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no_std compatibility #703

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b8f6f4d
Make dependencies `no_std` and use `alloc` more
Jondolf Mar 22, 2025
4ba9655
Make math work with `no_std` and add method lints
Jondolf Mar 22, 2025
6a7b217
Add feature-dependent `ceil`
Jondolf Mar 23, 2025
ccd338b
Patch Parry and Nalgebra to work with `no_std`
Jondolf Mar 23, 2025
ba0d684
WIP: ccd338b8 Patch Parry and Nalgebra to work with `no_std`
Jondolf Apr 17, 2025
24804f3
Update `data_structures` to be `no_std` compatible
Jondolf Apr 17, 2025
1f166cb
Fix minor `no_std` problems
Jondolf Apr 17, 2025
7d3e1ab
Check `no_std` compatibility in CI
Jondolf Apr 17, 2025
d9047f6
Clean up attribute order
Jondolf Apr 17, 2025
9f60fd0
Add `ParallelCommands` wrapper to allow using the same API on `no_std…
Jondolf Apr 17, 2025
840942a
Fix usage without Parry
Jondolf Apr 17, 2025
e1565af
Update deps
Jondolf Apr 17, 2025
b3f3575
Fix CI check
Jondolf Apr 17, 2025
289944a
Fix CI and math ops
Jondolf Apr 17, 2025
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121 changes: 71 additions & 50 deletions .github/workflows/ci.yml
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@@ -1,60 +1,81 @@
name: CI

on:
push:
branches:
- main
pull_request:
push:
branches:
- main
pull_request:

env:
CARGO_TERM_COLOR: always
CARGO_TERM_COLOR: always

jobs:
check:
name: Check
runs-on: ubuntu-latest
steps:
- uses: actions/checkout@v4
- uses: dtolnay/rust-toolchain@stable
- uses: Swatinem/rust-cache@v2
- name: Run cargo check
run: cargo check
check:
name: Check
runs-on: ubuntu-latest
steps:
- uses: actions/checkout@v4
- uses: dtolnay/rust-toolchain@stable
- uses: Swatinem/rust-cache@v2
- name: Run cargo check
run: cargo check

docs:
name: Check Documentation
runs-on: ubuntu-latest
steps:
- uses: actions/checkout@v4
- uses: dtolnay/rust-toolchain@stable
- uses: Swatinem/rust-cache@v2
- name: Run cargo doc
run: cargo doc --workspace --no-deps --document-private-items --keep-going
env:
RUSTDOCFLAGS: "-D warnings"
check-compiles-no-std:
runs-on: ubuntu-latest
strategy:
fail-fast: false
matrix:
target:
- "x86_64-unknown-none"
- "wasm32v1-none"
- "thumbv6m-none-eabi"
dimensions:
- "2d"
- "3d"
steps:
- uses: actions/checkout@v4
- uses: dtolnay/rust-toolchain@stable
with:
targets: ${{ matrix.target }}
- uses: Swatinem/rust-cache@v2
- name: Run cargo check
run: cargo check -p avian${{ matrix.dimensions }} --no-default-features --features "${{ matrix.dimensions }} f32 parry-f32 libm" --target ${{ matrix.target }}

test:
name: Test Suite
strategy:
matrix:
# TODO: Add ubuntu-latest back. It had CI storage issues, so it's left out for now.
os: [windows-latest, macos-latest]
runs-on: ${{ matrix.os }}
timeout-minutes: 60
steps:
- uses: actions/checkout@v4
- uses: dtolnay/rust-toolchain@stable
- uses: Swatinem/rust-cache@v2
- name: Run cargo test
run: cargo test --no-default-features --features enhanced-determinism,collider-from-mesh,serialize,debug-plugin,avian2d/2d,avian3d/3d,avian2d/f64,avian3d/f64,default-collider,parry-f64,bevy_scene,bevy_picking,diagnostic_ui
docs:
name: Check Documentation
runs-on: ubuntu-latest
steps:
- uses: actions/checkout@v4
- uses: dtolnay/rust-toolchain@stable
- uses: Swatinem/rust-cache@v2
- name: Run cargo doc
run: cargo doc --workspace --no-deps --document-private-items --keep-going
env:
RUSTDOCFLAGS: "-D warnings"

lints:
name: Lints
runs-on: ubuntu-latest
steps:
- uses: actions/checkout@v4
- uses: dtolnay/rust-toolchain@stable
- uses: Swatinem/rust-cache@v2
- name: Run cargo fmt
run: cargo fmt --all -- --check
- name: Run cargo clippy
run: cargo clippy -- -D warnings
test:
name: Test Suite
strategy:
matrix:
# TODO: Add ubuntu-latest back. It had CI storage issues, so it's left out for now.
os: [windows-latest, macos-latest]
runs-on: ${{ matrix.os }}
timeout-minutes: 60
steps:
- uses: actions/checkout@v4
- uses: dtolnay/rust-toolchain@stable
- uses: Swatinem/rust-cache@v2
- name: Run cargo test
run: cargo test --no-default-features --features std,enhanced-determinism,collider-from-mesh,serialize,debug-plugin,avian2d/2d,avian3d/3d,avian2d/f64,avian3d/f64,default-collider,parry-f64,bevy_scene,bevy_picking,diagnostic_ui

lints:
name: Lints
runs-on: ubuntu-latest
steps:
- uses: actions/checkout@v4
- uses: dtolnay/rust-toolchain@stable
- uses: Swatinem/rust-cache@v2
- name: Run cargo fmt
run: cargo fmt --all -- --check
- name: Run cargo clippy
run: cargo clippy -- -D warnings
3 changes: 3 additions & 0 deletions Cargo.toml
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Expand Up @@ -9,3 +9,6 @@ std_instead_of_core = "warn"

[profile.dev]
opt-level = 1 # Use slightly better optimization, so examples work

[patch.crates-io]
nalgebra = { git = "https://github.com/Jondolf/nalgebra", branch = "glam-no-default-features" }
78 changes: 78 additions & 0 deletions clippy.toml
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@@ -0,0 +1,78 @@
disallowed-methods = [
# f32
{ path = "f32::powi", reason = "use math_ops::FloatPow::squared, math_ops::FloatPow::cubed, or math_ops::powf instead for libm determinism" },
{ path = "f32::log", reason = "use math_ops::ln, math_ops::log2, or math_ops::log10 instead for libm determinism" },
{ path = "f32::abs_sub", reason = "deprecated and deeply confusing method" },
{ path = "f32::powf", reason = "use math_ops::powf instead for libm determinism" },
{ path = "f32::exp", reason = "use math_ops::exp instead for libm determinism" },
{ path = "f32::exp2", reason = "use math_ops::exp2 instead for libm determinism" },
{ path = "f32::ln", reason = "use math_ops::ln instead for libm determinism" },
{ path = "f32::log2", reason = "use math_ops::log2 instead for libm determinism" },
{ path = "f32::log10", reason = "use math_ops::log10 instead for libm determinism" },
{ path = "f32::cbrt", reason = "use math_ops::cbrt instead for libm determinism" },
{ path = "f32::hypot", reason = "use math_ops::hypot instead for libm determinism" },
{ path = "f32::sin", reason = "use math_ops::sin instead for libm determinism" },
{ path = "f32::cos", reason = "use math_ops::cos instead for libm determinism" },
{ path = "f32::tan", reason = "use math_ops::tan instead for libm determinism" },
{ path = "f32::asin", reason = "use math_ops::asin instead for libm determinism" },
{ path = "f32::acos", reason = "use math_ops::acos instead for libm determinism" },
{ path = "f32::atan", reason = "use math_ops::atan instead for libm determinism" },
{ path = "f32::atan2", reason = "use math_ops::atan2 instead for libm determinism" },
{ path = "f32::sin_cos", reason = "use math_ops::sin_cos instead for libm determinism" },
{ path = "f32::exp_m1", reason = "use math_ops::exp_m1 instead for libm determinism" },
{ path = "f32::ln_1p", reason = "use math_ops::ln_1p instead for libm determinism" },
{ path = "f32::sinh", reason = "use math_ops::sinh instead for libm determinism" },
{ path = "f32::cosh", reason = "use math_ops::cosh instead for libm determinism" },
{ path = "f32::tanh", reason = "use math_ops::tanh instead for libm determinism" },
{ path = "f32::asinh", reason = "use math_ops::asinh instead for libm determinism" },
{ path = "f32::acosh", reason = "use math_ops::acosh instead for libm determinism" },
{ path = "f32::atanh", reason = "use math_ops::atanh instead for libm determinism" },
# f64
{ path = "f64::powi", reason = "use math_ops::FloatPow::squared, math_ops::FloatPow::cubed, or math_ops::powf instead for libm determinism" },
{ path = "f64::log", reason = "use math_ops::ln, math_ops::log2, or math_ops::log10 instead for libm determinism" },
{ path = "f64::abs_sub", reason = "deprecated and deeply confusing method" },
{ path = "f64::powf", reason = "use math_ops::powf instead for libm determinism" },
{ path = "f64::exp", reason = "use math_ops::exp instead for libm determinism" },
{ path = "f64::exp2", reason = "use math_ops::exp2 instead for libm determinism" },
{ path = "f64::ln", reason = "use math_ops::ln instead for libm determinism" },
{ path = "f64::log2", reason = "use math_ops::log2 instead for libm determinism" },
{ path = "f64::log10", reason = "use math_ops::log10 instead for libm determinism" },
{ path = "f64::cbrt", reason = "use math_ops::cbrt instead for libm determinism" },
{ path = "f64::hypot", reason = "use math_ops::hypot instead for libm determinism" },
{ path = "f64::sin", reason = "use math_ops::sin instead for libm determinism" },
{ path = "f64::cos", reason = "use math_ops::cos instead for libm determinism" },
{ path = "f64::tan", reason = "use math_ops::tan instead for libm determinism" },
{ path = "f64::asin", reason = "use math_ops::asin instead for libm determinism" },
{ path = "f64::acos", reason = "use math_ops::acos instead for libm determinism" },
{ path = "f64::atan", reason = "use math_ops::atan instead for libm determinism" },
{ path = "f64::atan2", reason = "use math_ops::atan2 instead for libm determinism" },
{ path = "f64::sin_cos", reason = "use math_ops::sin_cos instead for libm determinism" },
{ path = "f64::exp_m1", reason = "use math_ops::exp_m1 instead for libm determinism" },
{ path = "f64::ln_1p", reason = "use math_ops::ln_1p instead for libm determinism" },
{ path = "f64::sinh", reason = "use math_ops::sinh instead for libm determinism" },
{ path = "f64::cosh", reason = "use math_ops::cosh instead for libm determinism" },
{ path = "f64::tanh", reason = "use math_ops::tanh instead for libm determinism" },
{ path = "f64::asinh", reason = "use math_ops::asinh instead for libm determinism" },
{ path = "f64::acosh", reason = "use math_ops::acosh instead for libm determinism" },
{ path = "f64::atanh", reason = "use math_ops::atanh instead for libm determinism" },
# These methods have defined precision, but are only available from the standard library,
# not in core. Using these substitutes allows for no_std compatibility.
# f32
{ path = "f32::rem_euclid", reason = "use math_ops::rem_euclid instead for no_std compatibility" },
{ path = "f32::abs", reason = "use math_ops::abs instead for no_std compatibility" },
{ path = "f32::sqrt", reason = "use math_ops::sqrt instead for no_std compatibility" },
{ path = "f32::copysign", reason = "use math_ops::copysign instead for no_std compatibility" },
{ path = "f32::round", reason = "use math_ops::round instead for no_std compatibility" },
{ path = "f32::floor", reason = "use math_ops::floor instead for no_std compatibility" },
{ path = "f32::ceil", reason = "use math_ops::ceil instead for no_std compatibility" },
{ path = "f32::fract", reason = "use math_ops::fract instead for no_std compatibility" },
# f64
{ path = "f64::rem_euclid", reason = "use math_ops::rem_euclid instead for no_std compatibility" },
{ path = "f64::abs", reason = "use math_ops::abs instead for no_std compatibility" },
{ path = "f64::sqrt", reason = "use math_ops::sqrt instead for no_std compatibility" },
{ path = "f64::copysign", reason = "use math_ops::copysign instead for no_std compatibility" },
{ path = "f64::round", reason = "use math_ops::round instead for no_std compatibility" },
{ path = "f64::floor", reason = "use math_ops::floor instead for no_std compatibility" },
{ path = "f64::ceil", reason = "use math_ops::ceil instead for no_std compatibility" },
{ path = "f64::fract", reason = "use math_ops::fract instead for no_std compatibility" },
]
67 changes: 48 additions & 19 deletions crates/avian2d/Cargo.toml
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Expand Up @@ -13,6 +13,7 @@ categories = ["game-development", "science", "simulation"]

[features]
default = [
"std",
"2d",
"f32",
"parry-f32",
Expand All @@ -28,15 +29,14 @@ f64 = []
debug-plugin = ["bevy/bevy_gizmos", "bevy/bevy_render"]
simd = ["parry2d?/simd-stable", "parry2d-f64?/simd-stable"]
parallel = [
"std",
"dep:thread_local",
"bevy/multi_threaded",
"parry2d?/parallel",
"parry2d-f64?/parallel",
]
enhanced-determinism = [
"dep:libm",
"bevy_math/libm",
"bevy_heavy/libm",
"libm",
"parry2d?/enhanced-determinism",
"parry2d-f64?/enhanced-determinism",
]
Expand Down Expand Up @@ -65,6 +65,23 @@ bevy_diagnostic = []
# Enables the `PhysicsDiagnosticsUiPlugin` for visualizing physics diagnostics data with a debug UI.
diagnostic_ui = ["bevy_diagnostic", "bevy/bevy_ui"]

# Enable the Rust standard library.
std = [
"bevy/std",
"bevy_heavy/std",
"bevy_transform_interpolation/std",
"parry2d?/std",
"parry2d-f64?/std",
]

# Enable `libm` math operations for `no_std` environments and cross-platform determinism.
libm = [
"dep:libm",
"bevy/libm",
"bevy_heavy/libm",
"bevy_transform_interpolation/libm",
]

[lib]
name = "avian2d"
path = "../../src/lib.rs"
Expand All @@ -73,23 +90,36 @@ bench = false

[dependencies]
avian_derive = { path = "../avian_derive", version = "0.2" }
bevy = { version = "0.16.0-rc", default-features = false, features = [
"std",
"bevy_log",
bevy = { version = "0.16.0-rc", default-features = false }
bevy_math = { version = "0.16.0-rc", default-features = false }
bevy_heavy = { git = "https://github.com/Jondolf/bevy_heavy", default-features = false, features = [
"2d",
"3d",
"bevy_reflect",
] }
bevy_math = { version = "0.16.0-rc" }
bevy_heavy = { git = "https://github.com/Jondolf/bevy_heavy" }
bevy_transform_interpolation = { git = "https://github.com/Jondolf/bevy_transform_interpolation" }
bevy_transform_interpolation = { git = "https://github.com/Jondolf/bevy_transform_interpolation", default-features = false }
libm = { version = "0.2", optional = true }
parry2d = { version = "0.17", optional = true }
parry2d-f64 = { version = "0.17", optional = true }
nalgebra = { version = "0.33", features = ["convert-glam029"], optional = true }
serde = { version = "1", features = ["derive"], optional = true }
derive_more = "1"
arrayvec = "0.7"
itertools = "0.13"
bitflags = "2.5.0"
thread_local = { version = "1.1", optional = true }
parry2d = { version = "0.19", optional = true, default-features = false, features = [
"required-features",
"alloc",
] }
parry2d-f64 = { version = "0.19", optional = true, default-features = false, features = [
"required-features",
"alloc",
] }
nalgebra = { version = "0.33", default-features = false, features = [
"convert-glam029",
], optional = true }
serde = { version = "1", default-features = false, features = [
"derive",
], optional = true }
derive_more = { version = "1", default-features = false }
log = { version = "0.4", default-features = false }
arrayvec = { version = "0.7", default-features = false }
hashbrown = { version = "0.15", default-features = false }
itertools = { version = "0.13", default-features = false }
bitflags = { version = "2.5.0", default-features = false }
thread_local = { version = "1.1", default-features = false, optional = true }

[dev-dependencies]
examples_common_2d = { path = "../examples_common_2d" }
Expand All @@ -98,7 +128,6 @@ bevy_math = { version = "0.16.0-rc", features = ["approx"] }
bevy_heavy = { git = "https://github.com/Jondolf/bevy_heavy", features = [
"approx",
] }
glam = { version = "0.29", features = ["bytemuck"] }
approx = "0.5"
bytemuck = "1.19"
criterion = { version = "0.5", features = ["html_reports"] }
Expand Down
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