Fix compilation when SIMD is not enabled.

src/geometry/waabb.rs

@@ -5,14 +5,12 @@ use crate::math::{Point, Vector, SIMD_WIDTH};
 use crate::utils;
 use ncollide::bounding_volume::AABB;
 use num::{One, Zero};
-#[cfg(feature = "simd-is-enabled")]
 use {
     crate::math::{SimdBool, SimdFloat},
     simba::simd::{SimdPartialOrd, SimdValue},
 };
 
 #[derive(Debug, Copy, Clone)]
-#[cfg(feature = "simd-is-enabled")]
 pub(crate) struct WRay {
     pub origin: Point<SimdFloat>,
     pub dir: Vector<SimdFloat>,
@@ -28,26 +26,11 @@ impl WRay {
 }
 
 #[derive(Debug, Copy, Clone)]
-#[cfg(not(feature = "simd-is-enabled"))]
-pub(crate) struct WRay {
-    pub origin: [Point<f32>; SIMD_WIDTH],
-    pub dir: [Vector<f32>; SIMD_WIDTH],
-}
-
-#[derive(Debug, Copy, Clone)]
-#[cfg(feature = "simd-is-enabled")]
 pub(crate) struct WAABB {
     pub mins: Point<SimdFloat>,
     pub maxs: Point<SimdFloat>,
 }
 
-#[derive(Debug, Copy, Clone)]
-#[cfg(not(feature = "simd-is-enabled"))]
-pub(crate) struct WAABB {
-    pub mins: [Point<f32>; SIMD_WIDTH],
-    pub maxs: [Point<f32>; SIMD_WIDTH],
-}
-
 #[cfg(feature = "serde-serialize")]
 impl serde::Serialize for WAABB {
     fn serialize<S>(&self, serializer: S) -> Result<S::Ok, S::Error>
@@ -56,24 +39,17 @@ impl serde::Serialize for WAABB {
     {
         use serde::ser::SerializeStruct;
 
-        #[cfg(feature = "simd-is-enabled")]
         let mins: Point<[f32; SIMD_WIDTH]> = Point::from(
             self.mins
                 .coords
                 .map(|e| array![|ii| e.extract(ii); SIMD_WIDTH]),
         );
-        #[cfg(feature = "simd-is-enabled")]
         let maxs: Point<[f32; SIMD_WIDTH]> = Point::from(
             self.maxs
                 .coords
                 .map(|e| array![|ii| e.extract(ii); SIMD_WIDTH]),
         );
 
-        #[cfg(not(feature = "simd-is-enabled"))]
-        let mins = self.mins;
-        #[cfg(not(feature = "simd-is-enabled"))]
-        let maxs = self.maxs;
-
         let mut waabb = serializer.serialize_struct("WAABB", 2)?;
         waabb.serialize_field("mins", &mins)?;
         waabb.serialize_field("maxs", &maxs)?;
@@ -98,7 +74,6 @@ impl<'de> serde::Deserialize<'de> for WAABB {
                 )
             }
 
-            #[cfg(feature = "simd-is-enabled")]
             fn visit_seq<A>(self, mut seq: A) -> Result<Self::Value, A::Error>
             where
                 A: serde::de::SeqAccess<'de>,
@@ -113,27 +88,12 @@ impl<'de> serde::Deserialize<'de> for WAABB {
                 let maxs = Point::from(maxs.coords.map(|e| SimdFloat::from(e)));
                 Ok(WAABB { mins, maxs })
             }
-
-            #[cfg(not(feature = "simd-is-enabled"))]
-            fn visit_seq<A>(self, mut seq: A) -> Result<Self::Value, A::Error>
-            where
-                A: serde::de::SeqAccess<'de>,
-            {
-                let mins = seq
-                    .next_element()?
-                    .ok_or_else(|| serde::de::Error::invalid_length(0, &self))?;
-                let maxs = seq
-                    .next_element()?
-                    .ok_or_else(|| serde::de::Error::invalid_length(1, &self))?;
-                Ok(WAABB { mins, maxs })
-            }
         }
 
         deserializer.deserialize_struct("WAABB", &["mins", "maxs"], Visitor {})
     }
 }
 
-#[cfg(feature = "simd-is-enabled")]
 impl WAABB {
     pub fn new(mins: Point<SimdFloat>, maxs: Point<SimdFloat>) -> Self {
         Self { mins, maxs }
@@ -241,7 +201,6 @@ impl WAABB {
     }
 }
 
-#[cfg(feature = "simd-is-enabled")]
 impl From<[AABB<f32>; SIMD_WIDTH]> for WAABB {
     fn from(aabbs: [AABB<f32>; SIMD_WIDTH]) -> Self {
         let mins = array![|ii| aabbs[ii].mins; SIMD_WIDTH];
@@ -253,51 +212,3 @@ impl From<[AABB<f32>; SIMD_WIDTH]> for WAABB {
         }
     }
 }
-
-#[cfg(not(feature = "simd-is-enabled"))]
-impl WAABB {
-    pub fn new_invalid() -> Self {
-        Self::splat(AABB::new_invalid())
-    }
-
-    pub fn splat(aabb: AABB<f32>) -> Self {
-        Self {
-            mins: [aabb.mins; SIMD_WIDTH],
-            maxs: [aabb.maxs; SIMD_WIDTH],
-        }
-    }
-
-    #[cfg(feature = "dim2")]
-    pub fn intersects_lanewise(&self, other: &WAABB) -> [bool; SIMD_WIDTH] {
-        array![|ii|
-            self.mins[ii].x <= other.maxs[ii].x
-                && other.mins[ii].x <= self.maxs[ii].x
-                && self.mins[ii].y <= other.maxs[ii].y
-                && other.mins[ii].y <= self.maxs[ii].y
-            ; SIMD_WIDTH
-        ]
-    }
-
-    #[cfg(feature = "dim3")]
-    pub fn intersects_lanewise(&self, other: &WAABB) -> [bool; SIMD_WIDTH] {
-        array![|ii|
-            self.mins[ii].x <= other.maxs[ii].x
-                && other.mins[ii].x <= self.maxs[ii].x
-                && self.mins[ii].y <= other.maxs[ii].y
-                && other.mins[ii].y <= self.maxs[ii].y
-                && self.mins[ii].z <= other.maxs[ii].z
-                && other.mins[ii].z <= self.maxs[ii].z
-            ; SIMD_WIDTH
-        ]
-    }
-}
-
-#[cfg(not(feature = "simd-is-enabled"))]
-impl From<[AABB<f32>; SIMD_WIDTH]> for WAABB {
-    fn from(aabbs: [AABB<f32>; SIMD_WIDTH]) -> Self {
-        let mins = array![|ii| aabbs[ii].mins; SIMD_WIDTH];
-        let maxs = array![|ii| aabbs[ii].maxs; SIMD_WIDTH];
-
-        WAABB { mins, maxs }
-    }
-}

src/lib.rs

@@ -219,8 +219,15 @@ pub mod math {
 
 #[cfg(not(feature = "simd-is-enabled"))]
 mod simd {
+    use simba::simd::{AutoBoolx4, AutoF32x4};
     /// 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.
+    pub type SimdFloat = AutoF32x4;
+    /// A SIMD bool with SIMD_WIDTH lanes.
+    pub type SimdBool = AutoBoolx4;
 }
 
 #[cfg(feature = "simd-is-enabled")]
@@ -236,16 +243,16 @@ mod simd {
     /// SIMD_WIDTH - 1
     pub const SIMD_LAST_INDEX: usize = 3;
     #[cfg(not(feature = "simd-nightly"))]
-    /// A SIMD float with SIMD_WIDTH lanes.
+    /// A SIMD float with SIMD_WIDTH lanes.
     pub type SimdFloat = WideF32x4;
     #[cfg(not(feature = "simd-nightly"))]
-    /// A SIMD bool with SIMD_WIDTH lanes.
+    /// A SIMD bool with SIMD_WIDTH lanes.
     pub type SimdBool = WideBoolF32x4;
     #[cfg(feature = "simd-nightly")]
-    /// A SIMD float with SIMD_WIDTH lanes.
+    /// A SIMD float with SIMD_WIDTH lanes.
     pub type SimdFloat = f32x4;
     #[cfg(feature = "simd-nightly")]
-    /// A bool float with SIMD_WIDTH lanes.
+    /// A bool float with SIMD_WIDTH lanes.
     pub type SimdBool = m32x4;
 
     // pub const SIMD_WIDTH: usize = 8;

src/utils.rs

@@ -5,12 +5,10 @@ use crate::dynamics::RigidBodyHandle;
 use indexmap::IndexMap as HashMap;
 use na::{Matrix2, Matrix3, Matrix3x2, Point2, Point3, Scalar, SimdRealField, Vector2, Vector3};
 use num::Zero;
-#[cfg(feature = "simd-is-enabled")]
 use simba::simd::SimdValue;
 #[cfg(all(not(feature = "enhanced-determinism"), feature = "serde-serialize"))]
 use std::collections::HashMap;
 use std::ops::{Add, Mul};
-#[cfg(feature = "simd-is-enabled")]
 use {
     crate::simd::{SimdBool, SimdFloat},
     na::SimdPartialOrd,
@@ -39,7 +37,6 @@ pub(crate) fn inv(val: f32) -> f32 {
 ///
 /// For each `i in [0..SIMD_WIDTH[`, if `do_swap.extract(i)` is `true` then
 /// `a.extract(i)` is swapped with `b.extract(i)`.
-#[cfg(feature = "simd-is-enabled")]
 pub fn simd_swap(do_swap: SimdBool, a: &mut SimdFloat, b: &mut SimdFloat) {
     let _a = *a;
     *a = b.select(do_swap, *a);
@@ -92,7 +89,6 @@ impl<N: Scalar + Copy + WSign<N>> WSign<Vector3<N>> for Vector3<N> {
     }
 }
 
-#[cfg(feature = "simd-is-enabled")]
 impl WSign<SimdFloat> for SimdFloat {
     fn copy_sign_to(self, to: SimdFloat) -> SimdFloat {
         self.simd_copysign(to)
@@ -117,7 +113,6 @@ impl WComponent for f32 {
     }
 }
 
-#[cfg(feature = "simd-is-enabled")]
 impl WComponent for SimdFloat {
     type Element = f32;
 
@@ -334,7 +329,6 @@ impl WDot<f32> for f32 {
     }
 }
 
-#[cfg(feature = "simd-is-enabled")]
 impl WCrossMatrix for Vector3<SimdFloat> {
     type CrossMat = Matrix3<SimdFloat>;
 
@@ -349,7 +343,6 @@ impl WCrossMatrix for Vector3<SimdFloat> {
     }
 }
 
-#[cfg(feature = "simd-is-enabled")]
 impl WCrossMatrix for Vector2<SimdFloat> {
     type CrossMat = Vector2<SimdFloat>;
 
@@ -359,7 +352,6 @@ impl WCrossMatrix for Vector2<SimdFloat> {
     }
 }
 
-#[cfg(feature = "simd-is-enabled")]
 impl WCross<Vector3<SimdFloat>> for Vector3<SimdFloat> {
     type Result = Vector3<SimdFloat>;
 
@@ -368,7 +360,6 @@ impl WCross<Vector3<SimdFloat>> for Vector3<SimdFloat> {
     }
 }
 
-#[cfg(feature = "simd-is-enabled")]
 impl WCross<Vector2<SimdFloat>> for SimdFloat {
     type Result = Vector2<SimdFloat>;
 
@@ -377,7 +368,6 @@ impl WCross<Vector2<SimdFloat>> for SimdFloat {
     }
 }
 
-#[cfg(feature = "simd-is-enabled")]
 impl WCross<Vector2<SimdFloat>> for Vector2<SimdFloat> {
     type Result = SimdFloat;
 
@@ -388,7 +378,6 @@ impl WCross<Vector2<SimdFloat>> for Vector2<SimdFloat> {
     }
 }
 
-#[cfg(feature = "simd-is-enabled")]
 impl WDot<Vector3<SimdFloat>> for Vector3<SimdFloat> {
     type Result = SimdFloat;
 
@@ -397,7 +386,6 @@ impl WDot<Vector3<SimdFloat>> for Vector3<SimdFloat> {
     }
 }
 
-#[cfg(feature = "simd-is-enabled")]
 impl WDot<Vector2<SimdFloat>> for Vector2<SimdFloat> {
     type Result = SimdFloat;
 
@@ -406,7 +394,6 @@ impl WDot<Vector2<SimdFloat>> for Vector2<SimdFloat> {
     }
 }
 
-#[cfg(feature = "simd-is-enabled")]
 impl WDot<SimdFloat> for SimdFloat {
     type Result = SimdFloat;
 
@@ -460,7 +447,6 @@ impl WAngularInertia<f32> for f32 {
     }
 }
 
-#[cfg(feature = "simd-is-enabled")]
 impl WAngularInertia<SimdFloat> for SimdFloat {
     type AngVector = SimdFloat;
     type LinVector = Vector2<SimdFloat>;
@@ -875,7 +861,6 @@ impl WAngularInertia<f32> for SdpMatrix3<f32> {
     }
 }
 
-#[cfg(feature = "simd-is-enabled")]
 impl WAngularInertia<SimdFloat> for SdpMatrix3<SimdFloat> {
     type AngVector = Vector3<SimdFloat>;
     type LinVector = Vector3<SimdFloat>;