From 70e04f3ead6e8ae84c8c007ff509c8e9728acb53 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?S=C3=A9bastien=20Crozet?= <developer@crozet.re>
Date: Sun, 2 Oct 2022 16:50:07 +0200
Subject: [PATCH] Fix no-std build

---
 src/query/default_query_dispatcher.rs | 63 ++++++++++++++-------------
 src/query/time_of_impact/mod.rs       | 20 +++++----
 2 files changed, 44 insertions(+), 39 deletions(-)

diff --git a/src/query/default_query_dispatcher.rs b/src/query/default_query_dispatcher.rs
index c1367723..f4344299 100644
--- a/src/query/default_query_dispatcher.rs
+++ b/src/query/default_query_dispatcher.rs
@@ -8,7 +8,7 @@ use crate::query::{
     contact_manifolds::ContactManifoldsWorkspace, query_dispatcher::PersistentQueryDispatcher,
     ContactManifold,
 };
-use crate::shape::{HalfSpace, HeightField, Segment, Shape, ShapeType};
+use crate::shape::{HalfSpace, Segment, Shape, ShapeType};
 
 /// A dispatcher that exposes built-in queries
 #[derive(Debug, Clone)]
@@ -306,38 +306,39 @@ impl QueryDispatcher for DefaultQueryDispatcher {
                 max_toi,
                 stop_at_penetration,
             ))
-        } else if let Some(heightfield1) = shape1.as_shape::<HeightField>() {
-            query::details::time_of_impact_heightfield_shape(
-                self,
-                pos12,
-                local_vel12,
-                heightfield1,
-                shape2,
-                max_toi,
-                stop_at_penetration,
-            )
-        } else if let Some(heightfield2) = shape1.as_shape::<HeightField>() {
-            query::details::time_of_impact_shape_heightfield(
-                self,
-                pos12,
-                local_vel12,
-                shape1,
-                heightfield2,
-                max_toi,
-                stop_at_penetration,
-            )
-        } else if let (Some(s1), Some(s2)) = (shape1.as_support_map(), shape2.as_support_map()) {
-            Ok(query::details::time_of_impact_support_map_support_map(
-                pos12,
-                local_vel12,
-                s1,
-                s2,
-                max_toi,
-                stop_at_penetration,
-            ))
         } else {
             #[cfg(feature = "std")]
-            if let Some(c1) = shape1.as_composite_shape() {
+            if let Some(heightfield1) = shape1.as_heightfield() {
+                return query::details::time_of_impact_heightfield_shape(
+                    self,
+                    pos12,
+                    local_vel12,
+                    heightfield1,
+                    shape2,
+                    max_toi,
+                    stop_at_penetration,
+                );
+            } else if let Some(heightfield2) = shape1.as_heightfield() {
+                return query::details::time_of_impact_shape_heightfield(
+                    self,
+                    pos12,
+                    local_vel12,
+                    shape1,
+                    heightfield2,
+                    max_toi,
+                    stop_at_penetration,
+                );
+            } else if let (Some(s1), Some(s2)) = (shape1.as_support_map(), shape2.as_support_map())
+            {
+                return Ok(query::details::time_of_impact_support_map_support_map(
+                    pos12,
+                    local_vel12,
+                    s1,
+                    s2,
+                    max_toi,
+                    stop_at_penetration,
+                ));
+            } else if let Some(c1) = shape1.as_composite_shape() {
                 return Ok(query::details::time_of_impact_composite_shape_shape(
                     self,
                     pos12,
diff --git a/src/query/time_of_impact/mod.rs b/src/query/time_of_impact/mod.rs
index 97ea2b4c..915c0c0d 100644
--- a/src/query/time_of_impact/mod.rs
+++ b/src/query/time_of_impact/mod.rs
@@ -2,23 +2,27 @@
 
 pub use self::time_of_impact::{time_of_impact, TOIStatus, TOI};
 pub use self::time_of_impact_ball_ball::time_of_impact_ball_ball;
-#[cfg(feature = "std")]
-pub use self::time_of_impact_composite_shape_shape::{
-    time_of_impact_composite_shape_shape, time_of_impact_shape_composite_shape,
-    TOICompositeShapeShapeBestFirstVisitor,
-};
 pub use self::time_of_impact_halfspace_support_map::{
     time_of_impact_halfspace_support_map, time_of_impact_support_map_halfspace,
 };
-pub use self::time_of_impact_heightfield_shape::{
-    time_of_impact_heightfield_shape, time_of_impact_shape_heightfield,
+#[cfg(feature = "std")]
+pub use self::{
+    time_of_impact_composite_shape_shape::{
+        time_of_impact_composite_shape_shape, time_of_impact_shape_composite_shape,
+        TOICompositeShapeShapeBestFirstVisitor,
+    },
+    time_of_impact_heightfield_shape::{
+        time_of_impact_heightfield_shape, time_of_impact_shape_heightfield,
+    },
+    time_of_impact_support_map_support_map::time_of_impact_support_map_support_map,
 };
-pub use self::time_of_impact_support_map_support_map::time_of_impact_support_map_support_map;
 
 mod time_of_impact;
 mod time_of_impact_ball_ball;
 #[cfg(feature = "std")]
 mod time_of_impact_composite_shape_shape;
 mod time_of_impact_halfspace_support_map;
+#[cfg(feature = "std")]
 mod time_of_impact_heightfield_shape;
+#[cfg(feature = "std")]
 mod time_of_impact_support_map_support_map;