269 lines
9.0 KiB
Rust
269 lines
9.0 KiB
Rust
//! # Rapier
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//!
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//! Rapier is a set of two Rust crates `rapier2d` and `rapier3d` for efficient cross-platform
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//! physics simulation. It target application include video games, animation, robotics, etc.
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//!
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//! Rapier has some unique features for collaborative applications:
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//! - The ability to snapshot the state of the physics engine, and restore it later.
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//! - The ability to run a perfectly deterministic simulation on different machine, as long as they
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//! are compliant with the IEEE 754-2008 floating point standard.
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#![deny(missing_docs)]
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pub extern crate crossbeam;
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pub extern crate nalgebra as na;
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#[cfg(feature = "dim2")]
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pub extern crate ncollide2d as ncollide;
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#[cfg(feature = "dim3")]
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pub extern crate ncollide3d as ncollide;
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#[cfg(feature = "serde")]
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#[macro_use]
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extern crate serde;
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#[macro_use]
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extern crate approx;
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extern crate num_traits as num;
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// #[macro_use]
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// extern crate array_macro;
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#[cfg(feature = "parallel")]
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pub use rayon;
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#[cfg(all(
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feature = "simd-is-enabled",
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not(feature = "simd-stable"),
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not(feature = "simd-nightly")
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))]
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std::compile_error!("The `simd-is-enabled` feature should not be enabled explicitly. Please enable the `simd-stable` or the `simd-nightly` feature instead.");
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#[cfg(all(feature = "simd-is-enabled", feature = "enhanced-determinism"))]
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std::compile_error!(
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"SIMD cannot be enabled when the `enhanced-determinism` feature is also enabled."
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);
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macro_rules! enable_flush_to_zero(
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() => {
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let _flush_to_zero = crate::utils::FlushToZeroDenormalsAreZeroFlags::flush_denormal_to_zero();
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}
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);
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macro_rules! array(
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($callback: expr; SIMD_WIDTH) => {
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{
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#[inline(always)]
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#[allow(dead_code)]
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fn create_arr<T>(mut callback: impl FnMut(usize) -> T) -> [T; SIMD_WIDTH] {
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[callback(0usize), callback(1usize), callback(2usize), callback(3usize)]
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// [callback(0usize), callback(1usize), callback(2usize), callback(3usize),
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// callback(4usize), callback(5usize), callback(6usize), callback(7usize)]
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// [callback(0usize), callback(1usize), callback(2usize), callback(3usize),
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// callback(4usize), callback(5usize), callback(6usize), callback(7usize),
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// callback(8usize), callback(9usize), callback(10usize), callback(11usize),
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// callback(12usize), callback(13usize), callback(14usize), callback(15usize)]
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}
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create_arr($callback)
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}
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}
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);
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#[allow(unused_macros)]
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macro_rules! par_iter {
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($t: expr) => {{
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#[cfg(not(feature = "parallel"))]
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let it = $t.iter();
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#[cfg(feature = "parallel")]
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let it = $t.par_iter();
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it
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}};
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}
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macro_rules! par_iter_mut {
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($t: expr) => {{
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#[cfg(not(feature = "parallel"))]
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let it = $t.iter_mut();
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#[cfg(feature = "parallel")]
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let it = $t.par_iter_mut();
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it
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}};
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}
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// macro_rules! par_chunks_mut {
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// ($t: expr, $sz: expr) => {{
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// #[cfg(not(feature = "parallel"))]
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// let it = $t.chunks_mut($sz);
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//
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// #[cfg(feature = "parallel")]
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// let it = $t.par_chunks_mut($sz);
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// it
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// }};
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// }
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#[allow(unused_macros)]
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macro_rules! try_ret {
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($val: expr) => {
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try_ret!($val, ())
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};
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($val: expr, $ret: expr) => {
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if let Some(val) = $val {
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val
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} else {
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return $ret;
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}
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};
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}
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// macro_rules! try_continue {
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// ($val: expr) => {
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// if let Some(val) = $val {
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// val
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// } else {
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// continue;
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// }
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// };
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// }
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pub(crate) const INVALID_U32: u32 = u32::MAX;
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pub(crate) const INVALID_U64: u64 = u64::MAX;
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pub(crate) const INVALID_USIZE: usize = INVALID_U32 as usize;
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pub mod counters;
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pub mod data;
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pub mod dynamics;
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pub mod geometry;
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pub mod pipeline;
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pub mod utils;
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#[cfg(feature = "dim2")]
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/// Math primitives used throughout Rapier.
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pub mod math {
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pub use super::simd::*;
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use na::{Isometry2, Matrix2, Point2, Translation2, UnitComplex, Vector2, Vector3, U1, U2};
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/// The dimension of the physics simulated by this crate.
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pub const DIM: usize = 2;
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/// The maximum number of point a contact manifold can hold.
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pub const MAX_MANIFOLD_POINTS: usize = 2;
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/// The dimension of the physics simulated by this crate, given as a type-level-integer.
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pub type Dim = U2;
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/// The maximum number of angular degrees of freedom of a rigid body given as a type-level-integer.
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pub type AngDim = U1;
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/// A 2D isometry, i.e., a rotation followed by a translation.
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pub type Isometry<N> = Isometry2<N>;
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/// A 2D vector.
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pub type Vector<N> = Vector2<N>;
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/// A scalar used for angular velocity.
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///
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/// This is called `AngVector` for coherence with the 3D version of this crate.
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pub type AngVector<N> = N;
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/// A 2D point.
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pub type Point<N> = Point2<N>;
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/// A 2D rotation expressed as an unit complex number.
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pub type Rotation<N> = UnitComplex<N>;
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/// A 2D translation.
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pub type Translation<N> = Translation2<N>;
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/// The angular inertia of a rigid body.
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pub type AngularInertia<N> = N;
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/// The principal angular inertia of a rigid body.
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pub type PrincipalAngularInertia<N> = N;
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/// A matrix that represent the cross product with a given vector.
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pub type CrossMatrix<N> = Vector2<N>;
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/// A 2x2 matrix.
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pub type Matrix<N> = Matrix2<N>;
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/// A vector with a dimension equal to the maximum number of degrees of freedom of a rigid body.
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pub type SpacialVector<N> = Vector3<N>;
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/// A 2D symmetric-definite-positive matrix.
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pub type SdpMatrix<N> = crate::utils::SdpMatrix2<N>;
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}
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#[cfg(feature = "dim3")]
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/// Math primitives used throughout Rapier.
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pub mod math {
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pub use super::simd::*;
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use na::{Isometry3, Matrix3, Point3, Translation3, UnitQuaternion, Vector3, Vector6, U3};
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/// The dimension of the physics simulated by this crate.
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pub const DIM: usize = 3;
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/// The maximum number of point a contact manifold can hold.
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pub const MAX_MANIFOLD_POINTS: usize = 4;
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/// The dimension of the physics simulated by this crate, given as a type-level-integer.
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pub type Dim = U3;
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/// The maximum number of angular degrees of freedom of a rigid body given as a type-level-integer.
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pub type AngDim = U3;
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/// A 3D isometry, i.e., a rotation followed by a translation.
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pub type Isometry<N> = Isometry3<N>;
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/// A 3D vector.
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pub type Vector<N> = Vector3<N>;
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/// An axis-angle vector used for angular velocity.
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pub type AngVector<N> = Vector3<N>;
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/// A 3D point.
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pub type Point<N> = Point3<N>;
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/// A 3D rotation expressed as an unit quaternion.
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pub type Rotation<N> = UnitQuaternion<N>;
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/// A 3D translation.
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pub type Translation<N> = Translation3<N>;
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/// The angular inertia of a rigid body.
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pub type AngularInertia<N> = crate::utils::SdpMatrix3<N>;
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/// The principal angular inertia of a rigid body.
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pub type PrincipalAngularInertia<N> = Vector3<N>;
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/// A matrix that represent the cross product with a given vector.
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pub type CrossMatrix<N> = Matrix3<N>;
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/// A 3x3 matrix.
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pub type Matrix<N> = Matrix3<N>;
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/// A vector with a dimension equal to the maximum number of degrees of freedom of a rigid body.
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pub type SpacialVector<N> = Vector6<N>;
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/// A 3D symmetric-definite-positive matrix.
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pub type SdpMatrix<N> = crate::utils::SdpMatrix3<N>;
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}
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#[cfg(not(feature = "simd-is-enabled"))]
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mod simd {
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use simba::simd::{AutoBoolx4, AutoF32x4};
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/// The number of lanes of a SIMD number.
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pub const SIMD_WIDTH: usize = 4;
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/// SIMD_WIDTH - 1
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pub const SIMD_LAST_INDEX: usize = 3;
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/// A SIMD float with SIMD_WIDTH lanes.
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pub type SimdFloat = AutoF32x4;
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/// A SIMD bool with SIMD_WIDTH lanes.
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pub type SimdBool = AutoBoolx4;
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}
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#[cfg(feature = "simd-is-enabled")]
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mod simd {
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#[allow(unused_imports)]
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#[cfg(feature = "simd-nightly")]
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use simba::simd::{f32x16, f32x4, f32x8, m32x16, m32x4, m32x8, u8x16, u8x4, u8x8};
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#[cfg(feature = "simd-stable")]
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use simba::simd::{WideBoolF32x4, WideF32x4};
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/// The number of lanes of a SIMD number.
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pub const SIMD_WIDTH: usize = 4;
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/// SIMD_WIDTH - 1
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pub const SIMD_LAST_INDEX: usize = 3;
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#[cfg(not(feature = "simd-nightly"))]
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/// A SIMD float with SIMD_WIDTH lanes.
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pub type SimdFloat = WideF32x4;
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#[cfg(not(feature = "simd-nightly"))]
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/// A SIMD bool with SIMD_WIDTH lanes.
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pub type SimdBool = WideBoolF32x4;
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#[cfg(feature = "simd-nightly")]
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/// A SIMD float with SIMD_WIDTH lanes.
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pub type SimdFloat = f32x4;
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#[cfg(feature = "simd-nightly")]
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/// A bool float with SIMD_WIDTH lanes.
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pub type SimdBool = m32x4;
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// pub const SIMD_WIDTH: usize = 8;
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// pub const SIMD_LAST_INDEX: usize = 7;
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// pub type SimdFloat = f32x8;
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// pub type SimdBool = m32x8;
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// pub const SIMD_WIDTH: usize = 16;
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// pub const SIMD_LAST_INDEX: usize = 15;
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// pub type SimdFloat = f32x16;
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// pub type SimdBool = m32x16;
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}
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