Fix warnings and 2D compilation when parallelism is ON but SIMD is OFF.

src/dynamics/solver/joint_constraint/joint_position_constraint.rs

@@ -50,24 +50,6 @@ pub(crate) enum AnyJointPositionConstraint {
 }
 
 impl AnyJointPositionConstraint {
-    #[cfg(feature = "parallel")]
-    pub fn num_active_constraints(joint: &Joint, grouped: bool) -> usize {
-        #[cfg(feature = "simd-is-enabled")]
-        if !grouped {
-            1
-        } else {
-            match &joint.params {
-                JointParams::BallJoint(_) => 1,
-                _ => SIMD_WIDTH, // For joints that don't support SIMD position constraints yet.
-            }
-        }
-
-        #[cfg(not(feature = "simd-is-enabled"))]
-        {
-            1
-        }
-    }
-
     pub fn from_joint(joint: &Joint, bodies: &RigidBodySet) -> Self {
         let rb1 = &bodies[joint.body1];
         let rb2 = &bodies[joint.body2];

src/dynamics/solver/parallel_position_solver.rs

@@ -1,29 +1,11 @@
-use super::ParallelInteractionGroups;
 use super::{AnyJointPositionConstraint, AnyPositionConstraint, ThreadContext};
-use crate::dynamics::solver::categorization::categorize_joints;
 use crate::dynamics::solver::{
-    AnyJointVelocityConstraint, AnyVelocityConstraint, InteractionGroups,
-    ParallelSolverConstraints, PositionConstraint, PositionGroundConstraint,
+    AnyJointVelocityConstraint, AnyVelocityConstraint, ParallelSolverConstraints,
 };
-use crate::dynamics::{IntegrationParameters, JointGraphEdge, RigidBodySet};
-use crate::geometry::ContactManifold;
+use crate::dynamics::IntegrationParameters;
 use crate::math::{Isometry, Real};
-#[cfg(feature = "simd-is-enabled")]
-use crate::{
-    dynamics::solver::{WPositionConstraint, WPositionGroundConstraint},
-    math::SIMD_WIDTH,
-};
 use std::sync::atomic::Ordering;
 
-pub(crate) enum PositionConstraintDesc {
-    NongroundNongrouped(usize),
-    GroundNongrouped(usize),
-    #[cfg(feature = "simd-is-enabled")]
-    NongroundGrouped([usize; SIMD_WIDTH]),
-    #[cfg(feature = "simd-is-enabled")]
-    GroundGrouped([usize; SIMD_WIDTH]),
-}
-
 pub(crate) struct ParallelPositionSolver;
 
 impl ParallelPositionSolver {

src/dynamics/solver/parallel_solver_constraints.rs

@@ -1,17 +1,19 @@
 use super::ParallelInteractionGroups;
-use super::{AnyJointVelocityConstraint, AnyVelocityConstraint, DeltaVel, ThreadContext};
+use super::{AnyJointVelocityConstraint, AnyVelocityConstraint, ThreadContext};
 use crate::dynamics::solver::categorization::{categorize_contacts, categorize_joints};
 use crate::dynamics::solver::{
     AnyJointPositionConstraint, AnyPositionConstraint, InteractionGroups, PositionConstraint,
-    PositionGroundConstraint, VelocityConstraint, VelocityGroundConstraint, WPositionConstraint,
-    WPositionGroundConstraint,
+    PositionGroundConstraint, VelocityConstraint, VelocityGroundConstraint,
 };
 use crate::dynamics::{IntegrationParameters, JointGraphEdge, RigidBodySet};
 use crate::geometry::ContactManifold;
 #[cfg(feature = "simd-is-enabled")]
 use crate::{
-    dynamics::solver::{WVelocityConstraint, WVelocityGroundConstraint},
-    math::{Real, SIMD_WIDTH},
+    dynamics::solver::{
+        WPositionConstraint, WPositionGroundConstraint, WVelocityConstraint,
+        WVelocityGroundConstraint,
+    },
+    math::SIMD_WIDTH,
 };
 use std::sync::atomic::Ordering;
 

src/dynamics/solver/parallel_velocity_solver.rs

@@ -1,18 +1,10 @@
-use super::ParallelInteractionGroups;
 use super::{AnyJointVelocityConstraint, AnyVelocityConstraint, DeltaVel, ThreadContext};
-use crate::dynamics::solver::categorization::{categorize_contacts, categorize_joints};
-use crate::dynamics::solver::parallel_solver_constraints::ConstraintDesc;
 use crate::dynamics::solver::{
-    AnyJointPositionConstraint, AnyPositionConstraint, InteractionGroups,
-    ParallelSolverConstraints, VelocityConstraint, VelocityGroundConstraint,
+    AnyJointPositionConstraint, AnyPositionConstraint, ParallelSolverConstraints,
 };
-use crate::dynamics::{IntegrationParameters, JointGraphEdge, RigidBodySet};
+use crate::dynamics::{IntegrationParameters, JointGraphEdge};
 use crate::geometry::ContactManifold;
-#[cfg(feature = "simd-is-enabled")]
-use crate::{
-    dynamics::solver::{WVelocityConstraint, WVelocityGroundConstraint},
-    math::{Real, SIMD_WIDTH},
-};
+use crate::math::Real;
 use std::sync::atomic::Ordering;
 
 pub(crate) struct ParallelVelocitySolver {}

src/dynamics/solver/position_constraint.rs

@@ -51,12 +51,6 @@ pub(crate) struct PositionConstraint {
 }
 
 impl PositionConstraint {
-    #[cfg(feature = "parallel")]
-    pub fn num_active_constraints(manifold: &ContactManifold) -> usize {
-        let rest = manifold.data.solver_contacts.len() % MAX_MANIFOLD_POINTS != 0;
-        manifold.data.solver_contacts.len() / MAX_MANIFOLD_POINTS + rest as usize
-    }
-
     pub fn generate(
         params: &IntegrationParameters,
         manifold: &ContactManifold,

src/lib.rs

@@ -25,8 +25,6 @@ pub extern crate nalgebra as na;
 #[cfg(feature = "serde")]
 #[macro_use]
 extern crate serde;
-#[macro_use]
-extern crate approx;
 extern crate num_traits as num;
 // #[macro_use]
 // extern crate array_macro;
@@ -51,6 +49,7 @@ macro_rules! enable_flush_to_zero(
     }
 );
 
+#[cfg(feature = "simd-is-enabled")]
 macro_rules! array(
     ($callback: expr; SIMD_WIDTH) => {
         {

src_testbed/harness/mod.rs

@@ -67,9 +67,6 @@ type Callbacks = Vec<
 #[allow(dead_code)]
 impl Harness {
     pub fn new_empty() -> Self {
-        #[cfg(feature = "parallel")]
-        let num_threads = num_cpus::get_physical();
-
         let contact_channel = crossbeam::channel::unbounded();
         let proximity_channel = crossbeam::channel::unbounded();
         let event_handler = ChannelEventCollector::new(proximity_channel.0, contact_channel.0);