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#![deny(non_camel_case_types)]
#![deny(unused_parens)]
#![deny(non_upper_case_globals)]
#![deny(unused_qualifications)]
#![deny(unused_results)]
#![warn(missing_docs)]
#![warn(unused_imports)]
#![allow(missing_copy_implementations)]
#![doc(html_root_url = "http://docs.rs/parry/0.1.1")]
#[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."
);
#[cfg(all(feature = "simd-is-enabled", feature = "f64"))]
std::compile_error!(
"Explicit SIMD optimization are not yet supported when the f64 feature is enabled."
);
macro_rules! array(
($callback: expr; SIMD_WIDTH) => {
{
#[inline(always)]
#[allow(dead_code)]
fn create_arr<T>(mut callback: impl FnMut(usize) -> T) -> [T; SIMD_WIDTH] {
[callback(0usize), callback(1usize), callback(2usize), callback(3usize)]
}
create_arr($callback)
}
}
);
#[cfg(feature = "serde")]
#[macro_use]
extern crate serde;
#[macro_use]
extern crate approx;
#[macro_use]
#[cfg(feature = "dim3")]
extern crate bitflags;
extern crate num_traits as num;
pub extern crate nalgebra as na;
pub extern crate simba;
pub mod bounding_volume;
pub mod mass_properties;
pub mod partitioning;
pub mod query;
pub mod shape;
pub mod transformation;
pub mod utils;
mod real {
#[cfg(feature = "f64")]
pub type Real = f64;
#[cfg(feature = "f32")]
pub type Real = f32;
}
#[cfg(feature = "dim3")]
pub mod math {
pub use super::real::*;
pub use super::simd::*;
use na::{Isometry3, Matrix3, Point3, Translation3, UnitQuaternion, Vector3, Vector6, U3, U6};
pub const DEFAULT_EPSILON: Real = Real::EPSILON;
pub const DIM: usize = 3;
pub type Dim = U3;
pub type SpatialDim = U6;
pub type AngDim = U3;
pub type Point<N> = Point3<N>;
pub type AngVector<N> = Vector3<N>;
pub type Vector<N> = Vector3<N>;
pub type Matrix<N> = Matrix3<N>;
pub type SpatialVector<N> = Vector6<N>;
pub type Orientation<N> = Vector3<N>;
pub type Isometry<N> = Isometry3<N>;
pub type Rotation<N> = UnitQuaternion<N>;
pub type Translation<N> = Translation3<N>;
pub type AngularInertia<N> = crate::utils::SdpMatrix3<N>;
pub type PrincipalAngularInertia<N> = Vector3<N>;
pub type CrossMatrix<N> = Matrix3<N>;
pub type SpacialVector<N> = Vector6<N>;
pub type SdpMatrix<N> = crate::utils::SdpMatrix3<N>;
}
#[cfg(feature = "dim2")]
pub mod math {
pub use super::real::*;
pub use super::simd::*;
use na::{
Isometry2, Matrix2, Point2, Translation2, UnitComplex, Vector1, Vector2, Vector3, U2,
};
pub const DEFAULT_EPSILON: Real = Real::EPSILON;
pub const DIM: usize = 2;
pub type Dim = U2;
pub type Point<N> = Point2<N>;
pub type AngVector<N> = N;
pub type Vector<N> = Vector2<N>;
pub type Matrix<N> = Matrix2<N>;
pub type Orientation<N> = Vector1<N>;
pub type Isometry<N> = Isometry2<N>;
pub type Rotation<N> = UnitComplex<N>;
pub type Translation<N> = Translation2<N>;
pub type AngularInertia<N> = N;
pub type PrincipalAngularInertia<N> = N;
pub type CrossMatrix<N> = Vector2<N>;
pub type SpacialVector<N> = Vector3<N>;
pub type SdpMatrix<N> = crate::utils::SdpMatrix2<N>;
}
#[cfg(not(feature = "simd-is-enabled"))]
mod simd {
use simba::simd::AutoBoolx4;
pub const SIMD_WIDTH: usize = 4;
pub const SIMD_LAST_INDEX: usize = 3;
#[cfg(feature = "f32")]
pub type SimdReal = simba::simd::AutoF32x4;
#[cfg(feature = "f64")]
pub type SimdReal = simba::simd::AutoF64x4;
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};
pub const SIMD_WIDTH: usize = 4;
pub const SIMD_LAST_INDEX: usize = 3;
#[cfg(not(feature = "simd-nightly"))]
pub type SimdReal = WideF32x4;
#[cfg(not(feature = "simd-nightly"))]
pub type SimdBool = WideBoolF32x4;
#[cfg(feature = "simd-nightly")]
pub type SimdReal = f32x4;
#[cfg(feature = "simd-nightly")]
pub type SimdBool = m32x4;
}