.0; diff --git a/src/dynamics/solver/velocity_ground_constraint.rs b/src/dynamics/solver/velocity_ground_constraint.rs index cabce5e..b9c5236 100644 --- a/src/dynamics/solver/velocity_ground_constraint.rs +++ b/src/dynamics/solver/velocity_ground_constraint.rs @@ -114,6 +114,11 @@ impl VelocityGroundConstraint { #[cfg(target_arch = "wasm32")] { constraint.dir1 = force_dir1; + #[cfg(feature = "dim3")] + { + constraint.tangent1 = tangents1[0]; + constraint.tangent_rot1 = tangent_rot1; + } constraint.im2 = rb2.effective_inv_mass; constraint.limit = 0.0; constraint.mj_lambda2 = mj_lambda2; |