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feat: solver improvements + release v0.29.0 (#876)

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* feat: solver improvements

* feat: add function to get/set whether gyroscopic forces are enabled on a rigid-body

* chore: switch to released versions of parry and wide instead of local patches

* fix cargo doc

* chore: typo fixes

* chore: clippy fix

* Release v0.29.0

* chore: more clippy fixes
This commit is contained in:
Sébastien Crozet
2025-09-05 19:31:58 +02:00
committed by GitHub
parent 317322b31b
commit 134f433903
94 changed files with 5066 additions and 8136 deletions
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28
src/lib.rs
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@@ -15,6 +15,7 @@
#![allow(clippy::too_many_arguments)]
#![allow(clippy::needless_range_loop)] // TODO: remove this? I find that in the math code using indices adds clarity.
#![allow(clippy::module_inception)]
#![cfg_attr(feature = "simd-nightly", feature(portable_simd))]
#[cfg(all(feature = "dim2", feature = "f32"))]
pub extern crate parry2d as parry;
@@ -53,16 +54,41 @@ macro_rules! enable_flush_to_zero(
}
);
#[cfg(feature = "simd-is-enabled")]
macro_rules! gather(
($callback: expr) => {
{
#[inline(always)]
#[allow(dead_code)]
#[cfg(not(feature = "simd-is-enabled"))]
fn create_arr<T>(mut callback: impl FnMut(usize) -> T) -> T {
callback(0usize)
}
#[inline(always)]
#[allow(dead_code)]
#[cfg(feature = "simd-is-enabled")]
fn create_arr<T>(mut callback: impl FnMut(usize) -> T) -> [T; SIMD_WIDTH] {
[callback(0usize), callback(1usize), callback(2usize), callback(3usize)]
}
create_arr($callback)
}
}
);
macro_rules! array(
($callback: expr) => {
{
#[inline(always)]
#[allow(dead_code)]
fn create_arr<T>(mut callback: impl FnMut(usize) -> T) -> [T; SIMD_WIDTH] {
#[cfg(not(feature = "simd-is-enabled"))]
return [callback(0usize)];
#[cfg(feature = "simd-is-enabled")]
return [callback(0usize), callback(1usize), callback(2usize), callback(3usize)];
}
create_arr($callback)
}
}