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| author | Crozet Sébastien <developer@crozet.re> | 2021-01-23 13:11:00 +0100 |
|---|---|---|
| committer | Crozet Sébastien <developer@crozet.re> | 2021-01-23 13:11:00 +0100 |
| commit | e45e5f109c7527a49af2a3fe4404e0a5efd92f2f (patch) | |
| tree | cb4c58bc835835d68bd9161e502fab7366b788f7 /src | |
| parent | 00caa7ce353c02cfc22f0cc27f6361e968157953 (diff) | |
| download | rapier-e45e5f109c7527a49af2a3fe4404e0a5efd92f2f.tar.gz rapier-e45e5f109c7527a49af2a3fe4404e0a5efd92f2f.tar.bz2 rapier-e45e5f109c7527a49af2a3fe4404e0a5efd92f2f.zip | |
Fix WASM build.
Diffstat (limited to 'src')
| -rw-r--r-- | src/dynamics/solver/velocity_constraint.rs | 2 | ||||
| -rw-r--r-- | src/dynamics/solver/velocity_ground_constraint.rs | 2 | ||||
| -rw-r--r-- | src/geometry/mod.rs | 2 |
3 files changed, 4 insertions, 2 deletions
diff --git a/src/dynamics/solver/velocity_constraint.rs b/src/dynamics/solver/velocity_constraint.rs index 9d75830..514434b 100644 --- a/src/dynamics/solver/velocity_constraint.rs +++ b/src/dynamics/solver/velocity_constraint.rs @@ -207,7 +207,7 @@ impl VelocityConstraint { constraint.dir1 = force_dir1; constraint.im1 = rb1.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_lambda2 = mj_lambda2; constraint.manifold_id = manifold_id; diff --git a/src/dynamics/solver/velocity_ground_constraint.rs b/src/dynamics/solver/velocity_ground_constraint.rs index 49bb465..20642ec 100644 --- a/src/dynamics/solver/velocity_ground_constraint.rs +++ b/src/dynamics/solver/velocity_ground_constraint.rs @@ -130,7 +130,7 @@ impl VelocityGroundConstraint { { constraint.dir1 = force_dir1; constraint.im2 = rb2.effective_inv_mass; - constraint.limit = manifold.data.friction; + constraint.limit = 0.0; constraint.mj_lambda2 = mj_lambda2; constraint.manifold_id = manifold_id; constraint.manifold_contact_id = l * MAX_MANIFOLD_POINTS; diff --git a/src/geometry/mod.rs b/src/geometry/mod.rs index 9323ffc..9666589 100644 --- a/src/geometry/mod.rs +++ b/src/geometry/mod.rs @@ -87,11 +87,13 @@ pub(crate) use self::narrow_phase::ContactManifoldIndex; pub(crate) use cdl::partitioning::SimdQuadTree; pub use cdl::shape::*; +#[cfg(feature = "serde-serialize")] pub(crate) fn default_persistent_query_dispatcher( ) -> std::sync::Arc<dyn cdl::query::PersistentQueryDispatcher<ContactManifoldData, ContactData>> { std::sync::Arc::new(cdl::query::DefaultQueryDispatcher) } +#[cfg(feature = "serde-serialize")] pub(crate) fn default_query_dispatcher() -> std::sync::Arc<dyn cdl::query::QueryDispatcher> { std::sync::Arc::new(cdl::query::DefaultQueryDispatcher) } |