From 8dab63bda15071be1ed4a4de5951382386f8e5c0 Mon Sep 17 00:00:00 2001
From: Crozet Sébastien <developer@crozet.re>
Date: Mon, 8 Mar 2021 15:14:54 +0100
Subject: Fix regression in the WASM version of the velocity solver.

---
 src/dynamics/solver/velocity_constraint.rs        | 5 +++++
 src/dynamics/solver/velocity_ground_constraint.rs | 5 +++++
 2 files changed, 10 insertions(+)

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;
-- 
cgit