diff options
Diffstat (limited to 'src')
27 files changed, 84 insertions, 82 deletions
diff --git a/src/dynamics/mass_properties_capsule.rs b/src/dynamics/mass_properties_capsule.rs index c4e039c..cfd4345 100644 --- a/src/dynamics/mass_properties_capsule.rs +++ b/src/dynamics/mass_properties_capsule.rs @@ -1,7 +1,7 @@ use crate::dynamics::MassProperties; +use crate::math::Point; #[cfg(feature = "dim3")] -use crate::geometry::Capsule; -use crate::math::{Point, PrincipalAngularInertia, Rotation, Vector}; +use crate::math::Rotation; impl MassProperties { pub(crate) fn from_capsule(density: f32, half_height: f32, radius: f32) -> Self { diff --git a/src/dynamics/mass_properties_cylinder.rs b/src/dynamics/mass_properties_cylinder.rs index 66a1343..8d4f254 100644 --- a/src/dynamics/mass_properties_cylinder.rs +++ b/src/dynamics/mass_properties_cylinder.rs @@ -1,7 +1,10 @@ use crate::dynamics::MassProperties; +use crate::math::{PrincipalAngularInertia, Vector}; #[cfg(feature = "dim3")] -use crate::geometry::Capsule; -use crate::math::{Point, PrincipalAngularInertia, Rotation, Vector}; +use { + crate::geometry::Capsule, + crate::math::{Point, Rotation}, +}; impl MassProperties { pub(crate) fn cylinder_y_volume_unit_inertia( diff --git a/src/dynamics/mass_properties_polygon.rs b/src/dynamics/mass_properties_polygon.rs index c87e888..8b0b811 100644 --- a/src/dynamics/mass_properties_polygon.rs +++ b/src/dynamics/mass_properties_polygon.rs @@ -1,3 +1,5 @@ +#![allow(dead_code)] // TODO: remove this + use crate::dynamics::MassProperties; use crate::math::Point; diff --git a/src/geometry/collider.rs b/src/geometry/collider.rs index 4b3b115..4785d62 100644 --- a/src/geometry/collider.rs +++ b/src/geometry/collider.rs @@ -1,18 +1,13 @@ use crate::dynamics::{MassProperties, RigidBodyHandle, RigidBodySet}; use crate::geometry::{ - Ball, Capsule, ColliderGraphIndex, Contact, Cuboid, HeightField, InteractionGraph, Polygon, - Proximity, Ray, RayIntersection, Rounded, Shape, ShapeType, Triangle, Trimesh, + Ball, Capsule, ColliderGraphIndex, Contact, Cuboid, HeightField, InteractionGraph, Proximity, + Shape, ShapeType, Triangle, Trimesh, }; #[cfg(feature = "dim3")] -use crate::geometry::{Cone, Cylinder, PolygonalFeatureMap}; +use crate::geometry::{Cone, Cylinder, PolygonalFeatureMap, Rounded}; use crate::math::{AngVector, Isometry, Point, Rotation, Vector}; -use downcast_rs::{impl_downcast, DowncastSync}; -use erased_serde::Serialize; use na::Point3; -use ncollide::bounding_volume::{HasBoundingVolume, AABB}; -use ncollide::query::RayCast; -use num::Zero; -use std::any::Any; +use ncollide::bounding_volume::AABB; use std::ops::Deref; use std::sync::Arc; @@ -21,8 +16,8 @@ use std::sync::Arc; pub struct ColliderShape(pub Arc<dyn Shape>); impl Deref for ColliderShape { - type Target = Shape; - fn deref(&self) -> &Shape { + type Target = dyn Shape; + fn deref(&self) -> &dyn Shape { &*self.0 } } @@ -257,7 +252,7 @@ impl Collider { } /// The geometric shape of this collider. - pub fn shape(&self) -> &Shape { + pub fn shape(&self) -> &dyn Shape { &*self.shape.0 } diff --git a/src/geometry/contact_generator/ball_convex_contact_generator.rs b/src/geometry/contact_generator/ball_convex_contact_generator.rs index 62ebfab..69bc5e3 100644 --- a/src/geometry/contact_generator/ball_convex_contact_generator.rs +++ b/src/geometry/contact_generator/ball_convex_contact_generator.rs @@ -1,5 +1,5 @@ use crate::geometry::contact_generator::PrimitiveContactGenerationContext; -use crate::geometry::{Ball, Contact, KinematicsCategory, Shape}; +use crate::geometry::{Ball, Contact, KinematicsCategory}; use crate::math::Isometry; use na::Unit; use ncollide::query::PointQuery; diff --git a/src/geometry/contact_generator/capsule_capsule_contact_generator.rs b/src/geometry/contact_generator/capsule_capsule_contact_generator.rs index 4d9bbc7..b24227a 100644 --- a/src/geometry/contact_generator/capsule_capsule_contact_generator.rs +++ b/src/geometry/contact_generator/capsule_capsule_contact_generator.rs @@ -1,11 +1,11 @@ use crate::geometry::contact_generator::PrimitiveContactGenerationContext; -use crate::geometry::{Capsule, Contact, ContactManifold, KinematicsCategory, Shape}; +use crate::geometry::{Capsule, Contact, ContactManifold, KinematicsCategory}; use crate::math::Isometry; use crate::math::Vector; use approx::AbsDiffEq; use na::Unit; #[cfg(feature = "dim2")] -use ncollide::shape::{Segment, SegmentPointLocation}; +use ncollide::shape::SegmentPointLocation; pub fn generate_contacts_capsule_capsule(ctxt: &mut PrimitiveContactGenerationContext) { if let (Some(capsule1), Some(capsule2)) = (ctxt.shape1.as_capsule(), ctxt.shape2.as_capsule()) { @@ -39,10 +39,11 @@ pub fn generate_contacts<'a>( let pos12 = pos1.inverse() * pos2; let pos21 = pos12.inverse(); - let capsule2_1 = capsule2.transform_by(&pos12); + let seg1 = capsule1.segment(); + let seg2_1 = capsule2.segment().transformed(&pos12); let (loc1, loc2) = ncollide::query::closest_points_segment_segment_with_locations_nD( - (&capsule1.a, &capsule1.b), - (&capsule2_1.a, &capsule2_1.b), + (&seg1.a, &seg1.b), + (&seg2_1.a, &seg2_1.b), ); // We do this clone to perform contact tracking and transfer impulses. @@ -65,8 +66,8 @@ pub fn generate_contacts<'a>( let bcoords1 = loc1.barycentric_coordinates(); let bcoords2 = loc2.barycentric_coordinates(); - let local_p1 = capsule1.a * bcoords1[0] + capsule1.b.coords * bcoords1[1]; - let local_p2 = capsule2_1.a * bcoords2[0] + capsule2_1.b.coords * bcoords2[1]; + let local_p1 = seg1.a * bcoords1[0] + seg1.b.coords * bcoords1[1]; + let local_p2 = seg2_1.a * bcoords2[0] + seg2_1.b.coords * bcoords2[1]; let local_n1 = Unit::try_new(local_p2 - local_p1, f32::default_epsilon()).unwrap_or(Vector::y_axis()); @@ -87,18 +88,15 @@ pub fn generate_contacts<'a>( return; } - let seg1 = Segment::new(capsule1.a, capsule1.b); - let seg2 = Segment::new(capsule2_1.a, capsule2_1.b); - - if let (Some(dir1), Some(dir2)) = (seg1.direction(), seg2.direction()) { + if let (Some(dir1), Some(dir2)) = (seg1.direction(), seg2_1.direction()) { if dir1.dot(&dir2).abs() >= crate::utils::COS_FRAC_PI_8 && dir1.dot(&local_n1).abs() < crate::utils::SIN_FRAC_PI_8 { // Capsules axes are almost parallel and are almost perpendicular to the normal. // Find a second contact point. if let Some((clip_a, clip_b)) = crate::geometry::clip_segments_with_normal( - (capsule1.a, capsule1.b), - (capsule2_1.a, capsule2_1.b), + (seg1.a, seg1.b), + (seg2_1.a, seg2_1.b), *local_n1, ) { let contact = diff --git a/src/geometry/contact_generator/contact_dispatcher.rs b/src/geometry/contact_generator/contact_dispatcher.rs index 14b7f79..53165ee 100644 --- a/src/geometry/contact_generator/contact_dispatcher.rs +++ b/src/geometry/contact_generator/contact_dispatcher.rs @@ -1,9 +1,10 @@ +#[cfg(feature = "dim3")] +use crate::geometry::contact_generator::PfmPfmContactManifoldGeneratorWorkspace; use crate::geometry::contact_generator::{ ContactGenerator, ContactPhase, HeightFieldShapeContactGeneratorWorkspace, - PfmPfmContactManifoldGeneratorWorkspace, PrimitiveContactGenerator, - TrimeshShapeContactGeneratorWorkspace, + PrimitiveContactGenerator, TrimeshShapeContactGeneratorWorkspace, }; -use crate::geometry::{Shape, ShapeType}; +use crate::geometry::ShapeType; use std::any::Any; /// Trait implemented by structures responsible for selecting a collision-detection algorithm @@ -92,6 +93,7 @@ impl ContactDispatcher for DefaultContactDispatcher { None, ) } + #[cfg(feature = "dim3")] (ShapeType::Cylinder, _) | (_, ShapeType::Cylinder) | (ShapeType::Cone, _) diff --git a/src/geometry/contact_generator/contact_generator.rs b/src/geometry/contact_generator/contact_generator.rs index 9dd0050..b034760 100644 --- a/src/geometry/contact_generator/contact_generator.rs +++ b/src/geometry/contact_generator/contact_generator.rs @@ -139,8 +139,8 @@ pub struct PrimitiveContactGenerationContext<'a> { pub prediction_distance: f32, pub collider1: &'a Collider, pub collider2: &'a Collider, - pub shape1: &'a Shape, - pub shape2: &'a Shape, + pub shape1: &'a dyn Shape, + pub shape2: &'a dyn Shape, pub position1: &'a Isometry<f32>, pub position2: &'a Isometry<f32>, pub manifold: &'a mut ContactManifold, @@ -152,8 +152,8 @@ pub struct PrimitiveContactGenerationContextSimd<'a, 'b> { pub prediction_distance: f32, pub colliders1: [&'a Collider; SIMD_WIDTH], pub colliders2: [&'a Collider; SIMD_WIDTH], - pub shapes1: [&'a Shape; SIMD_WIDTH], - pub shapes2: [&'a Shape; SIMD_WIDTH], + pub shapes1: [&'a dyn Shape; SIMD_WIDTH], + pub shapes2: [&'a dyn Shape; SIMD_WIDTH], pub positions1: &'a Isometry<SimdFloat>, pub positions2: &'a Isometry<SimdFloat>, pub manifolds: &'a mut [&'b mut ContactManifold], diff --git a/src/geometry/contact_generator/cuboid_capsule_contact_generator.rs b/src/geometry/contact_generator/cuboid_capsule_contact_generator.rs index c3cf588..8650a78 100644 --- a/src/geometry/contact_generator/cuboid_capsule_contact_generator.rs +++ b/src/geometry/contact_generator/cuboid_capsule_contact_generator.rs @@ -1,12 +1,11 @@ use crate::geometry::contact_generator::PrimitiveContactGenerationContext; #[cfg(feature = "dim3")] use crate::geometry::PolyhedronFace; -use crate::geometry::{cuboid, sat, Capsule, ContactManifold, Cuboid, KinematicsCategory, Shape}; +use crate::geometry::{cuboid, sat, Capsule, ContactManifold, Cuboid, KinematicsCategory}; #[cfg(feature = "dim2")] use crate::geometry::{CuboidFeature, CuboidFeatureFace}; use crate::math::Isometry; use crate::math::Vector; -use ncollide::shape::Segment; pub fn generate_contacts_cuboid_capsule(ctxt: &mut PrimitiveContactGenerationContext) { if let (Some(cube1), Some(capsule2)) = (ctxt.shape1.as_cuboid(), ctxt.shape2.as_capsule()) { diff --git a/src/geometry/contact_generator/cuboid_cuboid_contact_generator.rs b/src/geometry/contact_generator/cuboid_cuboid_contact_generator.rs index 596cfb1..5be5af3 100644 --- a/src/geometry/contact_generator/cuboid_cuboid_contact_generator.rs +++ b/src/geometry/contact_generator/cuboid_cuboid_contact_generator.rs @@ -1,5 +1,5 @@ use crate::geometry::contact_generator::PrimitiveContactGenerationContext; -use crate::geometry::{cuboid, sat, ContactManifold, CuboidFeature, KinematicsCategory, Shape}; +use crate::geometry::{cuboid, sat, ContactManifold, CuboidFeature, KinematicsCategory}; use crate::math::Isometry; #[cfg(feature = "dim2")] use crate::math::Vector; diff --git a/src/geometry/contact_generator/cuboid_triangle_contact_generator.rs b/src/geometry/contact_generator/cuboid_triangle_contact_generator.rs index 6744c0e..562d7d6 100644 --- a/src/geometry/contact_generator/cuboid_triangle_contact_generator.rs +++ b/src/geometry/contact_generator/cuboid_triangle_contact_generator.rs @@ -1,7 +1,7 @@ use crate::geometry::contact_generator::PrimitiveContactGenerationContext; #[cfg(feature = "dim3")] use crate::geometry::PolyhedronFace; -use crate::geometry::{cuboid, sat, ContactManifold, Cuboid, KinematicsCategory, Shape, Triangle}; +use crate::geometry::{cuboid, sat, ContactManifold, Cuboid, KinematicsCategory, Triangle}; use crate::math::Isometry; #[cfg(feature = "dim2")] use crate::{ diff --git a/src/geometry/contact_generator/heightfield_shape_contact_generator.rs b/src/geometry/contact_generator/heightfield_shape_contact_generator.rs index f507caf..820caa3 100644 --- a/src/geometry/contact_generator/heightfield_shape_contact_generator.rs +++ b/src/geometry/contact_generator/heightfield_shape_contact_generator.rs @@ -3,7 +3,7 @@ use crate::geometry::contact_generator::{ }; #[cfg(feature = "dim2")] use crate::geometry::Capsule; -use crate::geometry::{Collider, ContactManifold, HeightField, Shape, ShapeType}; +use crate::geometry::{Collider, ContactManifold, HeightField, ShapeType}; use crate::ncollide::bounding_volume::BoundingVolume; #[cfg(feature = "dim3")] use crate::{geometry::Triangle, math::Point}; @@ -117,8 +117,8 @@ fn do_generate_contacts( let position1 = *collider1.position(); #[cfg(feature = "dim2")] let (position1, sub_shape1) = { - let (dpos, height) = crate::utils::segment_to_capsule(&part1.a, &part1.b); - (position1 * dpos, Capsule::new(height, 0.0)); + let (dpos, half_height) = crate::utils::segment_to_capsule(&part1.a, &part1.b); + (position1 * dpos, Capsule::new(half_height, 0.0)) }; #[cfg(feature = "dim3")] let sub_shape1 = *part1; diff --git a/src/geometry/contact_generator/polygon_polygon_contact_generator.rs b/src/geometry/contact_generator/polygon_polygon_contact_generator.rs index c150e83..e1e6e7e 100644 --- a/src/geometry/contact_generator/polygon_polygon_contact_generator.rs +++ b/src/geometry/contact_generator/polygon_polygon_contact_generator.rs @@ -1,10 +1,10 @@ use crate::geometry::contact_generator::PrimitiveContactGenerationContext; -use crate::geometry::{sat, Contact, ContactManifold, KinematicsCategory, Polygon, Shape}; +use crate::geometry::{sat, Contact, ContactManifold, KinematicsCategory, Polygon}; use crate::math::{Isometry, Point}; #[cfg(feature = "dim2")] use crate::{math::Vector, utils}; -pub fn generate_contacts_polygon_polygon(ctxt: &mut PrimitiveContactGenerationContext) { +pub fn generate_contacts_polygon_polygon(_ctxt: &mut PrimitiveContactGenerationContext) { unimplemented!() // if let (Shape::Polygon(polygon1), Shape::Polygon(polygon2)) = (ctxt.shape1, ctxt.shape2) { // generate_contacts( diff --git a/src/geometry/contact_generator/trimesh_shape_contact_generator.rs b/src/geometry/contact_generator/trimesh_shape_contact_generator.rs index 49e9b40..502658d 100644 --- a/src/geometry/contact_generator/trimesh_shape_contact_generator.rs +++ b/src/geometry/contact_generator/trimesh_shape_contact_generator.rs @@ -1,7 +1,7 @@ use crate::geometry::contact_generator::{ ContactGenerationContext, PrimitiveContactGenerationContext, }; -use crate::geometry::{Collider, ContactManifold, Shape, ShapeType, Trimesh}; +use crate::geometry::{Collider, ContactManifold, ShapeType, Trimesh}; use crate::ncollide::bounding_volume::{BoundingVolume, AABB}; pub struct TrimeshShapeContactGeneratorWorkspace { diff --git a/src/geometry/polygonal_feature_map.rs b/src/geometry/polygonal_feature_map.rs index fc5e066..2586826 100644 --- a/src/geometry/polygonal_feature_map.rs +++ b/src/geometry/polygonal_feature_map.rs @@ -2,7 +2,7 @@ use crate::geometry::PolyhedronFace; use crate::geometry::{cuboid, Cone, Cuboid, Cylinder, Triangle}; use crate::math::{Point, Vector}; use approx::AbsDiffEq; -use na::{Unit, Vector2, Vector3}; +use na::{Unit, Vector2}; use ncollide::shape::Segment; use ncollide::shape::SupportMap; diff --git a/src/geometry/polyhedron_feature3d.rs b/src/geometry/polyhedron_feature3d.rs index 8f5de04..5a86ef2 100644 --- a/src/geometry/polyhedron_feature3d.rs +++ b/src/geometry/polyhedron_feature3d.rs @@ -387,8 +387,6 @@ impl PolyhedronFace { /// Compute the barycentric coordinates of the intersection between the two given lines. /// Returns `None` if the lines are parallel. fn closest_points_line2d(edge1: [Point2<f32>; 2], edge2: [Point2<f32>; 2]) -> Option<(f32, f32)> { - use approx::AbsDiffEq; - // Inspired by Real-time collision detection by Christer Ericson. let dir1 = edge1[1] - edge1[0]; let dir2 = edge2[1] - edge2[0]; diff --git a/src/geometry/proximity_detector/ball_convex_proximity_detector.rs b/src/geometry/proximity_detector/ball_convex_proximity_detector.rs index d7c5d02..eda6547 100644 --- a/src/geometry/proximity_detector/ball_convex_proximity_detector.rs +++ b/src/geometry/proximity_detector/ball_convex_proximity_detector.rs @@ -1,5 +1,5 @@ use crate::geometry::proximity_detector::PrimitiveProximityDetectionContext; -use crate::geometry::{Ball, Proximity, Shape}; +use crate::geometry::{Ball, Proximity}; use crate::math::Isometry; use ncollide::query::PointQuery; diff --git a/src/geometry/proximity_detector/cuboid_cuboid_proximity_detector.rs b/src/geometry/proximity_detector/cuboid_cuboid_proximity_detector.rs index 2462fc9..ae885b3 100644 --- a/src/geometry/proximity_detector/cuboid_cuboid_proximity_detector.rs +++ b/src/geometry/proximity_detector/cuboid_cuboid_proximity_detector.rs @@ -1,5 +1,5 @@ use crate::geometry::proximity_detector::PrimitiveProximityDetectionContext; -use crate::geometry::{sat, Proximity, Shape}; +use crate::geometry::{sat, Proximity}; use crate::math::Isometry; use ncollide::shape::Cuboid; diff --git a/src/geometry/proximity_detector/cuboid_triangle_proximity_detector.rs b/src/geometry/proximity_detector/cuboid_triangle_proximity_detector.rs index 45991c7..532ab36 100644 --- a/src/geometry/proximity_detector/cuboid_triangle_proximity_detector.rs +++ b/src/geometry/proximity_detector/cuboid_triangle_proximity_detector.rs @@ -1,5 +1,5 @@ use crate::geometry::proximity_detector::PrimitiveProximityDetectionContext; -use crate::geometry::{sat, Cuboid, Proximity, Shape, Triangle}; +use crate::geometry::{sat, Cuboid, Proximity, Triangle}; use crate::math::Isometry; pub fn detect_proximity_cuboid_triangle( diff --git a/src/geometry/proximity_detector/polygon_polygon_proximity_detector.rs b/src/geometry/proximity_detector/polygon_polygon_proximity_detector.rs index 5b89dc5..30a02fa 100644 --- a/src/geometry/proximity_detector/polygon_polygon_proximity_detector.rs +++ b/src/geometry/proximity_detector/polygon_polygon_proximity_detector.rs @@ -1,9 +1,9 @@ use crate::geometry::proximity_detector::PrimitiveProximityDetectionContext; -use crate::geometry::{sat, Polygon, Proximity, Shape}; +use crate::geometry::{sat, Polygon, Proximity}; use crate::math::Isometry; pub fn detect_proximity_polygon_polygon( - ctxt: &mut PrimitiveProximityDetectionContext, + _ctxt: &mut PrimitiveProximityDetectionContext, ) -> Proximity { unimplemented!() // if let (Some(polygon1), Some(polygon2)) = (ctxt.shape1.as_polygon(), ctxt.shape2.as_polygon()) { diff --git a/src/geometry/proximity_detector/proximity_detector.rs b/src/geometry/proximity_detector/proximity_detector.rs index 76e8cd7..7c8ad20 100644 --- a/src/geometry/proximity_detector/proximity_detector.rs +++ b/src/geometry/proximity_detector/proximity_detector.rs @@ -120,8 +120,8 @@ pub struct PrimitiveProximityDetectionContext<'a> { pub prediction_distance: f32, pub collider1: &'a Collider, pub collider2: &'a Collider, - pub shape1: &'a Shape, - pub shape2: &'a Shape, + pub shape1: &'a dyn Shape, + pub shape2: &'a dyn Shape, pub position1: &'a Isometry<f32>, pub position2: &'a Isometry<f32>, pub workspace: Option<&'a mut (dyn Any + Send + Sync)>, @@ -132,8 +132,8 @@ pub struct PrimitiveProximityDetectionContextSimd<'a, 'b> { pub prediction_distance: f32, pub colliders1: [&'a Collider; SIMD_WIDTH], pub colliders2: [&'a Collider; SIMD_WIDTH], - pub shapes1: [&'a Shape; SIMD_WIDTH], - pub shapes2: [&'a Shape; SIMD_WIDTH], + pub shapes1: [&'a dyn Shape; SIMD_WIDTH], + pub shapes2: [&'a dyn Shape; SIMD_WIDTH], pub positions1: &'a Isometry<SimdFloat>, pub positions2: &'a Isometry<SimdFloat>, pub workspaces: &'a mut [Option<&'b mut (dyn Any + Send + Sync)>], diff --git a/src/geometry/proximity_detector/proximity_dispatcher.rs b/src/geometry/proximity_detector/proximity_dispatcher.rs index 62f50f7..768aca6 100644 --- a/src/geometry/proximity_detector/proximity_dispatcher.rs +++ b/src/geometry/proximity_detector/proximity_dispatcher.rs @@ -2,7 +2,7 @@ use crate::geometry::proximity_detector::{ PrimitiveProximityDetector, ProximityDetector, ProximityPhase, TrimeshShapeProximityDetectorWorkspace, }; -use crate::geometry::{Shape, ShapeType}; +use crate::geometry::ShapeType; use std::any::Any; /// Trait implemented by structures responsible for selecting a collision-detection algorithm diff --git a/src/geometry/proximity_detector/trimesh_shape_proximity_detector.rs b/src/geometry/proximity_detector/trimesh_shape_proximity_detector.rs index cce46d2..b469637 100644 --- a/src/geometry/proximity_detector/trimesh_shape_proximity_detector.rs +++ b/src/geometry/proximity_detector/trimesh_shape_proximity_detector.rs @@ -1,7 +1,7 @@ use crate::geometry::proximity_detector::{ PrimitiveProximityDetectionContext, ProximityDetectionContext, }; -use crate::geometry::{Collider, Proximity, Shape, ShapeType, Trimesh}; +use crate::geometry::{Collider, Proximity, ShapeType, Trimesh}; use crate::ncollide::bounding_volume::{BoundingVolume, AABB}; pub struct TrimeshShapeProximityDetectorWorkspace { diff --git a/src/geometry/rounded.rs b/src/geometry/rounded.rs index 59c6a72..ce3fc96 100644 --- a/src/geometry/rounded.rs +++ b/src/geometry/rounded.rs @@ -1,4 +1,6 @@ -use crate::geometry::{Cylinder, ShapeType}; +#[cfg(feature = "dim3")] +use crate::geometry::Cylinder; +use crate::geometry::ShapeType; use crate::math::{Isometry, Point, Vector}; use na::Unit; use ncollide::query::{ @@ -12,6 +14,7 @@ pub trait Roundable { fn rounded_shape_type() -> ShapeType; } +#[cfg(feature = "dim3")] impl Roundable for Cylinder { fn rounded_shape_type() -> ShapeType { ShapeType::RoundedCylinder diff --git a/src/geometry/shape.rs b/src/geometry/shape.rs index 822a5b0..b6350e9 100644 --- a/src/geometry/shape.rs +++ b/src/geometry/shape.rs @@ -1,19 +1,17 @@ -use crate::dynamics::{MassProperties, RigidBodyHandle, RigidBodySet}; -use crate::geometry::{ - Ball, Capsule, ColliderGraphIndex, Contact, Cuboid, HeightField, InteractionGraph, Polygon, - Proximity, Ray, RayIntersection, Roundable, Rounded, Triangle, Trimesh, -}; -#[cfg(feature = "dim3")] -use crate::geometry::{Cone, Cylinder, PolygonalFeatureMap}; -use crate::math::{AngVector, Isometry, Point, Rotation, Vector}; +use crate::dynamics::MassProperties; +use crate::geometry::{Ball, Capsule, Cuboid, HeightField, Roundable, Rounded, Triangle, Trimesh}; +use crate::math::Isometry; use downcast_rs::{impl_downcast, DowncastSync}; use erased_serde::Serialize; -use na::Point3; -use ncollide::bounding_volume::{BoundingVolume, HasBoundingVolume, AABB}; +use ncollide::bounding_volume::{HasBoundingVolume, AABB}; use ncollide::query::{PointQuery, RayCast}; use num::Zero; use num_derive::FromPrimitive; -use std::any::Any; +#[cfg(feature = "dim3")] +use { + crate::geometry::{Cone, Cylinder, PolygonalFeatureMap}, + ncollide::bounding_volume::BoundingVolume, +}; #[derive(Copy, Clone, Debug, FromPrimitive)] /// Enum representing the type of a shape. @@ -49,6 +47,7 @@ pub enum ShapeType { // /// An heightfield with rounded corners. // RoundedHeightField, /// A cylinder with rounded corners. + #[cfg(feature = "dim3")] RoundedCylinder, // /// A cone with rounded corners. // RoundedCone, @@ -116,11 +115,13 @@ impl dyn Shape { } /// Converts this abstract shape to a cylinder, if it is one. + #[cfg(feature = "dim3")] pub fn as_cylinder(&self) -> Option<&Cylinder> { self.downcast_ref() } /// Converts this abstract shape to a cone, if it is one. + #[cfg(feature = "dim3")] pub fn as_cone(&self) -> Option<&Cone> { self.downcast_ref() } @@ -226,7 +227,7 @@ impl Shape for Triangle { self.bounding_volume(position) } - fn mass_properties(&self, density: f32) -> MassProperties { + fn mass_properties(&self, _density: f32) -> MassProperties { MassProperties::zero() } diff --git a/src/geometry/trimesh.rs b/src/geometry/trimesh.rs index 38ce0a3..b4e8518 100644 --- a/src/geometry/trimesh.rs +++ b/src/geometry/trimesh.rs @@ -107,15 +107,15 @@ impl Trimesh { } impl PointQuery<f32> for Trimesh { - fn project_point(&self, m: &Isometry<f32>, pt: &Point<f32>, solid: bool) -> PointProjection { + fn project_point(&self, _m: &Isometry<f32>, _pt: &Point<f32>, _solid: bool) -> PointProjection { // TODO unimplemented!() } fn project_point_with_feature( &self, - m: &Isometry<f32>, - pt: &Point<f32>, + _m: &Isometry<f32>, + _pt: &Point<f32>, ) -> (PointProjection, FeatureId) { // TODO unimplemented!() @@ -126,16 +126,16 @@ impl PointQuery<f32> for Trimesh { impl RayCast<f32> for Trimesh { fn toi_and_normal_with_ray( &self, - m: &Isometry<f32>, - ray: &Ray, - max_toi: f32, - solid: bool, + _m: &Isometry<f32>, + _ray: &Ray, + _max_toi: f32, + _solid: bool, ) -> Option<RayIntersection> { // TODO None } - fn intersects_ray(&self, m: &Isometry<f32>, ray: &Ray, max_toi: f32) -> bool { + fn intersects_ray(&self, _m: &Isometry<f32>, _ray: &Ray, _max_toi: f32) -> bool { // TODO false } diff --git a/src/utils.rs b/src/utils.rs index 48f4ef7..0bc9e17 100644 --- a/src/utils.rs +++ b/src/utils.rs @@ -20,6 +20,7 @@ use { // pub(crate) const COS_10_DEGREES: f32 = 0.98480775301; // pub(crate) const COS_45_DEGREES: f32 = 0.70710678118; // pub(crate) const SIN_45_DEGREES: f32 = COS_45_DEGREES; +#[cfg(feature = "dim3")] pub(crate) const COS_1_DEGREES: f32 = 0.99984769515; pub(crate) const COS_5_DEGREES: f32 = 0.99619469809; // #[cfg(feature = "dim2")] |