Rebase on master branch

.vscode/settings.json

@@ -1,6 +1,5 @@
 {
     "rust-analyzer.cargo.features": [
-        "simd-stable",
+        "simd-stable"
-        "parallel"
     ]
 }

.vscode/tasks.json

@@ -9,7 +9,7 @@
     },
     "tasks": [
         {
-            "label": "run 3d (no-simd - release) ",
+            "label": "🚀 run 3d",
             "type": "shell",
             "command": "cargo",
             "args": [
@@ -25,7 +25,7 @@
             "group": "build"
         },
         {
-            "label": "run 3d (simd - release) ",
+            "label": "🚀 run 3d − 🌈 simd",
             "type": "shell",
             "command": "cargo",
             "args": [
@@ -41,7 +41,7 @@
             "group": "build"
         },
         {
-            "label": "run 3d (simd - parallel - release) ",
+            "label": "🚀 run 3d − 🌈 simd 🪢 parallel",
             "type": "shell",
             "command": "cargo",
             "args": [
@@ -57,7 +57,179 @@
             "group": "build"
         },
         {
-            "label": "run 3d (simd - parallel - debug) ",
+            "label": "🚀 run 2d",
+            "type": "shell",
+            "command": "cargo",
+            "args": [
+                "run",
+                "--bin",
+                "all_examples2",
+                "--release",
+                "--features",
+                "other-backends",
+                "--",
+                "--pause"
+            ],
+            "group": "build"
+        },
+        {
+            "label": "🚀 run 2d − 🌈 simd",
+            "type": "shell",
+            "command": "cargo",
+            "args": [
+                "run",
+                "--bin",
+                "all_examples2",
+                "--release",
+                "--features",
+                "simd-stable,other-backends",
+                "--",
+                "--pause"
+            ],
+            "group": "build"
+        },
+        {
+            "label": "🚀 run 2d − 🌈 simd 🪢 parallel",
+            "type": "shell",
+            "command": "cargo",
+            "args": [
+                "run",
+                "--bin",
+                "all_examples2",
+                "--release",
+                "--features",
+                "simd-stable,other-backends,parallel",
+                "--",
+                "--pause"
+            ],
+            "group": "build"
+        },
+        {
+            "label": "⏱ bench 3d",
+            "type": "shell",
+            "command": "cargo",
+            "args": [
+                "run",
+                "--bin",
+                "all_benchmarks3",
+                "--release",
+                "--features",
+                "other-backends",
+                "--",
+                "--pause"
+            ],
+            "group": "build"
+        },
+        {
+            "label": "⏱ bench 3d − 🌈 simd",
+            "type": "shell",
+            "command": "cargo",
+            "args": [
+                "run",
+                "--bin",
+                "all_benchmarks3",
+                "--release",
+                "--features",
+                "simd-stable,other-backends",
+                "--",
+                "--pause"
+            ],
+            "group": "build"
+        },
+        {
+            "label": "⏱ bench 3d − 🌈 simd 🪢 parallel",
+            "type": "shell",
+            "command": "cargo",
+            "args": [
+                "run",
+                "--bin",
+                "all_benchmarks3",
+                "--release",
+                "--features",
+                "simd-stable,other-backends,parallel",
+                "--",
+                "--pause"
+            ],
+            "group": "build"
+        },
+        {
+            "label": "⏱ bench 2d",
+            "type": "shell",
+            "command": "cargo",
+            "args": [
+                "run",
+                "--bin",
+                "all_benchmarks2",
+                "--release",
+                "--features",
+                "other-backends",
+                "--",
+                "--pause"
+            ],
+            "group": "build"
+        },
+        {
+            "label": "⏱ bench 2d − 🌈 simd",
+            "type": "shell",
+            "command": "cargo",
+            "args": [
+                "run",
+                "--bin",
+                "all_benchmarks2",
+                "--release",
+                "--features",
+                "simd-stable,other-backends",
+                "--",
+                "--pause"
+            ],
+            "group": "build"
+        },
+        {
+            "label": "⏱ bench 2d − 🌈 simd 🪢 parallel",
+            "type": "shell",
+            "command": "cargo",
+            "args": [
+                "run",
+                "--bin",
+                "all_benchmarks2",
+                "--release",
+                "--features",
+                "simd-stable,other-backends,parallel",
+                "--",
+                "--pause"
+            ],
+            "group": "build"
+        },
+        {
+            "label": "🪲 debug 3d",
+            "type": "shell",
+            "command": "cargo",
+            "args": [
+                "run",
+                "--bin",
+                "all_examples3",
+                "--",
+                "--pause"
+            ],
+            "group": "build"
+        },
+        {
+            "label": "🪲 debug 3d − 🌈 simd",
+            "type": "shell",
+            "command": "cargo",
+            "args": [
+                "run",
+                "--bin",
+                "all_examples3",
+                "--features",
+                "simd-stable",
+                "--",
+                "--pause"
+            ],
+            "group": "build"
+        },
+        {
+            "label": "🪲 debug 3d − 🌈 simd 🪢 parallel",
             "type": "shell",
             "command": "cargo",
             "args": [
@@ -70,150 +242,6 @@
                 "--pause"
             ],
             "group": "build"
-        },
-        {
-            "label": "run 2d (no-simd - release) ",
-            "type": "shell",
-            "command": "cargo",
-            "args": [
-                "run",
-                "--bin",
-                "all_examples2",
-                "--release",
-                "--features",
-                "other-backends",
-                "--",
-                "--pause"
-            ],
-            "group": "build"
-        },
-        {
-            "label": "run 2d (simd - release) ",
-            "type": "shell",
-            "command": "cargo",
-            "args": [
-                "run",
-                "--bin",
-                "all_examples2",
-                "--release",
-                "--features",
-                "simd-stable,other-backends",
-                "--",
-                "--pause"
-            ],
-            "group": "build"
-        },
-        {
-            "label": "run 2d (simd - parallel - release) ",
-            "type": "shell",
-            "command": "cargo",
-            "args": [
-                "run",
-                "--bin",
-                "all_examples2",
-                "--release",
-                "--features",
-                "simd-stable,other-backends,parallel",
-                "--",
-                "--pause"
-            ],
-            "group": "build"
-        },
-        {
-            "label": "bench 3d (no-simd - release) ",
-            "type": "shell",
-            "command": "cargo",
-            "args": [
-                "run",
-                "--bin",
-                "all_benchmarks3",
-                "--release",
-                "--features",
-                "other-backends",
-                "--",
-                "--pause"
-            ],
-            "group": "build"
-        },
-        {
-            "label": "bench 3d (simd - release) ",
-            "type": "shell",
-            "command": "cargo",
-            "args": [
-                "run",
-                "--bin",
-                "all_benchmarks3",
-                "--release",
-                "--features",
-                "simd-stable,other-backends",
-                "--",
-                "--pause"
-            ],
-            "group": "build"
-        },
-        {
-            "label": "bench 3d (simd - parallel - release) ",
-            "type": "shell",
-            "command": "cargo",
-            "args": [
-                "run",
-                "--bin",
-                "all_benchmarks3",
-                "--release",
-                "--features",
-                "simd-stable,other-backends,parallel",
-                "--",
-                "--pause"
-            ],
-            "group": "build"
-        },
-        {
-            "label": "bench 2d (no-simd - release) ",
-            "type": "shell",
-            "command": "cargo",
-            "args": [
-                "run",
-                "--bin",
-                "all_benchmarks2",
-                "--release",
-                "--features",
-                "other-backends",
-                "--",
-                "--pause"
-            ],
-            "group": "build"
-        },
-        {
-            "label": "bench 2d (simd - release) ",
-            "type": "shell",
-            "command": "cargo",
-            "args": [
-                "run",
-                "--bin",
-                "all_benchmarks2",
-                "--release",
-                "--features",
-                "simd-stable,other-backends",
-                "--",
-                "--pause"
-            ],
-            "group": "build"
-        },
-        {
-            "label": "bench 2d (simd - parallel - release) ",
-            "type": "shell",
-            "command": "cargo",
-            "args": [
-                "run",
-                "--bin",
-                "all_benchmarks2",
-                "--release",
-                "--features",
-                "simd-stable,other-backends,parallel",
-                "--",
-                "--pause"
-            ],
-            "group": "build"
         }
     ]
 ]

Cargo.toml

@@ -24,7 +24,6 @@ resolver = "2"
 [profile.release]
 #debug = true
 #codegen-units = 1
-#opt-level = 1
 #lto = true
 
 [profile.dev]

examples2d/add_remove2.rs

@@ -58,6 +58,7 @@ pub fn init_world(testbed: &mut Testbed) {
                 &mut physics.colliders,
                 &mut physics.impulse_joints,
                 &mut physics.multibody_joints,
+                true,
             );
 
             if let Some(graphics) = &mut graphics {

src/dynamics/joint/generic_joint.rs

@@ -1,9 +1,7 @@
-use na::SimdRealField;
-
 use crate::dynamics::solver::MotorParameters;
 use crate::dynamics::{FixedJoint, MotorModel, PrismaticJoint, RevoluteJoint};
 use crate::math::{Isometry, Point, Real, Rotation, UnitVector, Vector, SPATIAL_DIM};
-use crate::utils::WBasis;
+use crate::utils::{WBasis, WReal};
 
 #[cfg(feature = "dim3")]
 use crate::dynamics::SphericalJoint;
@@ -77,7 +75,7 @@ pub struct JointLimits<N> {
     pub impulse: N,
 }
 
-impl<N: SimdRealField<Element = Real>> Default for JointLimits<N> {
+impl<N: WReal> Default for JointLimits<N> {
     fn default() -> Self {
         Self {
             min: -N::splat(Real::MAX),

src/dynamics/solver/joint_constraint/joint_constraint.rs

@@ -12,7 +12,7 @@ use crate::dynamics::{
 };
 #[cfg(feature = "simd-is-enabled")]
 use crate::math::{Isometry, SimdReal, SIMD_WIDTH};
-use crate::math::{Real, DIM, SPATIAL_DIM};
+use crate::math::{Real, SPATIAL_DIM};
 use crate::prelude::MultibodyJointSet;
 use na::DVector;
 

src/dynamics/solver/joint_constraint/joint_generic_velocity_constraint_builder.rs

@@ -58,7 +58,7 @@ impl SolverBody<Real, 1> {
 impl JointVelocityConstraintBuilder<Real> {
     pub fn lock_jacobians_generic(
         &self,
-        params: &IntegrationParameters,
+        _params: &IntegrationParameters,
         jacobians: &mut DVector<Real>,
         j_id: &mut usize,
         joint_id: JointIndex,
@@ -500,7 +500,7 @@ impl JointVelocityConstraintBuilder<Real> {
 impl JointVelocityConstraintBuilder<Real> {
     pub fn lock_jacobians_generic_ground(
         &self,
-        params: &IntegrationParameters,
+        _params: &IntegrationParameters,
         jacobians: &mut DVector<Real>,
         j_id: &mut usize,
         joint_id: JointIndex,

src/dynamics/solver/joint_constraint/joint_velocity_constraint_builder.rs

@@ -3,7 +3,7 @@ use crate::dynamics::solver::joint_constraint::joint_velocity_constraint::{
 };
 use crate::dynamics::solver::joint_constraint::SolverBody;
 use crate::dynamics::solver::MotorParameters;
-use crate::dynamics::{IntegrationParameters, JointAxesMask, JointIndex, JointLimits, JointMotor};
+use crate::dynamics::{IntegrationParameters, JointIndex, JointLimits};
 use crate::math::{AngVector, Isometry, Matrix, Point, Real, Rotation, Vector, ANG_DIM, DIM};
 use crate::utils::{IndexMut2, WCrossMatrix, WDot, WQuat, WReal};
 use na::SMatrix;
@@ -660,15 +660,14 @@ impl<N: WReal> JointVelocityConstraintBuilder<N> {
 
     pub fn motor_linear_coupled_ground<const LANES: usize>(
         &self,
-        params: &IntegrationParameters,
+        _joint_id: [JointIndex; LANES],
-        joint_id: [JointIndex; LANES],
+        _body1: &SolverBody<N, LANES>,
-        body1: &SolverBody<N, LANES>,
+        _body2: &SolverBody<N, LANES>,
-        body2: &SolverBody<N, LANES>,
+        _motor_coupled_axes: u8,
-        motor_coupled_axes: u8,
+        _motors: &[MotorParameters<N>],
-        motors: &[MotorParameters<N>],
+        _limited_coupled_axes: u8,
-        limited_coupled_axes: u8,
+        _limits: &[JointLimits<N>],
-        limits: &[JointLimits<N>],
+        _writeback_id: WritebackId,
-        writeback_id: WritebackId,
     ) -> JointVelocityGroundConstraint<N, LANES> {
         todo!()
         /*

src/dynamics/solver/parallel_island_solver.rs

@@ -3,7 +3,6 @@ use std::sync::atomic::{AtomicUsize, Ordering};
 use rayon::Scope;
 
 use crate::data::{BundleSet, ComponentSet, ComponentSetMut};
-use crate::dynamics::solver::generic_velocity_constraint::GenericVelocityConstraint;
 use crate::dynamics::solver::{
     AnyJointVelocityConstraint, AnyVelocityConstraint, ParallelSolverConstraints,
 };
@@ -13,7 +12,6 @@ use crate::dynamics::{
     RigidBodyType, RigidBodyVelocity,
 };
 use crate::geometry::{ContactManifold, ContactManifoldIndex};
-use crate::math::{Isometry, Real};
 use na::DVector;
 
 use super::{DeltaVel, ParallelInteractionGroups, ParallelVelocitySolver};
@@ -139,7 +137,6 @@ impl ThreadContext {
 
 pub struct ParallelIslandSolver {
     velocity_solver: ParallelVelocitySolver,
-    positions: Vec<Isometry<Real>>,
     parallel_groups: ParallelInteractionGroups,
     parallel_joint_groups: ParallelInteractionGroups,
     parallel_contact_constraints: ParallelSolverConstraints<AnyVelocityConstraint>,
@@ -157,7 +154,6 @@ impl ParallelIslandSolver {
     pub fn new() -> Self {
         Self {
             velocity_solver: ParallelVelocitySolver::new(),
-            positions: Vec::new(),
             parallel_groups: ParallelInteractionGroups::new(),
             parallel_joint_groups: ParallelInteractionGroups::new(),
             parallel_contact_constraints: ParallelSolverConstraints::new(),
@@ -192,7 +188,6 @@ impl ParallelIslandSolver {
         self.thread = ThreadContext::new(8); // TODO: could we compute some kind of optimal value here?
     
         // Interactions grouping.
-        let mut j_id = 0;
         self.parallel_groups.group_interactions(
             island_id,
             islands,

src/dynamics/solver/parallel_solver_constraints.rs

@@ -13,7 +13,7 @@ use crate::dynamics::{
     RigidBodyType, RigidBodyVelocity,
 };
 use crate::geometry::ContactManifold;
-use crate::math::{Real, DIM, SPATIAL_DIM};
+use crate::math::{Real, SPATIAL_DIM};
 #[cfg(feature = "simd-is-enabled")]
 use crate::{
     dynamics::solver::{WVelocityConstraint, WVelocityGroundConstraint},

src/dynamics/solver/parallel_velocity_solver.rs

@@ -2,10 +2,9 @@ use super::{AnyJointVelocityConstraint, AnyVelocityConstraint, DeltaVel, ThreadC
 use crate::concurrent_loop;
 use crate::data::{BundleSet, ComponentSet, ComponentSetMut};
 use crate::dynamics::{
-    solver::{GenericVelocityConstraint, ParallelSolverConstraints},
+    solver::ParallelSolverConstraints, IntegrationParameters, IslandManager, JointGraphEdge,
-    IntegrationParameters, IslandManager, JointGraphEdge, MultibodyJointSet, RigidBodyDamping,
+    MultibodyJointSet, RigidBodyDamping, RigidBodyForces, RigidBodyIds, RigidBodyMassProps,
-    RigidBodyForces, RigidBodyIds, RigidBodyMassProps, RigidBodyPosition, RigidBodyType,
+    RigidBodyPosition, RigidBodyType, RigidBodyVelocity,
-    RigidBodyVelocity,
 };
 use crate::geometry::ContactManifold;
 use crate::math::Real;

src/dynamics/solver/velocity_constraint.rs

@@ -7,7 +7,7 @@ use crate::dynamics::solver::{WVelocityConstraint, WVelocityGroundConstraint};
 use crate::dynamics::{IntegrationParameters, RigidBodyIds, RigidBodyMassProps, RigidBodyVelocity};
 use crate::geometry::{ContactManifold, ContactManifoldIndex};
 use crate::math::{Real, Vector, DIM, MAX_MANIFOLD_POINTS};
-use crate::utils::{self, WAngularInertia, WBasis, WCross, WDot, WReal};
+use crate::utils::{self, WAngularInertia, WBasis, WCross, WDot};
 use na::DVector;
 
 use super::{DeltaVel, VelocityConstraintElement, VelocityConstraintNormalPart};
@@ -405,7 +405,7 @@ pub(crate) fn compute_tangent_contact_directions<N>(
     linvel2: &Vector<N>,
 ) -> [Vector<N>; DIM - 1]
 where
-    N: WReal,
+    N: utils::WReal,
     Vector<N>: WBasis,
 {
     use na::SimdValue;

src/geometry/narrow_phase.rs

@@ -712,7 +712,7 @@ impl NarrowPhase {
         par_iter_mut!(&mut self.intersection_graph.graph.edges).for_each(|edge| {
             let handle1 = nodes[edge.source().index()].weight;
             let handle2 = nodes[edge.target().index()].weight;
-            let mut had_intersection = edge.weight;
+            let had_intersection = edge.weight;
 
             // TODO: remove the `loop` once labels on blocks is stabilized.
             'emit_events: loop {