Migrate codebase to glam + release v0.26.0

.github/workflows/parry-ci-build.yml

@@ -40,7 +40,7 @@ jobs:
       - name: Build parry3d SIMD
         run: cd crates/parry3d; cargo build --verbose --features simd-stable;
       - name: Check serialization
-        run: cargo check --features bytemuck-serialize,serde-serialize,rkyv-serialize;
+        run: cargo check --features bytemuck-serialize,serde-serialize,rkyv;
       - name: Check enhanced-determinism
         run: cargo check --features enhanced-determinism
   tests:
@@ -91,7 +91,7 @@ jobs:
         with:
           toolchain: stable
       - name: cargo doc
-        run: cargo doc --workspace --features bytemuck-serialize,serde-serialize,rkyv-serialize,parallel --no-deps --document-private-items
+        run: cargo doc --workspace --features bytemuck-serialize,serde-serialize,parallel --no-deps --document-private-items # TODO: rkyv
   check-benchmarks:
     runs-on: ubuntu-latest
     steps:

.gitignore

@@ -8,4 +8,5 @@ private
 Cargo.lock
 Makefile
 .vscode
-.idea
+.idea
+.DS_store

CHANGELOG.md

@@ -1,3 +1,75 @@
+## 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()`.
+
+```rust
+// 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`
+- Renamed `rkyv-serialize` feature to just `rkyv`
+
 ## 0.25.3
 
 - Significantly improve performances of `Voxels::combine_voxel_states`.

Cargo.toml

@@ -27,6 +27,7 @@ parry3d = { path = "crates/parry3d" }
 parry2d-f64 = { path = "crates/parry2d-f64" }
 parry3d-f64 = { path = "crates/parry3d-f64" }
 
+#glamx = { path = "../glamx" }
 #simba = { path = "../simba" }
 #simba = { git = "https://github.com/dimforge/simba", rev = "45a5266eb36ed9d25907e9bf9130cd4ac846a748" }
 #nalgebra = { git = "https://github.com/dimforge/nalgebra", rev = "0cf79aef0e6155befc3279a3145f1940822b8377" }

Claude.md

@@ -35,7 +35,7 @@ cargo build -p parry2d
 cd crates/parry3d && cargo build --features simd-stable
 
 # Build with all serialization features
-cargo build --features bytemuck-serialize,serde-serialize,rkyv-serialize
+cargo build --features bytemuck-serialize,serde-serialize,rkyv
 
 # Build with enhanced determinism (incompatible with SIMD)
 cargo build --features enhanced-determinism

crates/parry2d-f64/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "parry2d-f64"
-version = "0.25.3"
+version = "0.26.0"
 authors = ["Sébastien Crozet <[email protected]>"]
 
 description = "2 dimensional collision detection library in Rust. 64-bit precision version."
@@ -23,7 +23,7 @@ workspace = true
 default = ["required-features", "std", "spade"]
 required-features = ["dim2", "f64"]
 std = [
-    "nalgebra/std",
+    "glamx/std",
     "slab",
     "simba/std",
     "arrayvec/std",
@@ -37,23 +37,19 @@ f64 = []
 serde-serialize = [
     "serde",
     "serde_arrays",
-    "nalgebra/serde-serialize",
+    "glamx/serde",
     "arrayvec/serde",
     "bitflags/serde",
     "hashbrown?/serde",
     "spade?/serde",
 ]
-rkyv-serialize = [
-    "rkyv/validation",
-    "nalgebra/rkyv-serialize",
-    "simba/rkyv-serialize",
-]
-bytemuck-serialize = ["bytemuck", "nalgebra/convert-bytemuck"]
+rkyv = ["dep:rkyv", "glamx/rkyv"]
+bytemuck-serialize = ["bytemuck", "glamx/bytemuck"]
 simd-stable = ["simba/wide", "simd-is-enabled"]
 simd-nightly = ["simba/portable_simd", "simd-is-enabled"]
-enhanced-determinism = ["simba/libm_force", "indexmap"]
+enhanced-determinism = ["simba/libm_force", "indexmap", "glamx/libm"]
 parallel = ["rayon"]
-alloc = ["nalgebra/alloc", "hashbrown"]
+alloc = ["hashbrown"]
 spade = ["dep:spade", "alloc"]
 improved_fixed_point_support = []
 
@@ -74,11 +70,11 @@ num-traits = { version = "0.2", default-features = false }
 slab = { version = "0.4", optional = true }
 arrayvec = { version = "0.7", default-features = false }
 simba = { version = "0.9", default-features = false }
-nalgebra = { version = "0.34", default-features = false, features = ["libm", "macros"] }
+glamx = { version = "0.1.2", default-features = false, features = ["nostd-libm", "approx"] }
 approx = { version = "0.5", default-features = false }
 serde = { version = "1.0", optional = true, features = ["derive"] }
 serde_arrays = { version = "0.2", optional = true }
-rkyv = { version = "0.7.41", optional = true }
+rkyv = { version = "0.8", optional = true, default-features = false, features = ["bytecheck", "alloc"] }
 num-derive = "0.4"
 indexmap = { version = "2", features = ["serde"], optional = true }
 hashbrown = { version = "0.16", optional = true, default-features = false, features = [

crates/parry2d/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "parry2d"
-version = "0.25.3"
+version = "0.26.0"
 authors = ["Sébastien Crozet <[email protected]>"]
 
 description = "2 dimensional collision detection library in Rust."
@@ -24,7 +24,7 @@ default = ["required-features", "std", "spade"]
 required-features = ["dim2", "f32"]
 std = [
     "alloc",
-    "nalgebra/std",
+    "glamx/std",
     "slab",
     "simba/std",
     "arrayvec/std",
@@ -37,26 +37,22 @@ f32 = []
 serde-serialize = [
     "serde",
     "serde_arrays",
-    "nalgebra/serde-serialize",
+    "glamx/serde",
     "arrayvec/serde",
     "bitflags/serde",
     "hashbrown?/serde",
     "spade?/serde",
 ]
-rkyv-serialize = [
-    "rkyv/validation",
-    "nalgebra/rkyv-serialize",
-    "simba/rkyv-serialize",
-]
-bytemuck-serialize = ["bytemuck", "nalgebra/convert-bytemuck"]
+rkyv = ["dep:rkyv", "glamx/rkyv"]
+bytemuck-serialize = ["bytemuck", "glamx/bytemuck"]
 simd-stable = ["simba/wide", "simd-is-enabled"]
 simd-nightly = ["simba/portable_simd", "simd-is-enabled"]
-enhanced-determinism = ["simba/libm_force", "indexmap"]
+enhanced-determinism = ["simba/libm_force", "indexmap", "glamx/libm"]
 parallel = ["rayon"]
-alloc = ["nalgebra/alloc", "hashbrown"]
+alloc = ["hashbrown"]
 spade = ["dep:spade", "alloc"]
 improved_fixed_point_support = []
-encase = [ "dep:encase", "nalgebra/encase" ]
+encase = [ "dep:encase", "glamx/encase" ]
 
 # Do not enable this feature directly. It is automatically
 # enabled with the "simd-stable" or "simd-nightly" feature.
@@ -75,11 +71,11 @@ num-traits = { version = "0.2", default-features = false }
 slab = { version = "0.4", optional = true }
 arrayvec = { version = "0.7", default-features = false }
 simba = { version = "0.9", default-features = false }
-nalgebra = { version = "0.34", default-features = false, features = ["libm", "macros"] }
+glamx = { version = "0.1.2", default-features = false, features = ["nostd-libm", "approx"] }
 approx = { version = "0.5", default-features = false }
 serde = { version = "1.0", optional = true, features = ["derive"] }
 serde_arrays = { version = "0.2", optional = true }
-rkyv = { version = "0.7.41", optional = true }
+rkyv = { version = "0.8", optional = true, default-features = false, features = ["bytecheck", "alloc"] }
 num-derive = "0.4"
 indexmap = { version = "2", features = ["serde"], optional = true }
 hashbrown = { version = "0.16", optional = true, default-features = false, features = [
@@ -101,7 +97,8 @@ simba = { version = "0.9", default-features = false }
 oorandom = "11"
 ptree = "0.4.0"
 rand = { version = "0.9" }
-macroquad = "0.4.12"
+kiss3d = "0.39"
+web-time = "1"
 
 [package.metadata.docs.rs]
 rustdoc-args = ["-Zunstable-options", "--generate-link-to-definition"]

crates/parry2d/examples/aabb2d.rs

@@ -1,37 +1,39 @@
-mod common_macroquad2d;
+mod utils2d;
 
-extern crate nalgebra as na;
-
-use common_macroquad2d::{draw_polyline, lissajous_2d, mquad_from_na, na_from_mquad};
-use macroquad::prelude::*;
-use na::Isometry2;
-use parry2d::bounding_volume::{Aabb, BoundingVolume};
+use kiss3d::prelude::*;
+use parry2d::bounding_volume::BoundingVolume;
+use parry2d::math::Pose;
 use parry2d::shape::Ball;
+use utils2d::{draw_aabb2, draw_circle, lissajous_2d};
 
 const RENDER_SCALE: f32 = 30.0;
 
-#[macroquad::main("aabb2d")]
+#[kiss3d::main]
 async fn main() {
-    let render_pos = Vec2::new(300.0, 300.0);
+    let mut window = Window::new("aabb2d").await;
+    let mut camera = PanZoomCamera2d::new(Vec2::ZERO, 4.0);
+    let mut scene = SceneNode2d::empty();
+
+    let start_time = web_time::Instant::now();
 
-    loop {
-        let elapsed_time = get_time() as f32 * 0.7;
-        clear_background(BLACK);
+    while window.render_2d(&mut scene, &mut camera).await {
+        let elapsed_time = start_time.elapsed().as_secs_f32() * 0.7;
 
         /*
          * Initialize the shapes.
          */
         let ball1 = Ball::new(0.5);
         let ball2 = Ball::new(1.0);
 
-        let ball1_pos = na_from_mquad(lissajous_2d(elapsed_time)) * 5f32;
-        let ball2_pos = Isometry2::identity();
+        let ball1_pos = lissajous_2d(elapsed_time) * 5f32;
+        let ball1_pose = Pose::from_translation(ball1_pos);
+        let ball2_pose = Pose::identity();
 
         /*
          * Compute their axis-aligned bounding boxes.
          */
-        let aabb_ball1 = ball1.aabb(&ball1_pos.into());
-        let aabb_ball2 = ball2.aabb(&ball2_pos);
+        let aabb_ball1 = ball1.aabb(&ball1_pose);
+        let aabb_ball2 = ball2.aabb(&ball2_pose);
 
         // Merge the two boxes.
         let bounding_aabb = aabb_ball1.merged(&aabb_ball2);
@@ -50,52 +52,49 @@ async fn main() {
         assert!(bounding_aabb.contains(&aabb_ball2));
         assert!(loose_aabb_ball2.contains(&aabb_ball2));
 
-        let ball1_translation = mquad_from_na(ball1_pos.coords.into()) * RENDER_SCALE + render_pos;
         draw_circle(
-            ball1_translation.x,
-            ball1_translation.y,
+            &mut window,
+            ball1_pos * RENDER_SCALE,
             ball1.radius * RENDER_SCALE,
             color,
         );
-        let ball2_translation =
-            mquad_from_na(ball2_pos.translation.vector.into()) * RENDER_SCALE + render_pos;
         draw_circle(
-            ball2_translation.x,
-            ball2_translation.y,
+            &mut window,
+            ball2_pose.translation * RENDER_SCALE,
             ball2.radius * RENDER_SCALE,
             color,
         );
 
-        draw_aabb(aabb_ball1, render_pos, color);
-        draw_aabb(aabb_ball2, render_pos, color);
-        draw_aabb(bounding_aabb, render_pos, YELLOW);
+        draw_aabb2(
+            &mut window,
+            aabb_ball1.mins * RENDER_SCALE,
+            aabb_ball1.maxs * RENDER_SCALE,
+            color,
+        );
+        draw_aabb2(
+            &mut window,
+            aabb_ball2.mins * RENDER_SCALE,
+            aabb_ball2.maxs * RENDER_SCALE,
+            color,
+        );
+        draw_aabb2(
+            &mut window,
+            bounding_aabb.mins * RENDER_SCALE,
+            bounding_aabb.maxs * RENDER_SCALE,
+            YELLOW,
+        );
 
         // Inclusion test
         let color_included: Color = if loose_aabb_ball2.contains(&aabb_ball1) {
             BLUE
         } else {
             MAGENTA
         };
-        draw_aabb(loose_aabb_ball2, render_pos, color_included);
-        next_frame().await
+        draw_aabb2(
+            &mut window,
+            loose_aabb_ball2.mins * RENDER_SCALE,
+            loose_aabb_ball2.maxs * RENDER_SCALE,
+            color_included,
+        );
     }
 }
-
-fn draw_aabb(aabb: Aabb, offset: Vec2, color: Color) {
-    let mins = mquad_from_na(aabb.mins) * RENDER_SCALE + offset;
-    let maxs = mquad_from_na(aabb.maxs) * RENDER_SCALE + offset;
-
-    let line = vec![
-        Vec2::new(mins.x, mins.y),
-        Vec2::new(mins.x, maxs.y),
-        Vec2::new(maxs.x, maxs.y),
-        Vec2::new(maxs.x, mins.y),
-        Vec2::new(mins.x, mins.y),
-    ];
-    let drawable_line = line
-        .iter()
-        .zip(line.iter().cycle().skip(1).take(line.len()))
-        .map(|item| (item.0.clone(), item.1.clone()))
-        .collect();
-    draw_polyline(drawable_line, color);
-}