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/*!
**Salva** is a 2 and 3-dimensional particle-based fluid simulation engine for games and animations.
It uses [nalgebra](https://nalgebra.org) for vector/matrix math and can optionally interface with
[nphysics](https://nphysics.org) for two-way coupling with rigid bodies, multibodies, and deformable bodies.
2D and 3D implementations both share (mostly) the same code!
Examples are available in the `examples2d` and `examples3d` directories. Because those demos are based on
WASM and WebGl 1.0 they should work on most modern browsers. Feel free to ask for help
and discuss features on the official [user forum](https://discourse.nphysics.org).
## Why the name Salva?
The name of this library is inspired from the famous surrealist artist `Salvador Dalì`. The logo of `Salva`
is inspired from its renown painting [The Persistence of Memory](https://en.wikipedia.org/wiki/The_Persistence_of_Memory).
## Features
- **Pressure resolution:** DFSPH and IISPH.
- **Viscosity:** DFSPH viscosity, Artificial viscosity, and XSPH viscosity.
- **Surface tension:** WCSPH surface tension, and methods from He et al. 2014 and Akinci et al. 2013
- **Elasticity:** method from Becker et al. 2009
- **Multiphase fluids**: mix several fluids with different characteristics (densities, viscosities, etc.)
- Optional **two-way coupling** with bodies from **nphysics**.
- **WASM** support
*/
#![deny(non_camel_case_types)]
#![deny(unused_parens)]
#![deny(non_upper_case_globals)]
#![deny(unused_qualifications)]
#![warn(missing_docs)] // FIXME: deny this
#![deny(unused_results)]
#![allow(type_alias_bounds)]
#![warn(non_camel_case_types)]
#![allow(missing_copy_implementations)]
#![doc(html_root_url = "https://salva.rs/rustdoc/")]
#![doc(html_logo_url = "https://salva.rs/img/logo_salva_rustdoc.svg")]
extern crate nalgebra as na;
#[cfg(all(feature = "dim2", feature = "ncollide"))]
extern crate ncollide2d as ncollide;
#[cfg(all(feature = "dim3", feature = "ncollide"))]
extern crate ncollide3d as ncollide;
extern crate num_traits as num;
#[cfg(all(feature = "dim2", feature = "parry"))]
pub extern crate parry2d as parry;
#[cfg(all(feature = "dim3", feature = "parry"))]
pub extern crate parry3d as parry;
#[cfg(all(feature = "dim2", feature = "rapier"))]
pub extern crate rapier2d as rapier;
#[cfg(all(feature = "dim3", feature = "rapier"))]
pub extern crate rapier3d as rapier;
#[cfg(all(feature = "dim2", feature = "rapier-testbed"))]
extern crate rapier_testbed2d as rapier_testbed;
#[cfg(all(feature = "dim3", feature = "rapier-testbed"))]
extern crate rapier_testbed3d as rapier_testbed;
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 = $t.par_iter_mut();
it
}};
}
macro_rules! par_reduce_sum {
($identity: expr, $t: expr) => {{
#[cfg(not(feature = "parallel"))]
let res = $t.fold($identity, |a, b| a + b);
#[cfg(feature = "parallel")]
let res = $t.reduce(|| $identity, |a, b| a + b);
res
}};
}
pub mod counters;
pub mod coupling;
pub mod geometry;
pub mod helper;
pub mod integrations;
pub mod kernel;
mod liquid_world;
pub mod object;
#[cfg(feature = "sampling")]
pub mod sampling;
pub mod solver;
mod timestep_manager;
pub(crate) mod z_order;
pub use crate::liquid_world::LiquidWorld;
pub use crate::timestep_manager::TimestepManager;
/// Compilation flags dependent aliases for mathematical types.
#[cfg(feature = "dim3")]
pub mod math {
use na::{
Isometry3, Matrix3, Matrix6, Matrix6xX, MatrixView6xX, MatrixViewMut6xX, Point3, Rotation3,
Translation3, UnitQuaternion, Vector3, Vector6, U3, U6,
};
/// The maximum number of possible rotations and translations of a rigid body.
pub const SPATIAL_DIM: usize = 6;
/// The maximum number of possible rotations of a rigid body.
pub const ANGULAR_DIM: usize = 3;
/// The maximum number of possible translations of a rigid body.
pub const DIM: usize = 3;
/// The scalar type.
pub type Real = f32;
/// The dimension of the ambient space.
pub type Dim = U3;
/// The dimension of a spatial vector.
pub type SpatialDim = U6;
/// The dimension of the rotations.
pub type AngularDim = U3;
/// The point type.
pub type Point<Real> = Point3<Real>;
/// The angular vector type.
pub type AngularVector<Real> = Vector3<Real>;
/// The vector type.
pub type Vector<Real> = Vector3<Real>;
/// The vector type with dimension `SpatialDim × 1`.
pub type SpatialVector<Real> = Vector6<Real>;
/// The orientation type.
pub type Orientation<Real> = Vector3<Real>;
/// The transformation matrix type.
pub type Isometry<Real> = Isometry3<Real>;
/// The rotation type.
pub type Rotation<Real> = UnitQuaternion<Real>;
/// The rotation matrix type.
pub type RotationMatrix<Real> = Rotation3<Real>;
/// The translation type.
pub type Translation<Real> = Translation3<Real>;
/// The inertia tensor type.
pub type AngularInertia<Real> = Matrix3<Real>;
/// The inertia matrix type.
pub type InertiaMatrix<Real> = Matrix6<Real>;
/// Square matrix with dimension `Dim × Dim`.
pub type Matrix<Real> = Matrix3<Real>;
/// Square matrix with dimension `SpatialDim × SpatialDim`.
pub type SpatialMatrix<Real> = Matrix6<Real>;
/// The type of a constraint jacobian in twist coordinates.
pub type Jacobian<Real> = Matrix6xX<Real>;
/// The type of a slice of the constraint jacobian in twist coordinates.
pub type JacobianSlice<'a, Real> = MatrixView6xX<'a, Real>;
/// The type of a mutable slice of the constraint jacobian in twist coordinates.
pub type JacobianSliceMut<'a, Real> = MatrixViewMut6xX<'a, Real>;
/// The cross-product matrix for the given vector.
pub fn gcross_matrix(v: &Vector<Real>) -> Matrix<Real> {
v.cross_matrix()
}
}
/// Compilation flags dependent aliases for mathematical types.
#[cfg(feature = "dim2")]
pub mod math {
use na::{
Isometry2, Matrix1, Matrix2, Matrix3, Matrix6xX, MatrixView3xX, MatrixViewMut3xX, Point2,
Rotation2, RowVector2, Translation2, UnitComplex, Vector1, Vector2, Vector3, U1, U2, U3,
};
/// The maximum number of possible rotations and translations of a rigid body.
pub const SPATIAL_DIM: usize = 3;
/// The maximum number of possible rotations of a rigid body.
pub const ANGULAR_DIM: usize = 1;
/// The maximum number of possible translations of a rigid body.
pub const DIM: usize = 2;
/// The scalar type.
pub type Real = f32;
/// The dimension of the ambient space.
pub type Dim = U2;
/// The dimension of the rotation.
pub type AngularDim = U1;
/// The dimension of a spatial vector.
pub type SpatialDim = U3;
/// The point type.
pub type Point<Real> = Point2<Real>;
/// The vector type with dimension `SpatialDim × 1`.
pub type SpatialVector<Real> = Vector3<Real>;
/// The angular vector type.
pub type AngularVector<Real> = Vector1<Real>;
/// The vector type.
pub type Vector<Real> = Vector2<Real>;
/// The orientation type.
pub type Orientation<Real> = Vector1<Real>;
/// The transformation matrix type.
pub type Isometry<Real> = Isometry2<Real>;
/// The rotation type.
pub type Rotation<Real> = UnitComplex<Real>;
/// The rotation matrix type.
pub type RotationMatrix<Real> = Rotation2<Real>;
/// The translation type.
pub type Translation<Real> = Translation2<Real>;
/// The inertia tensor type.
pub type AngularInertia<Real> = Matrix1<Real>;
/// The inertia matrix type.
pub type InertiaMatrix<Real> = Matrix3<Real>;
/// Square matrix with dimension `Dim × Dim`.
pub type Matrix<Real> = Matrix2<Real>;
/// Square matrix with dimension `SpatialDim × SpatialDim`.
pub type SpatialMatrix<Real> = Matrix3<Real>;
/// The type of a constraint jacobian in twist coordinates.
pub type Jacobian<Real> = Matrix6xX<Real>;
/// The type of a slice of the constraint jacobian in twist coordinates.
pub type JacobianSlice<'a, Real> = MatrixView3xX<'a, Real>;
/// The type of a mutable slice of the constraint jacobian in twist coordinates.
pub type JacobianSliceMut<'a, Real> = MatrixViewMut3xX<'a, Real>;
/// The cross-product matrix for the given vector, generalized in 2D.
pub fn gcross_matrix(v: &Vector<Real>) -> RowVector2<Real> {
RowVector2::new(-v.y, v.x)
}
}