Merge pull request #79 from dimforge/split_geom

Move most of the geometric code to another crate.

1 files changed, 24 insertions, 141 deletions

diff --git a/src/lib.rs b/src/lib.rs
index deb9313..e63b0d4 100644
--- a/src/lib.rs
+++ b/src/lib.rs
@@ -8,19 +8,22 @@
 //! - 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)]
+#![warn(missing_docs)]
+
+#[cfg(all(feature = "dim2", feature = "f32"))]
+pub extern crate parry2d as parry;
+#[cfg(all(feature = "dim2", feature = "f64"))]
+pub extern crate parry2d_f64 as parry;
+#[cfg(all(feature = "dim3", feature = "f32"))]
+pub extern crate parry3d as parry;
+#[cfg(all(feature = "dim3", feature = "f64"))]
+pub extern crate parry3d_f64 as parry;
 
 pub extern crate crossbeam;
 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;
-#[macro_use]
-extern crate approx;
 extern crate num_traits as num;
 // #[macro_use]
 // extern crate array_macro;
@@ -45,6 +48,7 @@ macro_rules! enable_flush_to_zero(
     }
 );
 
+#[cfg(feature = "simd-is-enabled")]
 macro_rules! array(
     ($callback: expr; SIMD_WIDTH) => {
         {
@@ -52,14 +56,6 @@ macro_rules! array(
             #[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)
@@ -129,6 +125,9 @@ 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;
 
+/// The string version of Rapier.
+pub const VERSION: &'static str = env!("CARGO_PKG_VERSION");
+
 pub mod counters;
 pub mod data;
 pub mod dynamics;
@@ -136,133 +135,17 @@ pub mod geometry;
 pub mod pipeline;
 pub mod utils;
 
-#[cfg(feature = "dim2")]
-/// Math primitives used throughout Rapier.
+/// Elementary mathematical entities (vectors, matrices, isometries, etc).
 pub mod math {
-    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 use parry::math::*;
+    /// Max number of pairs of contact points from the same
+    /// contact manifold that can be solved as part of a
+    /// single contact constraint.
+    #[cfg(feature = "dim2")]
     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 {
-    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.
+    /// Max number of pairs of contact points from the same
+    /// contact manifold that can be solved as part of a
+    /// single contact constraint.
+    #[cfg(feature = "dim3")]
     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(not(feature = "simd-is-enabled"))]
-mod simd {
-    use simba::simd::{AutoBoolx4, AutoF32x4};
-    /// The number of lanes of a SIMD number.
-    pub const SIMD_WIDTH: usize = 4;
-    /// SIMD_WIDTH - 1
-    pub const SIMD_LAST_INDEX: usize = 3;
-    /// A SIMD float with SIMD_WIDTH lanes.
-    pub type SimdFloat = AutoF32x4;
-    /// A SIMD bool with SIMD_WIDTH lanes.
-    pub type SimdBool = AutoBoolx4;
-}
-
-#[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;
 }