Fix compilation in 2D.

3 files changed, 17 insertions, 3 deletions

diff --git a/src/dynamics/solver/parallel_island_solver.rs b/src/dynamics/solver/parallel_island_solver.rs
index 24435db..af8e9c0 100644
--- a/src/dynamics/solver/parallel_island_solver.rs
+++ b/src/dynamics/solver/parallel_island_solver.rs
@@ -251,7 +251,7 @@ impl ParallelIslandSolver {
                         let dvel = mj_lambdas[rb.active_set_offset];
                         rb.linvel += dvel.linear;
                         rb.angvel += rb.effective_world_inv_inertia_sqrt.transform_vector(dvel.angular);
-                        rb.integrate(params.dt));
+                        rb.integrate(params.dt);
                         positions[rb.active_set_offset] = rb.position;
                     }
                 }
diff --git a/src/geometry/collider.rs b/src/geometry/collider.rs
index 232b246..4ad3295 100644
--- a/src/geometry/collider.rs
+++ b/src/geometry/collider.rs
@@ -4,8 +4,6 @@ use crate::geometry::{ColliderShape, InteractionGroups};
 use crate::math::{AngVector, Isometry, Point, Real, Rotation, Vector, DIM};
 use cdl::bounding_volume::AABB;
 use cdl::shape::Shape;
-#[cfg(feature = "dim2")]
-use cdl::shape::{ConvexPolygon, RoundConvexPolygon};
 
 bitflags::bitflags! {
     #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
diff --git a/src/geometry/collider_shape.rs b/src/geometry/collider_shape.rs
index 05067ef..ed91b82 100644
--- a/src/geometry/collider_shape.rs
+++ b/src/geometry/collider_shape.rs
@@ -154,6 +154,14 @@ impl ColliderShape {
         let mut parts = vec![];
         let decomp = VHACD::decompose(params, &vertices, &indices, true);
 
+        #[cfg(feature = "dim2")]
+        for vertices in decomp.compute_exact_convex_hulls(&vertices, &indices) {
+            if let Some(convex) = Self::convex_polyline(vertices) {
+                parts.push((Isometry::identity(), convex));
+            }
+        }
+
+        #[cfg(feature = "dim3")]
         for (vertices, indices) in decomp.compute_exact_convex_hulls(&vertices, &indices) {
             if let Some(convex) = Self::convex_mesh(vertices, &indices) {
                 parts.push((Isometry::identity(), convex));
@@ -174,6 +182,14 @@ impl ColliderShape {
         let mut parts = vec![];
         let decomp = VHACD::decompose(params, &vertices, &indices, true);
 
+        #[cfg(feature = "dim2")]
+        for vertices in decomp.compute_exact_convex_hulls(&vertices, &indices) {
+            if let Some(convex) = Self::round_convex_polyline(vertices, border_radius) {
+                parts.push((Isometry::identity(), convex));
+            }
+        }
+
+        #[cfg(feature = "dim3")]
         for (vertices, indices) in decomp.compute_exact_convex_hulls(&vertices, &indices) {
             if let Some(convex) = Self::round_convex_mesh(vertices, &indices, border_radius) {
                 parts.push((Isometry::identity(), convex));