Migrate codebase to glam + release v0.26.0

[sebcrozet]

More insights on the rational behind this change will be provided in an upcoming blog-post (tl.dr: it’s to prepare for our upcoming GPU computing work).

0.26.0

Breaking changes

This release migrates parry from nalgebra to glam (via the glamx crate) for future compatibility with
rust-gpu. This is a major breaking change affecting almost all public APIs.

Type renames

• Isometry → Pose (using glamx::Pose2/Pose3)
• Rotation → Rot2/Rot3 (using glamx::Rot2/Rot3)
• IsometryOps → PoseOps
• IsometryOpt → PoseOpt

Removed types

• Point<Real> - use Vector instead. Points and vectors are now unified.
• UnitVector<Real> - use Vector instead. Normalization is no longer encoded in the type.
• Translation<Real> - use Vector for translations.

Math type changes

• Vector is now glam::Vec2/Vec3/DVec2/DVec3 depending on dimension and precision features
• Matrix is now glam::Mat2/Mat3/DMat2/DMat3
• The math module now re-exports glam types and provides dimension-agnostic aliases

API signature changes

• Many functions that previously took &Point<Real> or &Vector<Real> now take Vector by value
• Functions taking &Isometry<Real> now take &Pose or Pose by value
• HalfSpace::new now takes Vector instead of Unit<Vector<Real>>
• Shape constructors like Segment::new, Triangle::new, Capsule::new now take Vector instead of Point
• Aabb::mins and Aabb::maxs are now Vector instead of Point<Real>

Migration guide

If your codebase currently relies on nalgebra, note that nalgebra and glamx provide type conversion. Enable the
corresponding features:

• nalgebra = { version = "0.34", features = [ "convert-glam030" ] }
• glamx = { version = "0.1", features = ["nalgebra"] }
  then you can convert between glam and nalgebra types using .into().

// Before (nalgebra)
use parry3d::na::{Point3, Vector3, Isometry3, Unit};
let point = Point3::new(1.0, 2.0, 3.0);
let vector = Vector3::new(1.0, 0.0, 0.0);
let normal = Unit::new_normalize(vector);
let pos = Isometry3::translation(1.0, 2.0, 3.0);

// After (glam)
use parry3d::math::{Vector, Pose};
let point = Vector::new(1.0, 2.0, 3.0);  // Points are now Vector
let vector = Vector::X;
let normal = vector.normalize();          // No Unit wrapper
let pos = Pose::translation(1.0, 2.0, 3.0);

Common patterns:

• Point3::origin() → Vector::ZERO
• Vector3::x() → Vector::X
• point.coords → just use the vector directly
• Unit::new_normalize(v) → v.normalize()
• Isometry3::identity() → Pose::IDENTITY
• isometry.translation.vector → pose.translation

Modified

• Re-export glamx instead of nalgebra as the public linear algebra dependency
• Migrate visual examples from macroquad to kiss3d