Fix compilation in 2D.

CHANGELOG

@@ -1,6 +1,10 @@
 ## v0.2.0 - WIP
+The most significant change on this version is the addition of the `QueryPipeline` responsible for performing
+scene-wide queries. So far only ray-casting has been implemented.
 
-- Add `PhysicsPipeline::remove_collider(...)` to remove a collider from the `ColliderSet`.
+- Add `ColliderSet::remove(...)` to remove a collider from the `ColliderSet`.
+- Replace `PhysicsPipeline::remove_rigid_body` by `RigidBodySet::remove`.
+- The `JointSet.iter()` now returns an iterator yielding `(JointHandle, &Joint)` instead of just `&Joint`.
 - Add `ColliderDesc::translation(...)` to set the translation of a collider relative to the rigid-body it is attached to.
 - Add `ColliderDesc::rotation(...)` to set the rotation of a collider relative to the rigid-body it is attached to.
 - Add `ColliderDesc::position(...)` to set the position of a collider relative to the rigid-body it is attached to.

examples2d/add_remove2.rs

@@ -28,14 +28,9 @@ pub fn init_world(testbed: &mut Testbed) {
             .map(|e| e.0)
             .collect();
         for handle in to_remove {
-            physics.pipeline.remove_rigid_body(
+            physics
-                handle,
+                .bodies
-                &mut physics.broad_phase,
+                .remove(handle, &mut physics.colliders, &mut physics.joints);
-                &mut physics.narrow_phase,
-                &mut physics.bodies,
-                &mut physics.colliders,
-                &mut physics.joints,
-            );
             graphics.remove_body_nodes(window, handle);
         }
     });

src/geometry/collider.rs

@@ -124,7 +124,7 @@ impl Shape {
             }
             Shape::Cuboid(cuboid) => cuboid.toi_and_normal_with_ray(position, ray, max_toi, true),
             #[cfg(feature = "dim2")]
-            Shape::Triangle(triangle) => {
+            Shape::Triangle(_) | Shape::Trimesh(_) => {
                 // This is not implemented yet in 2D.
                 None
             }
@@ -132,6 +132,7 @@ impl Shape {
             Shape::Triangle(triangle) => {
                 triangle.toi_and_normal_with_ray(position, ray, max_toi, true)
             }
+            #[cfg(feature = "dim3")]
             Shape::Trimesh(trimesh) => {
                 trimesh.toi_and_normal_with_ray(position, ray, max_toi, true)
             }

src/geometry/trimesh.rs

@@ -1,9 +1,14 @@
-use crate::geometry::{Ray, RayIntersection, Triangle, WQuadtree};
+use crate::geometry::{Triangle, WQuadtree};
 use crate::math::{Isometry, Point};
-use crate::ncollide::query::RayCast;
 use na::Point3;
 use ncollide::bounding_volume::{HasBoundingVolume, AABB};
 
+#[cfg(feature = "dim3")]
+use {
+    crate::geometry::{Ray, RayIntersection},
+    ncollide::query::RayCast,
+};
+
 #[derive(Clone)]
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
 /// A triangle mesh.
@@ -105,6 +110,7 @@ impl Trimesh {
     }
 }
 
+#[cfg(feature = "dim3")]
 impl RayCast<f32> for Trimesh {
     fn toi_and_normal_with_ray(
         &self,

src/geometry/wquadtree.rs

@@ -1,6 +1,8 @@
 use crate::geometry::{ColliderHandle, ColliderSet, Ray, AABB};
 use crate::geometry::{WRay, WAABB};
-use crate::math::{Point, Vector};
+use crate::math::Point;
+#[cfg(feature = "dim3")]
+use crate::math::Vector;
 use crate::simd::{SimdFloat, SIMD_WIDTH};
 use ncollide::bounding_volume::BoundingVolume;
 use simba::simd::{SimdBool, SimdValue};
@@ -252,6 +254,7 @@ impl<T: IndexedData> WQuadtree<T> {
 
         // Find the axis with minimum variance. This is the axis along
         // which we are **not** subdividing our set.
+        #[allow(unused_mut)] // Does not need to be mutable in 2D.
         let mut subdiv_dims = [0, 1];
         #[cfg(feature = "dim3")]
         {
@@ -466,6 +469,7 @@ impl<T: IndexedData> WQuadtreeIncrementalBuilder<T> {
 
             // Find the axis with minimum variance. This is the axis along
             // which we are **not** subdividing our set.
+            #[allow(unused_mut)] // Does not need to be mutable in 2D.
             let mut subdiv_dims = [0, 1];
             #[cfg(feature = "dim3")]
             {

src/pipeline/physics_pipeline.rs

@@ -58,18 +58,6 @@ impl PhysicsPipeline {
         }
     }
 
-    /// Remove this.
-    pub fn maintain(
-        &mut self,
-        broad_phase: &mut BroadPhase,
-        narrow_phase: &mut NarrowPhase,
-        bodies: &mut RigidBodySet,
-        colliders: &mut ColliderSet,
-    ) {
-        broad_phase.maintain(colliders);
-        narrow_phase.maintain(colliders, bodies);
-    }
-
     /// Executes one timestep of the physics simulation.
     pub fn step(
         &mut self,
@@ -82,9 +70,9 @@ impl PhysicsPipeline {
         joints: &mut JointSet,
         events: &dyn EventHandler,
     ) {
-        // println!("Step");
         self.counters.step_started();
-        self.maintain(broad_phase, narrow_phase, bodies, colliders);
+        broad_phase.maintain(colliders);
+        narrow_phase.maintain(colliders, bodies);
         bodies.maintain_active_set();
 
         // Update kinematic bodies velocities.

src_testbed/box2d_backend.rs

@@ -98,10 +98,10 @@ impl Box2dWorld {
 
     fn insert_joints(&mut self, joints: &JointSet) {
         for joint in joints.iter() {
-            let body_a = self.rapier2box2d[&joint.body1];
+            let body_a = self.rapier2box2d[&joint.1.body1];
-            let body_b = self.rapier2box2d[&joint.body2];
+            let body_b = self.rapier2box2d[&joint.1.body2];
 
-            match &joint.params {
+            match &joint.1.params {
                 JointParams::BallJoint(params) => {
                     let def = RevoluteJointDef {
                         body_a,
@@ -158,7 +158,7 @@ impl Box2dWorld {
     }
 
     fn create_fixture(collider: &Collider, body: &mut b2::MetaBody<NoUserData>) {
-        let center = na_vec_to_b2_vec(collider.delta().translation.vector);
+        let center = na_vec_to_b2_vec(collider.position_wrt_parent().translation.vector);
         let mut fixture_def = b2::FixtureDef::new();
 
         fixture_def.restitution = 0.0;
@@ -182,7 +182,7 @@ impl Box2dWorld {
                 let points: Vec<_> = poly
                     .vertices()
                     .iter()
-                    .map(|p| collider.delta() * p)
+                    .map(|p| collider.position_wrt_parent() * p)
                     .map(|p| na_vec_to_b2_vec(p.coords))
                     .collect();
                 let b2_shape = b2::PolygonShape::new_with(&points);
@@ -229,7 +229,7 @@ impl Box2dWorld {
 
                 for coll_handle in body.colliders() {
                     let collider = &mut colliders[*coll_handle];
-                    collider.set_position_debug(pos * collider.delta());
+                    collider.set_position_debug(pos * collider.position_wrt_parent());
                 }
             }
         }

src_testbed/testbed.rs

@@ -1160,7 +1160,7 @@ impl Testbed {
     }
 
     #[cfg(feature = "dim2")]
-    fn highlight_hovered_body(&mut self, window: &Window) {
+    fn highlight_hovered_body(&mut self, _window: &Window) {
         // Do nothing for now.
     }