fix no-std build

src/bounding_volume/mod.rs

@@ -23,6 +23,7 @@ mod aabb_convex_polygon;
 mod aabb_convex_polyhedron;
 mod aabb_cuboid;
 mod aabb_halfspace;
+#[cfg(feature = "std")]
 mod aabb_heightfield;
 mod aabb_support_map;
 mod aabb_triangle;
@@ -45,6 +46,7 @@ mod bounding_sphere_cuboid;
 #[cfg(feature = "dim3")]
 mod bounding_sphere_cylinder;
 mod bounding_sphere_halfspace;
+#[cfg(feature = "std")]
 mod bounding_sphere_heightfield;
 #[cfg(feature = "std")]
 mod bounding_sphere_polyline;

src/partitioning/mod.rs

@@ -14,6 +14,7 @@ pub use self::visitor::{
 
 /// A quaternary bounding-volume-hierarchy.
 #[deprecated(note = "Renamed to Qbvh")]
+#[cfg(feature = "std")]
 pub type SimdQbvh<T> = Qbvh<T>;
 
 #[cfg(feature = "std")]

src/partitioning/visitor.rs

@@ -1,5 +1,8 @@
 use crate::math::{Real, SimdBool, SimdReal, SIMD_WIDTH};
+
+#[cfg(feature = "std")]
 use crate::partitioning::qbvh::QbvhNode;
+#[cfg(feature = "std")]
 use crate::partitioning::SimdNodeIndex;
 
 /// The next action to be taken by a BVH traversal algorithm after having visited a node with some data.
@@ -116,6 +119,7 @@ pub trait SimdSimultaneousVisitor<T1, T2, SimdBV> {
  */
 
 /// Trait implemented by visitor called during the parallel traversal of a spatial partitioning data structure.
+#[cfg(feature = "std")]
 pub trait ParallelSimdVisitor<LeafData>: Sync {
     /// Execute an operation on the content of a node of the spatial partitioning structure.
     ///
@@ -129,6 +133,7 @@ pub trait ParallelSimdVisitor<LeafData>: Sync {
     ) -> SimdVisitStatus;
 }
 
+#[cfg(feature = "std")]
 impl<F, LeafData> ParallelSimdVisitor<LeafData> for F
 where
     F: Sync + Fn(&QbvhNode, Option<[Option<&LeafData>; SIMD_WIDTH]>) -> SimdVisitStatus,
@@ -146,6 +151,7 @@ where
 /// Trait implemented by visitor called during a parallel simultaneous spatial partitioning
 /// data structure traversal.
 #[cfg(feature = "parallel")]
+#[cfg(feature = "std")]
 pub trait ParallelSimdSimultaneousVisitor<LeafData1, LeafData2>: Sync {
     /// Visitor state data that will be passed down the recursion.
     type Data: Copy + Sync + Default;

src/query/default_query_dispatcher.rs

@@ -1,12 +1,12 @@
 use crate::math::{Isometry, Point, Real, Vector};
-use crate::query::contact_manifolds::NormalConstraints;
 use crate::query::{
     self, details::NonlinearTOIMode, ClosestPoints, Contact, NonlinearRigidMotion, QueryDispatcher,
     Unsupported, TOI,
 };
 #[cfg(feature = "std")]
 use crate::query::{
-    contact_manifolds::ContactManifoldsWorkspace, query_dispatcher::PersistentQueryDispatcher,
+    contact_manifolds::{ContactManifoldsWorkspace, NormalConstraints},
+    query_dispatcher::PersistentQueryDispatcher,
     ContactManifold,
 };
 use crate::shape::{HalfSpace, Segment, Shape, ShapeType};

src/query/mod.rs

@@ -63,6 +63,7 @@ mod ray;
 pub mod sat;
 mod split;
 mod time_of_impact;
+#[cfg(feature = "std")]
 pub mod visitors;
 
 /// Queries dedicated to specific pairs of shapes.

src/query/point/mod.rs

@@ -14,13 +14,15 @@ mod point_aabb;
 mod point_ball;
 mod point_bounding_sphere;
 mod point_capsule;
+#[cfg(feature = "std")]
 mod point_composite_shape;
 #[cfg(feature = "dim3")]
 mod point_cone;
 mod point_cuboid;
 #[cfg(feature = "dim3")]
 mod point_cylinder;
 mod point_halfspace;
+#[cfg(feature = "std")]
 mod point_heightfield;
 #[doc(hidden)]
 pub mod point_query;

src/query/point/point_composite_shape.rs

@@ -11,10 +11,8 @@ use crate::shape::{
 use na;
 use simba::simd::{SimdBool as _, SimdPartialOrd, SimdValue};
 
-#[cfg(feature = "std")]
 use crate::shape::{Compound, Polyline};
 
-#[cfg(feature = "std")]
 impl PointQuery for Polyline {
     #[inline]
     fn project_local_point(&self, point: &Point<Real>, solid: bool) -> PointProjection {
@@ -100,7 +98,6 @@ impl PointQuery for TriMesh {
     }
 }
 
-#[cfg(feature = "std")]
 impl PointQuery for Compound {
     #[inline]
     fn project_local_point(&self, point: &Point<Real>, solid: bool) -> PointProjection {
@@ -124,7 +121,6 @@ impl PointQuery for Compound {
     }
 }
 
-#[cfg(feature = "std")]
 impl PointQueryWithLocation for Polyline {
     type Location = (u32, SegmentPointLocation);
 

src/query/query_dispatcher.rs

@@ -1,7 +1,9 @@
 use crate::math::{Isometry, Real, Vector};
-use crate::query::contact_manifolds::NormalConstraints;
 #[cfg(feature = "std")]
-use crate::query::{contact_manifolds::ContactManifoldsWorkspace, ContactManifold};
+use crate::query::{
+    contact_manifolds::{ContactManifoldsWorkspace, NormalConstraints},
+    ContactManifold,
+};
 use crate::query::{ClosestPoints, Contact, NonlinearRigidMotion, Unsupported, TOI};
 use crate::shape::Shape;
 

src/query/ray/mod.rs

@@ -22,6 +22,7 @@ mod ray_bounding_sphere;
 mod ray_composite_shape;
 mod ray_cuboid;
 mod ray_halfspace;
+#[cfg(feature = "std")]
 mod ray_heightfield;
 mod ray_round_shape;
 mod ray_support_map;

src/query/visitors/mod.rs

@@ -1,29 +1,17 @@
 //! Visitors for performing geometric queries exploiting spatial partitioning data structures.
 
-#[cfg(feature = "std")]
 pub use self::aabb_sets_interferences_collector::AabbSetsInterferencesCollector;
-#[cfg(feature = "std")]
 pub use self::bounding_volume_intersections_simultaneous_visitor::BoundingVolumeIntersectionsSimultaneousVisitor;
-#[cfg(feature = "std")]
 pub use self::bounding_volume_intersections_visitor::BoundingVolumeIntersectionsVisitor;
-#[cfg(feature = "std")]
 pub use self::composite_closest_point_visitor::CompositeClosestPointVisitor;
 pub use self::composite_point_containment_test::CompositePointContainmentTest;
-#[cfg(feature = "std")]
 pub use self::point_intersections_visitor::PointIntersectionsVisitor;
-#[cfg(feature = "std")]
 pub use self::ray_intersections_visitor::RayIntersectionsVisitor;
 
-#[cfg(feature = "std")]
 mod aabb_sets_interferences_collector;
-#[cfg(feature = "std")]
 mod bounding_volume_intersections_simultaneous_visitor;
-#[cfg(feature = "std")]
 mod bounding_volume_intersections_visitor;
-#[cfg(feature = "std")]
 mod composite_closest_point_visitor;
 mod composite_point_containment_test;
-#[cfg(feature = "std")]
 mod point_intersections_visitor;
-#[cfg(feature = "std")]
 mod ray_intersections_visitor;

src/shape/composite_shape.rs

@@ -20,6 +20,7 @@ pub trait SimdCompositeShape {
     fn qbvh(&self) -> &Qbvh<u32>;
 }
 
+#[cfg(feature = "std")]
 pub trait TypedSimdCompositeShape {
     type PartShape: ?Sized + Shape;
     type PartNormalConstraints: ?Sized + NormalConstraints;

src/shape/mod.rs

@@ -2,8 +2,6 @@
 
 pub use self::ball::Ball;
 pub use self::capsule::Capsule;
-#[doc(inline)]
-pub use self::composite_shape::TypedSimdCompositeShape;
 pub use self::cuboid::Cuboid;
 pub use self::feature_id::{FeatureId, PackedFeatureId};
 pub use self::half_space::HalfSpace;
@@ -20,14 +18,17 @@ pub use self::triangle::{Triangle, TriangleOrientation, TrianglePointLocation};
 
 #[cfg(feature = "std")]
 pub use self::{
-    composite_shape::SimdCompositeShape, compound::Compound, polyline::Polyline,
+    composite_shape::{SimdCompositeShape, TypedSimdCompositeShape},
+    compound::Compound,
+    polyline::Polyline,
     shared_shape::SharedShape,
 };
 
 #[cfg(feature = "dim2")]
 #[cfg(feature = "std")]
 pub use self::convex_polygon::ConvexPolygon;
 #[cfg(feature = "dim2")]
+#[cfg(feature = "std")]
 pub use self::heightfield2::*;
 #[cfg(feature = "dim2")]
 pub use self::polygonal_feature2d::PolygonalFeature;
@@ -40,12 +41,14 @@ pub use self::convex_polyhedron::ConvexPolyhedron;
 #[cfg(feature = "dim3")]
 pub use self::cylinder::Cylinder;
 #[cfg(feature = "dim3")]
+#[cfg(feature = "std")]
 pub use self::heightfield3::*;
 #[cfg(feature = "dim3")]
 pub use self::polygonal_feature3d::PolygonalFeature;
 #[cfg(feature = "dim3")]
 pub use self::tetrahedron::{Tetrahedron, TetrahedronPointLocation};
 pub use self::triangle_pseudo_normals::TrianglePseudoNormals;
+#[cfg(feature = "std")]
 pub use self::trimesh::*;
 
 /// A cylinder dilated by a sphere (so it has round corners).
@@ -69,6 +72,7 @@ pub type RoundConvexPolygon = RoundShape<ConvexPolygon>;
 
 mod ball;
 mod capsule;
+#[cfg(feature = "std")]
 #[doc(hidden)]
 pub mod composite_shape;
 #[cfg(feature = "std")]
@@ -89,6 +93,7 @@ mod triangle;
 #[cfg(feature = "std")]
 mod convex_polygon;
 #[cfg(feature = "dim2")]
+#[cfg(feature = "std")]
 mod heightfield2;
 
 #[cfg(feature = "dim3")]
@@ -99,12 +104,14 @@ mod convex_polyhedron;
 #[cfg(feature = "dim3")]
 mod cylinder;
 #[cfg(feature = "dim3")]
+#[cfg(feature = "std")]
 mod heightfield3;
 #[cfg(feature = "dim3")]
 mod polygonal_feature3d;
 mod polygonal_feature_map;
 #[cfg(feature = "dim3")]
 mod tetrahedron;
+#[cfg(feature = "std")]
 pub(crate) mod trimesh;
 // TODO: move this elsewhere?
 mod feature_id;

src/shape/triangle_pseudo_normals.rs

@@ -1,7 +1,9 @@
 use crate::math::{Real, UnitVector, Vector};
-use crate::query::details::NormalConstraints;
 use na::Vector3;
 
+#[cfg(feature = "std")]
+use crate::query::details::NormalConstraints;
+
 // NOTE: ideally, the normal cone should take into account the point where the normal cone is
 //       considered. But as long as we assume that the triangles are one-way we can get away with
 //       just relying on the normal directions.
@@ -26,6 +28,7 @@ pub struct TrianglePseudoNormals {
     pub edges: [UnitVector<Real>; 3],
 }
 
+#[cfg(feature = "std")]
 impl NormalConstraints for TrianglePseudoNormals {
     /// Projects the given direction to it is contained in the polygonal
     /// cone defined `self`.

src/shape/trimesh.rs

@@ -8,14 +8,13 @@ use crate::utils::HashablePartialEq;
 #[cfg(feature = "dim3")]
 use {crate::shape::Cuboid, crate::utils::SortedPair, na::Unit};
 
-#[cfg(feature = "std")]
 use {
     crate::shape::composite_shape::SimdCompositeShape,
     crate::utils::hashmap::{Entry, HashMap},
     std::collections::HashSet,
 };
 
-#[cfg(all(feature = "dim2", feature = "std"))]
+#[cfg(feature = "dim2")]
 use crate::transformation::ear_clipping::triangulate_ear_clipping;
 
 use crate::query::details::NormalConstraints;
@@ -38,7 +37,6 @@ pub enum TopologyError {
     },
 }
 
-#[cfg(feature = "std")]
 impl std::fmt::Display for TopologyError {
     fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
         match self {
@@ -54,7 +52,6 @@ impl std::fmt::Display for TopologyError {
     }
 }
 
-#[cfg(feature = "std")]
 impl std::error::Error for TopologyError {}
 
 /// The set of pseudo-normals of a triangle mesh.
@@ -269,7 +266,6 @@ impl fmt::Debug for TriMesh {
     }
 }
 
-#[cfg(feature = "std")]
 impl TriMesh {
     /// Creates a new triangle mesh from a vertex buffer and an index buffer.
     pub fn new(vertices: Vec<Point<Real>>, indices: Vec<[u32; 3]>) -> Self {
@@ -973,7 +969,6 @@ impl TriMesh {
 }
 
 #[cfg(feature = "dim3")]
-#[cfg(feature = "std")]
 impl From<crate::shape::HeightField> for TriMesh {
     fn from(heightfield: crate::shape::HeightField) -> Self {
         let (vtx, idx) = heightfield.to_trimesh();
@@ -982,15 +977,13 @@ impl From<crate::shape::HeightField> for TriMesh {
 }
 
 #[cfg(feature = "dim3")]
-#[cfg(feature = "std")]
 impl From<Cuboid> for TriMesh {
     fn from(cuboid: Cuboid) -> Self {
         let (vtx, idx) = cuboid.to_trimesh();
         TriMesh::new(vtx, idx)
     }
 }
 
-#[cfg(feature = "std")]
 impl SimdCompositeShape for TriMesh {
     fn map_part_at(
         &self,