Merge branch 'master' into urdf-rs

dimforge · Nov 15, 2024 · aa3ed33 · aa3ed33
2 parents 95957d0 + 513ab3d
commit aa3ed33
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diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -5,6 +5,7 @@
 - The region key has been replaced by an i64 in the f64 version of rapier, increasing the range before panics occur.
 - Fix `BroadphaseMultiSap` not being able to serialize correctly with serde_json.
 - Fix `KinematicCharacterController::move_shape` not respecting parameters `max_slope_climb_angle` and `min_slope_slide_angle`.
+- Fix wasm32 default values for physics hooks filter to be consistent with native: `COMPUTE_IMPULSES`.
 
 ### Added
 

diff --git a/src/pipeline/physics_hooks.rs b/src/pipeline/physics_hooks.rs
@@ -144,12 +144,12 @@ impl Default for ActiveHooks {
 pub trait PhysicsHooks {
     /// Applies the contact pair filter.
     fn filter_contact_pair(&self, _context: &PairFilterContext) -> Option<SolverFlags> {
-        None
+        Some(SolverFlags::COMPUTE_IMPULSES)
     }
 
     /// Applies the intersection pair filter.
     fn filter_intersection_pair(&self, _context: &PairFilterContext) -> bool {
-        false
+        true
     }
 
     /// Modifies the set of contacts seen by the constraints solver.