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
#![deny(bare_trait_objects)]
#![warn(missing_docs)]
#[cfg(all(feature = "dim2", feature = "f32"))]
pub extern crate parry2d as parry;
#[cfg(all(feature = "dim2", feature = "f64"))]
pub extern crate parry2d_f64 as parry;
#[cfg(all(feature = "dim3", feature = "f32"))]
pub extern crate parry3d as parry;
#[cfg(all(feature = "dim3", feature = "f64"))]
pub extern crate parry3d_f64 as parry;
pub extern crate crossbeam;
pub extern crate nalgebra as na;
#[cfg(feature = "serde")]
#[macro_use]
extern crate serde;
extern crate num_traits as num;
#[cfg(feature = "parallel")]
pub use rayon;
#[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! enable_flush_to_zero(
() => {
let _flush_to_zero = crate::utils::FlushToZeroDenormalsAreZeroFlags::flush_denormal_to_zero();
}
);
#[cfg(feature = "simd-is-enabled")]
macro_rules! gather(
($callback: expr) => {
{
#[inline(always)]
#[allow(dead_code)]
fn create_arr<T>(mut callback: impl FnMut(usize) -> T) -> [T; SIMD_WIDTH] {
[callback(0usize), callback(1usize), callback(2usize), callback(3usize)]
}
create_arr($callback)
}
}
);
#[allow(unused_macros)]
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 = $t.par_iter_mut();
it
}};
}
#[allow(unused_macros)]
macro_rules! try_ret {
($val: expr) => {
try_ret!($val, ())
};
($val: expr, $ret: expr) => {
if let Some(val) = $val {
val
} else {
return $ret;
}
};
}
pub(crate) const INVALID_U32: u32 = u32::MAX;
pub(crate) const INVALID_USIZE: usize = INVALID_U32 as usize;
pub const VERSION: &str = env!("CARGO_PKG_VERSION");
pub mod counters;
pub mod data;
pub mod dynamics;
pub mod geometry;
pub mod pipeline;
pub mod utils;
pub mod math {
pub use parry::math::*;
#[cfg(feature = "dim2")]
pub const MAX_MANIFOLD_POINTS: usize = 2;
#[cfg(feature = "dim2")]
pub type Jacobian<N> = na::Matrix3xX<N>;
#[cfg(feature = "dim2")]
pub type JacobianSlice<'a, N> = na::MatrixSlice3xX<'a, N>;
#[cfg(feature = "dim2")]
pub type JacobianSliceMut<'a, N> = na::MatrixSliceMut3xX<'a, N>;
#[cfg(feature = "dim2")]
pub const SPATIAL_DIM: usize = 3;
#[cfg(feature = "dim2")]
pub const ANG_DIM: usize = 1;
#[cfg(feature = "dim3")]
pub const MAX_MANIFOLD_POINTS: usize = 4;
#[cfg(feature = "dim3")]
pub type Jacobian<N> = na::Matrix6xX<N>;
#[cfg(feature = "dim3")]
pub type JacobianSlice<'a, N> = na::MatrixSlice6xX<'a, N>;
#[cfg(feature = "dim3")]
pub type JacobianSliceMut<'a, N> = na::MatrixSliceMut6xX<'a, N>;
#[cfg(feature = "dim3")]
pub const SPATIAL_DIM: usize = 6;
#[cfg(feature = "dim3")]
pub const ANG_DIM: usize = 3;
}
pub mod prelude {
pub use crate::dynamics::*;
pub use crate::geometry::*;
pub use crate::math::*;
pub use crate::pipeline::*;
pub use na::{point, vector, DMatrix, DVector};
pub extern crate nalgebra;
}