From e45e5f109c7527a49af2a3fe4404e0a5efd92f2f Mon Sep 17 00:00:00 2001 From: Crozet Sébastien Date: Sat, 23 Jan 2021 13:11:00 +0100 Subject: Fix WASM build. --- src/dynamics/solver/velocity_constraint.rs | 2 +- src/dynamics/solver/velocity_ground_constraint.rs | 2 +- src/geometry/mod.rs | 2 ++ 3 files changed, 4 insertions(+), 2 deletions(-) (limited to 'src') 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> { std::sync::Arc::new(cdl::query::DefaultQueryDispatcher) } +#[cfg(feature = "serde-serialize")] pub(crate) fn default_query_dispatcher() -> std::sync::Arc { std::sync::Arc::new(cdl::query::DefaultQueryDispatcher) } -- cgit