Fix 2D compilation.

src/dynamics/solver/delta_vel.rs

@@ -1,4 +1,4 @@
-use crate::math::{AngVector, Real, Vector};
+use crate::math::{AngVector, Vector};
 use na::{Scalar, SimdRealField};
 
 #[derive(Copy, Clone, Debug)]

src/dynamics/solver/interaction_groups.rs

@@ -2,7 +2,7 @@ use crate::dynamics::{BodyPair, JointGraphEdge, JointIndex, RigidBodySet};
 use crate::geometry::{ContactManifold, ContactManifoldIndex};
 #[cfg(feature = "simd-is-enabled")]
 use {
-    crate::math::{Real, SIMD_LAST_INDEX, SIMD_WIDTH},
+    crate::math::{SIMD_LAST_INDEX, SIMD_WIDTH},
     vec_map::VecMap,
 };
 

src/dynamics/solver/joint_constraint/fixed_position_constraint_wide.rs

@@ -1,8 +1,6 @@
 use super::{FixedPositionConstraint, FixedPositionGroundConstraint};
-use crate::dynamics::{FixedJoint, IntegrationParameters, JointIndex, RigidBody};
+use crate::dynamics::{FixedJoint, IntegrationParameters, RigidBody};
-use crate::math::{AngularInertia, Isometry, Point, Real, Rotation, Vector, SIMD_WIDTH};
+use crate::math::{Isometry, Real, SIMD_WIDTH};
-use crate::utils::WAngularInertia;
-use na::Unit;
 
 // TODO: this does not uses SIMD optimizations yet.
 #[derive(Debug)]

src/dynamics/solver/joint_constraint/prismatic_position_constraint_wide.rs

@@ -1,8 +1,6 @@
 use super::{PrismaticPositionConstraint, PrismaticPositionGroundConstraint};
-use crate::dynamics::{IntegrationParameters, JointIndex, PrismaticJoint, RigidBody};
+use crate::dynamics::{IntegrationParameters, PrismaticJoint, RigidBody};
-use crate::math::{AngularInertia, Isometry, Point, Real, Rotation, Vector, SIMD_WIDTH};
+use crate::math::{Isometry, Real, SIMD_WIDTH};
-use crate::utils::WAngularInertia;
-use na::Unit;
 
 // TODO: this does not uses SIMD optimizations yet.
 #[derive(Debug)]

src/geometry/contact_pair.rs

@@ -1,5 +1,5 @@
 use crate::dynamics::{BodyPair, RigidBodySet};
-use crate::geometry::{Collider, ColliderPair, ContactManifold};
+use crate::geometry::{ColliderPair, ContactManifold};
 use crate::math::{Point, Real, Vector};
 use cdl::query::ContactManifoldsWorkspace;
 

src/pipeline/query_pipeline.rs

@@ -58,7 +58,7 @@ impl<'a> TypedSimdCompositeShape for QueryPipelineAsCompositeShape<'a> {
     fn map_untyped_part_at(
         &self,
         shape_id: Self::PartId,
-        mut f: impl FnMut(Option<&Isometry<Real>>, &Self::PartShape),
+        f: impl FnMut(Option<&Isometry<Real>>, &Self::PartShape),
     ) {
         self.map_typed_part_at(shape_id, f);
     }
@@ -216,7 +216,7 @@ impl QueryPipeline {
     }
 
     /// Find up to one collider intersecting the given shape.
-    fn intersection_with_shape(
+    pub fn intersection_with_shape(
         &self,
         colliders: &ColliderSet,
         shape_pos: &Isometry<Real>,
@@ -237,7 +237,7 @@ impl QueryPipeline {
     }
 
     /// Projects a point on the scene.
-    fn project_point(
+    pub fn project_point(
         &self,
         colliders: &ColliderSet,
         point: &Point<Real>,
@@ -279,7 +279,7 @@ impl QueryPipeline {
     }
 
     /// Projects a point on the scene and get
-    fn project_point_and_get_feature(
+    pub fn project_point_and_get_feature(
         &self,
         colliders: &ColliderSet,
         point: &Point<Real>,

src_testbed/objects/ball.rs

@@ -1,20 +1,21 @@
 use crate::objects::node::{self, GraphicsNode};
 use kiss3d::window::Window;
-use na::{Isometry3, Point3};
+use na::Point3;
 use rapier::geometry::{ColliderHandle, ColliderSet};
+use rapier::math::Isometry;
 
 pub struct Ball {
     color: Point3<f32>,
     base_color: Point3<f32>,
     gfx: GraphicsNode,
     collider: ColliderHandle,
-    delta: Isometry3<f32>,
+    delta: Isometry<f32>,
 }
 
 impl Ball {
     pub fn new(
         collider: ColliderHandle,
-        delta: Isometry3<f32>,
+        delta: Isometry<f32>,
         radius: f32,
         color: Point3<f32>,
         window: &mut Window,

src_testbed/objects/box_node.rs

@@ -1,21 +1,21 @@
 use crate::objects::node::{self, GraphicsNode};
 use kiss3d::window;
-use na::{Isometry3, Point3};
+use na::Point3;
 use rapier::geometry::{ColliderHandle, ColliderSet};
-use rapier::math::Vector;
+use rapier::math::{Isometry, Vector};
 
 pub struct Box {
     color: Point3<f32>,
     base_color: Point3<f32>,
     gfx: GraphicsNode,
     collider: ColliderHandle,
-    delta: Isometry3<f32>,
+    delta: Isometry<f32>,
 }
 
 impl Box {
     pub fn new(
         collider: ColliderHandle,
-        delta: Isometry3<f32>,
+        delta: Isometry<f32>,
         half_extents: Vector<f32>,
         color: Point3<f32>,
         window: &mut window::Window,

src_testbed/objects/capsule.rs

@@ -1,20 +1,21 @@
 use crate::objects::node::{self, GraphicsNode};
 use kiss3d::window;
-use na::{Isometry3, Point3};
+use na::Point3;
 use rapier::geometry::{self, ColliderHandle, ColliderSet};
+use rapier::math::Isometry;
 
 pub struct Capsule {
     color: Point3<f32>,
     base_color: Point3<f32>,
     gfx: GraphicsNode,
     collider: ColliderHandle,
-    delta: Isometry3<f32>,
+    delta: Isometry<f32>,
 }
 
 impl Capsule {
     pub fn new(
         collider: ColliderHandle,
-        delta: Isometry3<f32>,
+        delta: Isometry<f32>,
         capsule: &geometry::Capsule,
         color: Point3<f32>,
         window: &mut window::Window,

src_testbed/objects/cone.rs

@@ -1,20 +1,21 @@
 use crate::objects::node::{self, GraphicsNode};
 use kiss3d::window::Window;
-use na::{Isometry3, Point3};
+use na::Point3;
 use rapier::geometry::{ColliderHandle, ColliderSet};
+use rapier::math::Isometry;
 
 pub struct Cone {
     color: Point3<f32>,
     base_color: Point3<f32>,
     gfx: GraphicsNode,
     collider: ColliderHandle,
-    delta: Isometry3<f32>,
+    delta: Isometry<f32>,
 }
 
 impl Cone {
     pub fn new(
         collider: ColliderHandle,
-        delta: Isometry3<f32>,
+        delta: Isometry<f32>,
         half_height: f32,
         radius: f32,
         color: Point3<f32>,

src_testbed/objects/convex.rs

@@ -5,7 +5,7 @@ use crate::math::Vector;
 use crate::math::{Isometry, Point};
 use crate::objects::node::{self, GraphicsNode};
 use kiss3d::window::Window;
-use na::{Isometry3, Point3};
+use na::Point3;
 use rapier::geometry::{ColliderHandle, ColliderSet};
 
 pub struct Convex {
@@ -13,13 +13,13 @@ pub struct Convex {
     base_color: Point3<f32>,
     gfx: GraphicsNode,
     body: ColliderHandle,
-    delta: Isometry3<f32>,
+    delta: Isometry<f32>,
 }
 
 impl Convex {
     pub fn new(
         body: ColliderHandle,
-        delta: Isometry3<f32>,
+        delta: Isometry<f32>,
         vertices: Vec<Point<f32>>,
         #[cfg(feature = "dim3")] indices: Vec<Point<u32>>,
         color: Point3<f32>,

src_testbed/objects/cylinder.rs

@@ -1,20 +1,21 @@
 use crate::objects::node::{self, GraphicsNode};
 use kiss3d::window::Window;
-use na::{Isometry3, Point3};
+use na::Point3;
 use rapier::geometry::{ColliderHandle, ColliderSet};
+use rapier::math::Isometry;
 
 pub struct Cylinder {
     color: Point3<f32>,
     base_color: Point3<f32>,
     gfx: GraphicsNode,
     collider: ColliderHandle,
-    delta: Isometry3<f32>,
+    delta: Isometry<f32>,
 }
 
 impl Cylinder {
     pub fn new(
         collider: ColliderHandle,
-        delta: Isometry3<f32>,
+        delta: Isometry<f32>,
         half_height: f32,
         radius: f32,
         color: Point3<f32>,

src_testbed/objects/heightfield.rs

@@ -1,15 +1,16 @@
-#[cfg(feature = "dim3")]
-use crate::objects::node::{self, GraphicsNode};
 use cdl::shape;
-use kiss3d::resource::Mesh;
 use kiss3d::window::Window;
 use na::{self, Point3};
 use rapier::geometry::{ColliderHandle, ColliderSet};
 #[cfg(feature = "dim2")]
 use rapier::math::Point;
 #[cfg(feature = "dim3")]
-use rapier::math::Vector;
+use {
-use std::cell::RefCell;
+    crate::objects::node::{self, GraphicsNode},
+    kiss3d::resource::Mesh,
+    rapier::math::Vector,
+    std::cell::RefCell,
+};
 
 pub struct HeightField {
     color: Point3<f32>,

src_testbed/testbed.rs

@@ -17,14 +17,14 @@ use kiss3d::planar_camera::PlanarCamera;
 use kiss3d::post_processing::PostProcessingEffect;
 use kiss3d::text::Font;
 use kiss3d::window::{State, Window};
-use na::{self, Isometry3, Point2, Point3, Vector3};
+use na::{self, Point2, Point3, Vector3};
 use rapier::dynamics::{
     ActivationStatus, IntegrationParameters, JointSet, RigidBodyHandle, RigidBodySet,
 };
 use rapier::geometry::{BroadPhase, ColliderHandle, ColliderSet, NarrowPhase};
 #[cfg(feature = "dim3")]
 use rapier::geometry::{InteractionGroups, Ray};
-use rapier::math::Vector;
+use rapier::math::{Isometry, Vector};
 use rapier::pipeline::{ChannelEventCollector, PhysicsPipeline, QueryPipeline};
 
 #[cfg(all(feature = "dim2", feature = "other-backends"))]
@@ -1126,8 +1126,9 @@ impl State for Testbed {
 
                 if self.state.selected_example != prev_example {
                     self.physics.integration_parameters = IntegrationParameters::default();
-                    if self.state.selected_backend == PHYSX_BACKEND_PATCH_FRICTION
+                    if cfg!(feature = "dim3")
-                        || self.state.selected_backend == PHYSX_BACKEND_TWO_FRICTION_DIR
+                        && (self.state.selected_backend == PHYSX_BACKEND_PATCH_FRICTION
+                            || self.state.selected_backend == PHYSX_BACKEND_TWO_FRICTION_DIR)
                     {
                         std::mem::swap(
                             &mut self.physics.integration_parameters.max_velocity_iterations,
@@ -1534,11 +1535,11 @@ fn draw_contacts(window: &mut Window, nf: &NarrowPhase, colliders: &ColliderSet)
                 let pos1 = colliders[pair.pair.collider1].position();
                 let pos2 = colliders[pair.pair.collider2].position();
                 let start =
-                    pos1 * manifold.subshape_pos1.unwrap_or(Isometry3::identity()) * pt.local_p1;
+                    pos1 * manifold.subshape_pos1.unwrap_or(Isometry::identity()) * pt.local_p1;
                 let end =
-                    pos2 * manifold.subshape_pos2.unwrap_or(Isometry3::identity()) * pt.local_p2;
+                    pos2 * manifold.subshape_pos2.unwrap_or(Isometry::identity()) * pt.local_p2;
                 let n = pos1
-                    * manifold.subshape_pos1.unwrap_or(Isometry3::identity())
+                    * manifold.subshape_pos1.unwrap_or(Isometry::identity())
                     * manifold.local_n1;
 
                 use crate::engine::GraphicsWindow;