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
/*!
salva
========
*/
#![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 = "http://nphysics.org/rustdoc/")]

extern crate nalgebra as na;
//#[cfg(feature = "dim2")]
//extern crate ncollide2d as ncollide;
//#[cfg(feature = "dim3")]
//extern crate ncollide3d as ncollide;

pub mod boundary;
pub mod fluid;
pub mod geometry;
pub mod kernel;
mod liquid_world;
pub mod solver;

pub use crate::liquid_world::LiquidWorld;

/// Compilation flags dependent aliases for mathematical types.
#[cfg(feature = "dim3")]
pub mod math {
    use na::{
        Dynamic, Isometry3, Matrix3, Matrix6, MatrixMN, MatrixSlice6xX, MatrixSliceMut6xX, 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 dimension of the ambiant 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<N> = Point3<N>;

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

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

    /// The rotation matrix type.
    pub type RotationMatrix<N> = Rotation3<N>;

    /// The translation type.
    pub type Translation<N> = Translation3<N>;

    /// The inertia tensor type.
    pub type AngularInertia<N> = Matrix3<N>;

    /// The inertia matrix type.
    pub type InertiaMatrix<N> = Matrix6<N>;

    /// Square matrix with dimension `Dim × Dim`.
    pub type Matrix<N> = Matrix3<N>;

    /// Square matrix with dimension `SpatialDim × SpatialDim`.
    pub type SpatialMatrix<N> = Matrix6<N>;

    /// The type of a constraint jacobian in twist coordinates.
    pub type Jacobian<N> = MatrixMN<N, U6, Dynamic>;

    /// The type of a slice of the constraint jacobian in twist coordinates.
    pub type JacobianSlice<'a, N> = MatrixSlice6xX<'a, N>;

    /// The type of a mutable slice of the constraint jacobian in twist coordinates.
    pub type JacobianSliceMut<'a, N> = MatrixSliceMut6xX<'a, N>;
}

/// Compilation flags dependent aliases for mathematical types.
#[cfg(feature = "dim2")]
pub mod math {
    use na::{
        Dynamic, Isometry2, Matrix1, Matrix2, Matrix3, MatrixMN, MatrixSlice3xX, MatrixSliceMut3xX,
        Point2, Rotation2, 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 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<N> = Point2<N>;

    /// The vector type with dimension `SpatialDim × 1`.
    pub type SpatialVector<N> = Vector3<N>;

    /// The angular vector type.
    pub type AngularVector<N> = Vector1<N>;

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

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

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

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

    /// The rotation matrix type.
    pub type RotationMatrix<N> = Rotation2<N>;

    /// The translation type.
    pub type Translation<N> = Translation2<N>;

    /// The inertia tensor type.
    pub type AngularInertia<N> = Matrix1<N>;

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

    /// Square matrix with dimension `Dim × Dim`.
    pub type Matrix<N> = Matrix2<N>;

    /// Square matrix with dimension `SpatialDim × SpatialDim`.
    pub type SpatialMatrix<N> = Matrix3<N>;

    /// The type of a constraint jacobian in twist coordinates.
    pub type Jacobian<N> = MatrixMN<N, U3, Dynamic>;

    /// The type of a slice of the constraint jacobian in twist coordinates.
    pub type JacobianSlice<'a, N> = MatrixSlice3xX<'a, N>;

    /// The type of a mutable slice of the constraint jacobian in twist coordinates.
    pub type JacobianSliceMut<'a, N> = MatrixSliceMut3xX<'a, N>;
}