1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
/*!
parry
========

**parry** is a 2 and 3-dimensional geometric library written with
the rust programming language.

*/

#![deny(non_camel_case_types)]
#![deny(unused_parens)]
#![deny(non_upper_case_globals)]
#![deny(unused_results)]
#![warn(missing_docs)] // TODO: deny this
#![warn(unused_imports)]
#![allow(missing_copy_implementations)]
#![allow(clippy::too_many_arguments)] // Maybe revisit this one later.
#![allow(clippy::module_inception)]
#![allow(clippy::manual_range_contains)] // This usually makes it way more verbose that it could be.
#![allow(clippy::type_complexity)] // Complains about closures that are fairly simple.
#![doc(html_root_url = "http://docs.rs/parry/0.1.1")]
#![cfg_attr(not(feature = "std"), no_std)]
#![cfg_attr(not(feature = "rkyv"), deny(unused_qualifications))] // TODO: deny that everytime

#[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."
);

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(all(feature = "alloc", not(feature = "std")))]
#[cfg_attr(test, macro_use)]
extern crate alloc;

#[cfg(not(feature = "std"))]
extern crate core as std;

#[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 either;
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;
#[cfg(feature = "std")]
pub mod transformation;
pub mod utils;

mod real {
    /// The scalar type used throughout this crate.
    #[cfg(feature = "f64")]
    pub type Real = f64;

    /// The scalar type used throughout this crate.
    #[cfg(feature = "f32")]
    pub type Real = f32;
}

/// Compilation flags dependent aliases for mathematical types.
#[cfg(feature = "dim3")]
pub mod math {
    pub use super::real::*;
    pub use super::simd::*;
    use na::{
        Isometry3, Matrix3, Point3, Translation3, UnitQuaternion, UnitVector3, Vector3, Vector6,
        U3, U6,
    };

    /// The default tolerance used for geometric operations.
    pub const DEFAULT_EPSILON: Real = Real::EPSILON;

    /// The dimension of the space.
    pub const DIM: usize = 3;

    /// The dimension of the space multiplied by two.
    pub const TWO_DIM: usize = DIM * 2;

    /// 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 AngDim = U3;

    /// The point type.
    pub type Point<N> = Point3<N>;

    /// The angular vector type.
    pub type AngVector<N> = Vector3<N>;

    /// The vector type.
    pub type Vector<N> = Vector3<N>;

    /// The unit vector type.
    pub type UnitVector<N> = UnitVector3<N>;

    /// The matrix type.
    pub type Matrix<N> = Matrix3<N>;

    /// The vector type with dimension `SpatialDim × 1`.
    pub type SpatialVector<N> = Vector6<N>;

    /// The orientation type.
    pub type Orientation<N> = Vector3<N>;

    /// The transformation matrix type.
    pub type Isometry<N> = Isometry3<N>;

    /// The rotation matrix type.
    pub type Rotation<N> = UnitQuaternion<N>;

    /// The translation type.
    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 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>;
}

/// Compilation flags dependent aliases for mathematical types.
#[cfg(feature = "dim2")]
pub mod math {
    pub use super::real::*;
    pub use super::simd::*;
    use na::{
        Isometry2, Matrix2, Point2, Translation2, UnitComplex, UnitVector2, Vector1, Vector2,
        Vector3, U1, U2,
    };

    /// The default tolerance used for geometric operations.
    pub const DEFAULT_EPSILON: Real = Real::EPSILON;

    /// The dimension of the space.
    pub const DIM: usize = 2;

    /// The dimension of the space multiplied by two.
    pub const TWO_DIM: usize = DIM * 2;

    /// The dimension of the ambient space.
    pub type Dim = U2;

    /// The dimension of the rotations.
    pub type AngDim = U1;

    /// The point type.
    pub type Point<N> = Point2<N>;

    /// The angular vector type.
    pub type AngVector<N> = N;

    /// The vector type.
    pub type Vector<N> = Vector2<N>;

    /// The unit vector type.
    pub type UnitVector<N> = UnitVector2<N>;

    /// The matrix type.
    pub type Matrix<N> = Matrix2<N>;

    /// The orientation type.
    pub type Orientation<N> = Vector1<N>;

    /// The transformation matrix type.
    pub type Isometry<N> = Isometry2<N>;

    /// The rotation matrix type.
    pub type Rotation<N> = UnitComplex<N>;

    /// The translation type.
    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 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(not(feature = "simd-is-enabled"))]
mod simd {
    use simba::simd::AutoBoolx4;
    /// 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.
    #[cfg(feature = "f32")]
    pub type SimdReal = simba::simd::AutoF32x4;

    /// A SIMD float with SIMD_WIDTH lanes.
    #[cfg(feature = "f64")]
    pub type SimdReal = simba::simd::AutoF64x4;

    /// A SIMD bool with SIMD_WIDTH lanes.
    pub type SimdBool = AutoBoolx4;
}

#[cfg(feature = "simd-is-enabled")]
mod simd {
    #[cfg(all(feature = "simd-nightly", feature = "f32"))]
    pub use simba::simd::{f32x4 as SimdReal, m32x4 as SimdBool};
    #[cfg(all(feature = "simd-stable", feature = "f32"))]
    pub use simba::simd::{WideBoolF32x4 as SimdBool, WideF32x4 as SimdReal};

    #[cfg(all(feature = "simd-nightly", feature = "f64"))]
    pub use simba::simd::{f64x4 as SimdReal, m64x4 as SimdBool};
    #[cfg(all(feature = "simd-stable", feature = "f64"))]
    pub use simba::simd::{WideBoolF64x4 as SimdBool, WideF64x4 as SimdReal};

    /// The number of lanes of a SIMD number.
    pub const SIMD_WIDTH: usize = 4;
    /// SIMD_WIDTH - 1
    pub const SIMD_LAST_INDEX: usize = 3;
}