Fix 2D compilation.

src/dynamics/solver/delta_vel.rs

@@ -1,4 +1,4 @@
-use crate::math::{AngVector, Real, Vector};
+use crate::math::{AngVector, Vector};
 use na::{Scalar, SimdRealField};
 
 #[derive(Copy, Clone, Debug)]

src/dynamics/solver/interaction_groups.rs

@@ -2,7 +2,7 @@ use crate::dynamics::{BodyPair, JointGraphEdge, JointIndex, RigidBodySet};
 use crate::geometry::{ContactManifold, ContactManifoldIndex};
 #[cfg(feature = "simd-is-enabled")]
 use {
-    crate::math::{Real, SIMD_LAST_INDEX, SIMD_WIDTH},
+    crate::math::{SIMD_LAST_INDEX, SIMD_WIDTH},
     vec_map::VecMap,
 };
 

src/dynamics/solver/joint_constraint/fixed_position_constraint_wide.rs

@@ -1,8 +1,6 @@
 use super::{FixedPositionConstraint, FixedPositionGroundConstraint};
-use crate::dynamics::{FixedJoint, IntegrationParameters, JointIndex, RigidBody};
-use crate::math::{AngularInertia, Isometry, Point, Real, Rotation, Vector, SIMD_WIDTH};
-use crate::utils::WAngularInertia;
-use na::Unit;
+use crate::dynamics::{FixedJoint, IntegrationParameters, RigidBody};
+use crate::math::{Isometry, Real, SIMD_WIDTH};
 
 // TODO: this does not uses SIMD optimizations yet.
 #[derive(Debug)]

src/dynamics/solver/joint_constraint/prismatic_position_constraint_wide.rs

@@ -1,8 +1,6 @@
 use super::{PrismaticPositionConstraint, PrismaticPositionGroundConstraint};
-use crate::dynamics::{IntegrationParameters, JointIndex, PrismaticJoint, RigidBody};
-use crate::math::{AngularInertia, Isometry, Point, Real, Rotation, Vector, SIMD_WIDTH};
-use crate::utils::WAngularInertia;
-use na::Unit;
+use crate::dynamics::{IntegrationParameters, PrismaticJoint, RigidBody};
+use crate::math::{Isometry, Real, SIMD_WIDTH};
 
 // TODO: this does not uses SIMD optimizations yet.
 #[derive(Debug)]

src/geometry/contact_pair.rs

@@ -1,5 +1,5 @@
 use crate::dynamics::{BodyPair, RigidBodySet};
-use crate::geometry::{Collider, ColliderPair, ContactManifold};
+use crate::geometry::{ColliderPair, ContactManifold};
 use crate::math::{Point, Real, Vector};
 use cdl::query::ContactManifoldsWorkspace;
 

src/pipeline/query_pipeline.rs

@@ -58,7 +58,7 @@ impl<'a> TypedSimdCompositeShape for QueryPipelineAsCompositeShape<'a> {
     fn map_untyped_part_at(
         &self,
         shape_id: Self::PartId,
-        mut f: impl FnMut(Option<&Isometry<Real>>, &Self::PartShape),
+        f: impl FnMut(Option<&Isometry<Real>>, &Self::PartShape),
     ) {
         self.map_typed_part_at(shape_id, f);
     }
@@ -216,7 +216,7 @@ impl QueryPipeline {
     }
 
     /// Find up to one collider intersecting the given shape.
-    fn intersection_with_shape(
+    pub fn intersection_with_shape(
         &self,
         colliders: &ColliderSet,
         shape_pos: &Isometry<Real>,
@@ -237,7 +237,7 @@ impl QueryPipeline {
     }
 
     /// Projects a point on the scene.
-    fn project_point(
+    pub fn project_point(
         &self,
         colliders: &ColliderSet,
         point: &Point<Real>,
@@ -279,7 +279,7 @@ impl QueryPipeline {
     }
 
     /// Projects a point on the scene and get
-    fn project_point_and_get_feature(
+    pub fn project_point_and_get_feature(
         &self,
         colliders: &ColliderSet,
         point: &Point<Real>,