Fix 2D compilation.

src/geometry/contact_generator/capsule_capsule_contact_generator.rs

@@ -39,8 +39,8 @@ pub fn generate_contacts<'a>(
     let pos12 = pos1.inverse() * pos2;
     let pos21 = pos12.inverse();
 
-    let seg1 = capsule1.segment();
-    let seg2_1 = capsule2.segment().transformed(&pos12);
+    let seg1 = capsule1.segment;
+    let seg2_1 = capsule2.segment.transformed(&pos12);
     let (loc1, loc2) = ncollide::query::closest_points_segment_segment_with_locations_nD(
         (&seg1.a, &seg1.b),
         (&seg2_1.a, &seg2_1.b),

src/geometry/contact_generator/heightfield_shape_contact_generator.rs

@@ -109,12 +109,9 @@ fn do_generate_contacts(
     let shape_type2 = collider2.shape().shape_type();
 
     heightfield1.map_elements_in_local_aabb(&ls_aabb2, &mut |i, part1, _| {
-        let position1 = *collider1.position();
+        let position1 = collider1.position();
         #[cfg(feature = "dim2")]
-        let (position1, dpos1, sub_shape1) = {
-            let (dpos, half_height) = crate::utils::segment_to_capsule(&part1.a, &part1.b);
-            (position1 * dpos, dpos, Capsule::new(half_height, 0.0))
-        };
+        let sub_shape1 = Capsule::new(part1.a, part1.b, 0.0);
         #[cfg(feature = "dim3")]
         let sub_shape1 = *part1;
 
@@ -154,7 +151,7 @@ fn do_generate_contacts(
                 shape1: collider2.shape(),
                 shape2: &sub_shape1,
                 position1: collider2.position(),
-                position2: &position1,
+                position2: position1,
                 manifold,
                 workspace: sub_detector.workspace.as_deref_mut(),
             }
@@ -165,20 +162,13 @@ fn do_generate_contacts(
                 collider2,
                 shape1: &sub_shape1,
                 shape2: collider2.shape(),
-                position1: &position1,
+                position1: position1,
                 position2: collider2.position(),
                 manifold,
                 workspace: sub_detector.workspace.as_deref_mut(),
             }
         };
 
-        #[cfg(feature = "dim2")]
-        if coll_pair.collider1 != ctxt2.manifold.pair.collider1 {
-            ctxt2.manifold.delta2 = collider1.position_wrt_parent() * dpos1;
-        } else {
-            ctxt2.manifold.delta1 = collider1.position_wrt_parent() * dpos1;
-        }
-
         (sub_detector.generator.generate_contacts)(&mut ctxt2)
     });
 

src/geometry/shape.rs

@@ -221,6 +221,7 @@ impl Shape for Capsule {
         ShapeType::Capsule
     }
 
+    #[cfg(feature = "dim3")]
     fn as_polygonal_feature_map(&self) -> Option<(&dyn PolygonalFeatureMap, f32)> {
         Some((&self.segment as &dyn PolygonalFeatureMap, self.radius))
     }