First public release of Rapier.v0.1.0

1 files changed, 255 insertions, 0 deletions

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+//! # Rapier
+//!
+//! Rapier is a set of two Rust crates `rapier2d` and `rapier3d` for efficient cross-platform
+//! physics simulation. It target application include video games, animation, robotics, etc.
+//!
+//! Rapier has some unique features for collaborative applications:
+//! - The ability to snapshot the state of the physics engine, and restore it later.
+//! - The ability to run a perfectly deterministic simulation on different machine, as long as they
+//! are compliant with the IEEE 754-2008 floating point standard.
+
+#![deny(missing_docs)]
+
+pub extern crate nalgebra as na;
+#[cfg(feature = "dim2")]
+pub extern crate ncollide2d as ncollide;
+#[cfg(feature = "dim3")]
+pub extern crate ncollide3d as ncollide;
+#[cfg(feature = "serde")]
+#[macro_use]
+extern crate serde;
+extern crate num_traits as num;
+// #[macro_use]
+// extern crate array_macro;
+
+#[cfg(feature = "parallel")]
+pub use rayon;
+
+#[cfg(all(
+    feature = "simd-is-enabled",
+    not(feature = "simd-stable"),
+    not(feature = "simd-nightly")
+))]
+std::compile_error!("The `simd-is-enabled` feature should not be enabled explicitly. Please enable the `simd-stable` or the `simd-nightly` feature instead.");
+#[cfg(all(feature = "simd-is-enabled", feature = "enhanced-determinism"))]
+std::compile_error!(
+    "SIMD cannot be enabled when the `enhanced-determinism` feature is also enabled."
+);
+
+macro_rules! enable_flush_to_zero(
+    () => {
+        let _flush_to_zero = crate::utils::FlushToZeroDenormalsAreZeroFlags::flush_denormal_to_zero();
+    }
+);
+
+#[cfg(feature = "simd-is-enabled")]
+macro_rules! array(
+    ($callback: expr; SIMD_WIDTH) => {
+        {
+            #[inline(always)]
+            #[allow(dead_code)]
+            fn create_arr<T>(mut callback: impl FnMut(usize) -> T) -> [T; SIMD_WIDTH] {
+                [callback(0usize), callback(1usize), callback(2usize), callback(3usize)]
+
+                // [callback(0usize), callback(1usize), callback(2usize), callback(3usize),
+                //  callback(4usize), callback(5usize), callback(6usize), callback(7usize)]
+
+                // [callback(0usize), callback(1usize), callback(2usize), callback(3usize),
+                //  callback(4usize), callback(5usize), callback(6usize), callback(7usize),
+                //  callback(8usize), callback(9usize), callback(10usize), callback(11usize),
+                //  callback(12usize), callback(13usize), callback(14usize), callback(15usize)]
+            }
+
+            create_arr($callback)
+        }
+    }
+);
+
+#[allow(unused_macros)]
+macro_rules! par_iter {
+    ($t: expr) => {{
+        #[cfg(not(feature = "parallel"))]
+        let it = $t.iter();
+
+        #[cfg(feature = "parallel")]
+        let it = $t.par_iter();
+        it
+    }};
+}
+
+macro_rules! par_iter_mut {
+    ($t: expr) => {{
+        #[cfg(not(feature = "parallel"))]
+        let it = $t.iter_mut();
+
+        #[cfg(feature = "parallel")]
+        let it = $t.par_iter_mut();
+        it
+    }};
+}
+
+// macro_rules! par_chunks_mut {
+//     ($t: expr, $sz: expr) => {{
+//         #[cfg(not(feature = "parallel"))]
+//         let it = $t.chunks_mut($sz);
+//
+//         #[cfg(feature = "parallel")]
+//         let it = $t.par_chunks_mut($sz);
+//         it
+//     }};
+// }
+
+#[allow(unused_macros)]
+macro_rules! try_ret {
+    ($val: expr) => {
+        try_ret!($val, ())
+    };
+    ($val: expr, $ret: expr) => {
+        if let Some(val) = $val {
+            val
+        } else {
+            return $ret;
+        }
+    };
+}
+
+// macro_rules! try_continue {
+//     ($val: expr) => {
+//         if let Some(val) = $val {
+//             val
+//         } else {
+//             continue;
+//         }
+//     };
+// }
+
+pub(crate) const INVALID_U32: u32 = u32::MAX;
+pub(crate) const INVALID_U64: u64 = u64::MAX;
+pub(crate) const INVALID_USIZE: usize = INVALID_U32 as usize;
+
+pub mod counters;
+pub mod data;
+pub mod dynamics;
+pub mod geometry;
+pub mod pipeline;
+pub mod utils;
+
+#[cfg(feature = "dim2")]
+/// Math primitives used throughout Rapier.
+pub mod math {
+    #[cfg(feature = "simd-is-enabled")]
+    pub use super::simd::*;
+    use na::{Isometry2, Matrix2, Point2, Translation2, UnitComplex, Vector2, Vector3, U1, U2};
+
+    /// The dimension of the physics simulated by this crate.
+    pub const DIM: usize = 2;
+    /// The maximum number of point a contact manifold can hold.
+    pub const MAX_MANIFOLD_POINTS: usize = 2;
+    /// The dimension of the physics simulated by this crate, given as a type-level-integer.
+    pub type Dim = U2;
+    /// The maximum number of angular degrees of freedom of a rigid body given as a type-level-integer.
+    pub type AngDim = U1;
+    /// A 2D isometry, i.e., a rotation followed by a translation.
+    pub type Isometry<N> = Isometry2<N>;
+    /// A 2D vector.
+    pub type Vector<N> = Vector2<N>;
+    /// A scalar used for angular velocity.
+    ///
+    /// This is called `AngVector` for coherence with the 3D version of this crate.
+    pub type AngVector<N> = N;
+    /// A 2D point.
+    pub type Point<N> = Point2<N>;
+    /// A 2D rotation expressed as an unit complex number.
+    pub type Rotation<N> = UnitComplex<N>;
+    /// A 2D translation.
+    pub type Translation<N> = Translation2<N>;
+    /// The angular inertia of a rigid body.
+    pub type AngularInertia<N> = N;
+    /// The principal angular inertia of a rigid body.
+    pub type PrincipalAngularInertia<N> = N;
+    /// A matrix that represent the cross product with a given vector.
+    pub type CrossMatrix<N> = Vector2<N>;
+    /// A 2x2 matrix.
+    pub type Matrix<N> = Matrix2<N>;
+    /// A vector with a dimension equal to the maximum number of degrees of freedom of a rigid body.
+    pub type SpacialVector<N> = Vector3<N>;
+    /// A 2D symmetric-definite-positive matrix.
+    pub type SdpMatrix<N> = crate::utils::SdpMatrix2<N>;
+}
+
+#[cfg(feature = "dim3")]
+/// Math primitives used throughout Rapier.
+pub mod math {
+    #[cfg(feature = "simd-is-enabled")]
+    pub use super::simd::*;
+    use na::{Isometry3, Matrix3, Point3, Translation3, UnitQuaternion, Vector3, Vector6, U3};
+
+    /// The dimension of the physics simulated by this crate.
+    pub const DIM: usize = 3;
+    /// The maximum number of point a contact manifold can hold.
+    pub const MAX_MANIFOLD_POINTS: usize = 4;
+    /// The dimension of the physics simulated by this crate, given as a type-level-integer.
+    pub type Dim = U3;
+    /// The maximum number of angular degrees of freedom of a rigid body given as a type-level-integer.
+    pub type AngDim = U3;
+    /// A 3D isometry, i.e., a rotation followed by a translation.
+    pub type Isometry<N> = Isometry3<N>;
+    /// A 3D vector.
+    pub type Vector<N> = Vector3<N>;
+    /// An axis-angle vector used for angular velocity.
+    pub type AngVector<N> = Vector3<N>;
+    /// A 3D point.
+    pub type Point<N> = Point3<N>;
+    /// A 3D rotation expressed as an unit quaternion.
+    pub type Rotation<N> = UnitQuaternion<N>;
+    /// A 3D translation.
+    pub type Translation<N> = Translation3<N>;
+    /// The angular inertia of a rigid body.
+    pub type AngularInertia<N> = crate::utils::SdpMatrix3<N>;
+    /// The principal angular inertia of a rigid body.
+    pub type PrincipalAngularInertia<N> = Vector3<N>;
+    /// A matrix that represent the cross product with a given vector.
+    pub type CrossMatrix<N> = Matrix3<N>;
+    /// A 3x3 matrix.
+    pub type Matrix<N> = Matrix3<N>;
+    /// A vector with a dimension equal to the maximum number of degrees of freedom of a rigid body.
+    pub type SpacialVector<N> = Vector6<N>;
+    /// A 3D symmetric-definite-positive matrix.
+    pub type SdpMatrix<N> = crate::utils::SdpMatrix3<N>;
+}
+
+#[cfg(feature = "simd-is-enabled")]
+mod simd {
+    #[allow(unused_imports)]
+    #[cfg(feature = "simd-nightly")]
+    use simba::simd::{f32x16, f32x4, f32x8, m32x16, m32x4, m32x8, u8x16, u8x4, u8x8};
+    #[cfg(feature = "simd-stable")]
+    use simba::simd::{WideBoolF32x4, WideF32x4};
+
+    /// The number of lanes of a SIMD number.
+    pub const SIMD_WIDTH: usize = 4;
+    /// SIMD_WIDTH - 1
+    pub const SIMD_LAST_INDEX: usize = 3;
+    #[cfg(not(feature = "simd-nightly"))]
+    /// A SIMD float with SIMD_WIDTH lanes.
+    pub type SimdFloat = WideF32x4;
+    #[cfg(not(feature = "simd-nightly"))]
+    /// A SIMD bool with SIMD_WIDTH lanes.
+    pub type SimdBool = WideBoolF32x4;
+    #[cfg(feature = "simd-nightly")]
+    /// A SIMD float with SIMD_WIDTH lanes.
+    pub type SimdFloat = f32x4;
+    #[cfg(feature = "simd-nightly")]
+    /// A bool float with SIMD_WIDTH lanes.
+    pub type SimdBool = m32x4;
+
+    // pub const SIMD_WIDTH: usize = 8;
+    // pub const SIMD_LAST_INDEX: usize = 7;
+    // pub type SimdFloat = f32x8;
+    // pub type SimdBool = m32x8;
+
+    // pub const SIMD_WIDTH: usize = 16;
+    // pub const SIMD_LAST_INDEX: usize = 15;
+    // pub type SimdFloat = f32x16;
+    // pub type SimdBool = m32x16;
+}