Fix compilation in 2D.

src/geometry/collider.rs

@@ -124,7 +124,7 @@ impl Shape {
             }
             Shape::Cuboid(cuboid) => cuboid.toi_and_normal_with_ray(position, ray, max_toi, true),
             #[cfg(feature = "dim2")]
-            Shape::Triangle(triangle) => {
+            Shape::Triangle(_) | Shape::Trimesh(_) => {
                 // This is not implemented yet in 2D.
                 None
             }
@@ -132,6 +132,7 @@ impl Shape {
             Shape::Triangle(triangle) => {
                 triangle.toi_and_normal_with_ray(position, ray, max_toi, true)
             }
+            #[cfg(feature = "dim3")]
             Shape::Trimesh(trimesh) => {
                 trimesh.toi_and_normal_with_ray(position, ray, max_toi, true)
             }

src/geometry/trimesh.rs

@@ -1,9 +1,14 @@
-use crate::geometry::{Ray, RayIntersection, Triangle, WQuadtree};
+use crate::geometry::{Triangle, WQuadtree};
 use crate::math::{Isometry, Point};
-use crate::ncollide::query::RayCast;
 use na::Point3;
 use ncollide::bounding_volume::{HasBoundingVolume, AABB};
 
+#[cfg(feature = "dim3")]
+use {
+    crate::geometry::{Ray, RayIntersection},
+    ncollide::query::RayCast,
+};
+
 #[derive(Clone)]
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
 /// A triangle mesh.
@@ -105,6 +110,7 @@ impl Trimesh {
     }
 }
 
+#[cfg(feature = "dim3")]
 impl RayCast<f32> for Trimesh {
     fn toi_and_normal_with_ray(
         &self,

src/geometry/wquadtree.rs

@@ -1,6 +1,8 @@
 use crate::geometry::{ColliderHandle, ColliderSet, Ray, AABB};
 use crate::geometry::{WRay, WAABB};
-use crate::math::{Point, Vector};
+use crate::math::Point;
+#[cfg(feature = "dim3")]
+use crate::math::Vector;
 use crate::simd::{SimdFloat, SIMD_WIDTH};
 use ncollide::bounding_volume::BoundingVolume;
 use simba::simd::{SimdBool, SimdValue};
@@ -252,6 +254,7 @@ impl<T: IndexedData> WQuadtree<T> {
 
         // Find the axis with minimum variance. This is the axis along
         // which we are **not** subdividing our set.
+        #[allow(unused_mut)] // Does not need to be mutable in 2D.
         let mut subdiv_dims = [0, 1];
         #[cfg(feature = "dim3")]
         {
@@ -466,6 +469,7 @@ impl<T: IndexedData> WQuadtreeIncrementalBuilder<T> {
 
             // Find the axis with minimum variance. This is the axis along
             // which we are **not** subdividing our set.
+            #[allow(unused_mut)] // Does not need to be mutable in 2D.
             let mut subdiv_dims = [0, 1];
             #[cfg(feature = "dim3")]
             {

src/pipeline/physics_pipeline.rs

@@ -58,18 +58,6 @@ impl PhysicsPipeline {
         }
     }
 
-    /// Remove this.
-    pub fn maintain(
-        &mut self,
-        broad_phase: &mut BroadPhase,
-        narrow_phase: &mut NarrowPhase,
-        bodies: &mut RigidBodySet,
-        colliders: &mut ColliderSet,
-    ) {
-        broad_phase.maintain(colliders);
-        narrow_phase.maintain(colliders, bodies);
-    }
-
     /// Executes one timestep of the physics simulation.
     pub fn step(
         &mut self,
@@ -82,9 +70,9 @@ impl PhysicsPipeline {
         joints: &mut JointSet,
         events: &dyn EventHandler,
     ) {
-        // println!("Step");
         self.counters.step_started();
-        self.maintain(broad_phase, narrow_phase, bodies, colliders);
+        broad_phase.maintain(colliders);
+        narrow_phase.maintain(colliders, bodies);
         bodies.maintain_active_set();
 
         // Update kinematic bodies velocities.