diff options
Diffstat (limited to 'src/lib.rs')
| -rw-r--r-- | src/lib.rs | 140 |
1 files changed, 1 insertions, 139 deletions
@@ -53,14 +53,6 @@ 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) @@ -136,134 +128,4 @@ pub mod dynamics; pub mod geometry; pub mod pipeline; pub mod utils; - -#[cfg(feature = "dim2")] -/// Math primitives used throughout Rapier. -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 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. - 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; -} +pub use buckler::math; |