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Fix compilation in 2D.

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This commit is contained in:
Crozet Sébastien
2021-01-22 16:43:16 +01:00
parent 99c2184e13
commit b779eb261e
6 changed files with 33 additions and 25 deletions
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2
src/dynamics/solver/parallel_island_solver.rs
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@@ -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;
}
}

2
src/geometry/collider.rs
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@@ -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))]

16
src/geometry/collider_shape.rs
View File

@@ -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));