chore: update to nalgebra 0.33 (#211)

crates/parry2d-f64/Cargo.toml

@@ -26,7 +26,7 @@ serde-serialize = ["serde", "nalgebra/serde-serialize", "arrayvec/serde", "bitfl
 rkyv-serialize = ["rkyv/validation", "nalgebra/rkyv-serialize", "simba/rkyv-serialize"]
 bytemuck-serialize = ["bytemuck", "nalgebra/convert-bytemuck"]
 simd-stable = ["simba/wide", "simd-is-enabled"]
-simd-nightly = ["simba/packed_simd", "simd-is-enabled"]
+simd-nightly = ["simba/portable_simd", "simd-is-enabled"]
 enhanced-determinism = ["simba/libm_force", "indexmap"]
 parallel = ["rayon"]
 
@@ -47,14 +47,14 @@ num-traits = { version = "0.2", default-features = false }
 smallvec = "1"
 slab = { version = "0.4", optional = true }
 arrayvec = { version = "0.7", default-features = false }
-simba = { version = "0.8", default-features = false }
-nalgebra = { version = "0.32", default-features = false, features = ["libm"] }
+simba = { version = "0.9", default-features = false }
+nalgebra = { version = "0.33", default-features = false, features = ["libm"] }
 approx = { version = "0.5", default-features = false }
 serde = { version = "1.0", optional = true, features = ["derive"] }
 rkyv = { version = "0.7.41", optional = true }
 num-derive = "0.4"
 indexmap = { version = "2", features = ["serde"], optional = true }
-rustc-hash = { version = "1", optional = true }
+rustc-hash = { version = "2", optional = true }
 cust_core = { version = "0.1", optional = true }
 spade = { version = "2", optional = true } # Make this optional?
 rayon = { version = "1", optional = true }
@@ -64,7 +64,7 @@ ordered-float = { version = "4", default-features = false }
 thiserror = { version = "1", optional = true }
 
 [dev-dependencies]
-simba = { version = "0.8", default-features = false, features = ["partial_fixed_point_support"] }
+simba = { version = "0.9", default-features = false }
 oorandom = "11"
 ptree = "0.4.0"
 rand = { version = "0.8" }

crates/parry2d/Cargo.toml

@@ -26,7 +26,7 @@ serde-serialize = ["serde", "nalgebra/serde-serialize", "arrayvec/serde", "bitfl
 rkyv-serialize = ["rkyv/validation", "nalgebra/rkyv-serialize", "simba/rkyv-serialize"]
 bytemuck-serialize = ["bytemuck", "nalgebra/convert-bytemuck"]
 simd-stable = ["simba/wide", "simd-is-enabled"]
-simd-nightly = ["simba/packed_simd", "simd-is-enabled"]
+simd-nightly = ["simba/portable_simd", "simd-is-enabled"]
 enhanced-determinism = ["simba/libm_force", "indexmap"]
 parallel = ["rayon"]
 
@@ -47,14 +47,14 @@ num-traits = { version = "0.2", default-features = false }
 smallvec = "1"
 slab = { version = "0.4", optional = true }
 arrayvec = { version = "0.7", default-features = false }
-simba = { version = "0.8", default-features = false }
-nalgebra = { version = "0.32", default-features = false, features = ["libm"] }
+simba = { version = "0.9", default-features = false }
+nalgebra = { version = "0.33", default-features = false, features = ["libm"] }
 approx = { version = "0.5", default-features = false }
 serde = { version = "1.0", optional = true, features = ["derive"] }
 rkyv = { version = "0.7.41", optional = true }
 num-derive = "0.4"
 indexmap = { version = "2", features = ["serde"], optional = true }
-rustc-hash = { version = "1", optional = true }
+rustc-hash = { version = "2", optional = true }
 cust_core = { version = "0.1", optional = true }
 spade = { version = "2", optional = true }
 rayon = { version = "1", optional = true }
@@ -64,7 +64,7 @@ log = "0.4"
 thiserror = { version = "1", optional = true }
 
 [dev-dependencies]
-simba = { version = "0.8", default-features = false, features = ["partial_fixed_point_support"] }
+simba = { version = "0.9", default-features = false }
 oorandom = "11"
 ptree = "0.4.0"
 rand = { version = "0.8" }

crates/parry3d-f64/Cargo.toml

@@ -26,7 +26,7 @@ serde-serialize = ["serde", "nalgebra/serde-serialize", "bitflags/serde"]
 rkyv-serialize = ["rkyv/validation", "nalgebra/rkyv-serialize", "simba/rkyv-serialize"]
 bytemuck-serialize = ["bytemuck", "nalgebra/convert-bytemuck"]
 simd-stable = ["simba/wide", "simd-is-enabled"]
-simd-nightly = ["simba/packed_simd", "simd-is-enabled"]
+simd-nightly = ["simba/portable_simd", "simd-is-enabled"]
 enhanced-determinism = ["simba/libm_force", "indexmap"]
 parallel = ["rayon"]
 
@@ -47,14 +47,14 @@ num-traits = { version = "0.2", default-features = false }
 smallvec = "1"
 slab = { version = "0.4", optional = true }
 arrayvec = { version = "0.7", default-features = false }
-simba = { version = "0.8", default-features = false }
-nalgebra = { version = "0.32", default-features = false, features = ["libm"] }
+simba = { version = "0.9", default-features = false }
+nalgebra = { version = "0.33", default-features = false, features = ["libm"] }
 approx = { version = "0.5", default-features = false }
 serde = { version = "1.0", optional = true, features = ["derive", "rc"] }
 rkyv = { version = "0.7.41", optional = true }
 num-derive = "0.4"
 indexmap = { version = "2", features = ["serde"], optional = true }
-rustc-hash = { version = "1", optional = true }
+rustc-hash = { version = "2", optional = true }
 cust_core = { version = "0.1", optional = true }
 spade = { version = "2", optional = true } # Make this optional?
 rayon = { version = "1", optional = true }

crates/parry3d/Cargo.toml

@@ -27,7 +27,7 @@ rkyv-serialize = ["rkyv/validation", "nalgebra/rkyv-serialize", "simba/rkyv-seri
 bytemuck-serialize = ["bytemuck", "nalgebra/convert-bytemuck"]
 
 simd-stable = ["simba/wide", "simd-is-enabled"]
-simd-nightly = ["simba/packed_simd", "simd-is-enabled"]
+simd-nightly = ["simba/portable_simd", "simd-is-enabled"]
 enhanced-determinism = ["simba/libm_force", "indexmap"]
 parallel = ["rayon"]
 
@@ -48,14 +48,14 @@ num-traits = { version = "0.2", default-features = false }
 smallvec = "1"
 slab = { version = "0.4", optional = true }
 arrayvec = { version = "0.7", default-features = false }
-simba = { version = "0.8", default-features = false }
-nalgebra = { version = "0.32", default-features = false, features = ["libm"] }
+simba = { version = "0.9", default-features = false }
+nalgebra = { version = "0.33", default-features = false, features = ["libm"] }
 approx = { version = "0.5", default-features = false }
 serde = { version = "1.0", optional = true, features = ["derive", "rc"] }
 rkyv = { version = "0.7.41", optional = true }
 num-derive = "0.4"
 indexmap = { version = "2", features = ["serde"], optional = true }
-rustc-hash = { version = "1", optional = true }
+rustc-hash = { version = "2", optional = true }
 cust_core = { version = "0.1", optional = true }
 spade = { version = "2", optional = true } # Make this optional?
 rayon = { version = "1", optional = true }

src/lib.rs

@@ -249,12 +249,12 @@ mod simd {
 #[cfg(feature = "simd-is-enabled")]
 mod simd {
     #[cfg(all(feature = "simd-nightly", feature = "f32"))]
-    pub use simba::simd::{f32x4 as SimdReal, m32x4 as SimdBool};
+    pub use simba::simd::{f32x4 as SimdReal, mask32x4 as SimdBool};
     #[cfg(all(feature = "simd-stable", feature = "f32"))]
     pub use simba::simd::{WideBoolF32x4 as SimdBool, WideF32x4 as SimdReal};
 
     #[cfg(all(feature = "simd-nightly", feature = "f64"))]
-    pub use simba::simd::{f64x4 as SimdReal, m64x4 as SimdBool};
+    pub use simba::simd::{f64x4 as SimdReal, mask64x4 as SimdBool};
     #[cfg(all(feature = "simd-stable", feature = "f64"))]
     pub use simba::simd::{WideBoolF64x4 as SimdBool, WideF64x4 as SimdReal};
 

src/query/closest_points/closest_points_composite_shape_shape.rs

@@ -56,10 +56,10 @@ pub struct CompositeShapeAgainstShapeClosestPointsVisitor<'a, D: ?Sized, G1: ?Si
     g2: &'a dyn Shape,
 }
 
-impl<'a, D: ?Sized, G1: ?Sized> CompositeShapeAgainstShapeClosestPointsVisitor<'a, D, G1>
+impl<'a, D, G1> CompositeShapeAgainstShapeClosestPointsVisitor<'a, D, G1>
 where
-    D: QueryDispatcher,
-    G1: TypedSimdCompositeShape,
+    D: ?Sized + QueryDispatcher,
+    G1: ?Sized + TypedSimdCompositeShape,
 {
     /// Initializes a visitor for computing the closest points between a composite-shape and a shape.
     pub fn new(
@@ -83,11 +83,11 @@ where
     }
 }
 
-impl<'a, D: ?Sized, G1: ?Sized> SimdBestFirstVisitor<G1::PartId, SimdAabb>
+impl<'a, D, G1> SimdBestFirstVisitor<G1::PartId, SimdAabb>
     for CompositeShapeAgainstShapeClosestPointsVisitor<'a, D, G1>
 where
-    D: QueryDispatcher,
-    G1: TypedSimdCompositeShape,
+    D: ?Sized + QueryDispatcher,
+    G1: ?Sized + TypedSimdCompositeShape,
 {
     type Result = (G1::PartId, ClosestPoints);
 

src/query/contact/contact_composite_shape_shape.rs

@@ -46,16 +46,16 @@ where
 }
 
 /// Best contact between a shape and a composite (`Mesh`, `Compound`) shape.
-pub fn contact_shape_composite_shape<D: ?Sized, G2: ?Sized>(
+pub fn contact_shape_composite_shape<D, G2>(
     dispatcher: &D,
     pos12: &Isometry<Real>,
     g1: &dyn Shape,
     g2: &G2,
     prediction: Real,
 ) -> Option<Contact>
 where
-    D: QueryDispatcher,
-    G2: SimdCompositeShape,
+    D: ?Sized + QueryDispatcher,
+    G2: ?Sized + SimdCompositeShape,
 {
     contact_composite_shape_shape(dispatcher, &pos12.inverse(), g2, g1, prediction)
         .map(|c| c.flipped())

src/query/contact/contact_support_map_support_map.rs

@@ -37,7 +37,7 @@ where
 /// The vector-typed result is the vector that should be passed as `init` for
 /// subsequent executions of the algorithm. It is also the contact
 /// normal (that points toward the outside of the first solid).
-pub fn contact_support_map_support_map_with_params<G1: ?Sized, G2: ?Sized>(
+pub fn contact_support_map_support_map_with_params<G1, G2>(
     pos12: &Isometry<Real>,
     g1: &G1,
     g2: &G2,
@@ -46,8 +46,8 @@ pub fn contact_support_map_support_map_with_params<G1: ?Sized, G2: ?Sized>(
     init_dir: Option<Unit<Vector<Real>>>,
 ) -> GJKResult
 where
-    G1: SupportMap,
-    G2: SupportMap,
+    G1: ?Sized + SupportMap,
+    G2: ?Sized + SupportMap,
 {
     let dir = if let Some(init_dir) = init_dir {
         init_dir

src/query/contact_manifolds/contact_manifolds_workspace.rs

@@ -1,3 +1,5 @@
+#![allow(clippy::multiple_bound_locations)] // for impl_downcast
+
 use downcast_rs::{impl_downcast, DowncastSync};
 
 use crate::query::contact_manifolds::{

src/query/distance/distance_composite_shape_shape.rs

@@ -7,15 +7,15 @@ use crate::utils::IsometryOpt;
 use simba::simd::{SimdBool as _, SimdPartialOrd, SimdValue};
 
 /// Smallest distance between a composite shape and any other shape.
-pub fn distance_composite_shape_shape<D: ?Sized, G1: ?Sized>(
+pub fn distance_composite_shape_shape<D, G1>(
     dispatcher: &D,
     pos12: &Isometry<Real>,
     g1: &G1,
     g2: &dyn Shape,
 ) -> Real
 where
-    D: QueryDispatcher,
-    G1: TypedSimdCompositeShape,
+    D: ?Sized + QueryDispatcher,
+    G1: ?Sized + TypedSimdCompositeShape,
 {
     let mut visitor = CompositeShapeAgainstAnyDistanceVisitor::new(dispatcher, pos12, g1, g2);
     g1.typed_qbvh()
@@ -26,15 +26,15 @@ where
 }
 
 /// Smallest distance between a shape and a composite shape.
-pub fn distance_shape_composite_shape<D: ?Sized, G2: ?Sized>(
+pub fn distance_shape_composite_shape<D, G2>(
     dispatcher: &D,
     pos12: &Isometry<Real>,
     g1: &dyn Shape,
     g2: &G2,
 ) -> Real
 where
-    D: QueryDispatcher,
-    G2: TypedSimdCompositeShape,
+    D: ?Sized + QueryDispatcher,
+    G2: ?Sized + TypedSimdCompositeShape,
 {
     distance_composite_shape_shape(dispatcher, &pos12.inverse(), g2, g1)
 }
@@ -71,11 +71,11 @@ impl<'a, D: ?Sized, G1: ?Sized + 'a> CompositeShapeAgainstAnyDistanceVisitor<'a,
     }
 }
 
-impl<'a, D: ?Sized, G1: ?Sized> SimdBestFirstVisitor<G1::PartId, SimdAabb>
+impl<'a, D, G1> SimdBestFirstVisitor<G1::PartId, SimdAabb>
     for CompositeShapeAgainstAnyDistanceVisitor<'a, D, G1>
 where
-    D: QueryDispatcher,
-    G1: TypedSimdCompositeShape,
+    D: ?Sized + QueryDispatcher,
+    G1: ?Sized + TypedSimdCompositeShape,
 {
     type Result = (G1::PartId, Real);
 

src/query/distance/distance_support_map_support_map.rs

@@ -6,31 +6,27 @@ use na::{self, Unit};
 use num::Bounded;
 
 /// Distance between support-mapped shapes.
-pub fn distance_support_map_support_map<G1: ?Sized, G2: ?Sized>(
-    pos12: &Isometry<Real>,
-    g1: &G1,
-    g2: &G2,
-) -> Real
+pub fn distance_support_map_support_map<G1, G2>(pos12: &Isometry<Real>, g1: &G1, g2: &G2) -> Real
 where
-    G1: SupportMap,
-    G2: SupportMap,
+    G1: ?Sized + SupportMap,
+    G2: ?Sized + SupportMap,
 {
     distance_support_map_support_map_with_params(pos12, g1, g2, &mut VoronoiSimplex::new(), None)
 }
 
 /// Distance between support-mapped shapes.
 ///
 /// This allows a more fine grained control other the underlying GJK algorigtm.
-pub fn distance_support_map_support_map_with_params<G1: ?Sized, G2: ?Sized>(
+pub fn distance_support_map_support_map_with_params<G1, G2>(
     pos12: &Isometry<Real>,
     g1: &G1,
     g2: &G2,
     simplex: &mut VoronoiSimplex,
     init_dir: Option<Vector<Real>>,
 ) -> Real
 where
-    G1: SupportMap,
-    G2: SupportMap,
+    G1: ?Sized + SupportMap,
+    G2: ?Sized + SupportMap,
 {
     // TODO: or m2.translation - m1.translation ?
     let dir = init_dir.unwrap_or_else(|| -pos12.translation.vector);

src/query/epa/epa2.rs

@@ -138,15 +138,12 @@ impl EPA {
     /// the EPA algorithm failed to compute the projection.
     ///
     /// Return the projected point in the local-space of `g`.
-    pub fn project_origin<G: ?Sized>(
+    pub fn project_origin<G: ?Sized + SupportMap>(
         &mut self,
         m: &Isometry<Real>,
         g: &G,
         simplex: &VoronoiSimplex,
-    ) -> Option<Point<Real>>
-    where
-        G: SupportMap,
-    {
+    ) -> Option<Point<Real>> {
         self.closest_points(&m.inverse(), g, &ConstantOrigin, simplex)
             .map(|(p, _, _)| p)
     }
@@ -155,16 +152,16 @@ impl EPA {
     ///
     /// The origin is assumed to be located inside of the shape.
     /// Returns `None` if the EPA fails to converge or if `g1` and `g2` are not penetrating.
-    pub fn closest_points<G1: ?Sized, G2: ?Sized>(
+    pub fn closest_points<G1, G2>(
         &mut self,
         pos12: &Isometry<Real>,
         g1: &G1,
         g2: &G2,
         simplex: &VoronoiSimplex,
     ) -> Option<(Point<Real>, Point<Real>, Unit<Vector<Real>>)>
     where
-        G1: SupportMap,
-        G2: SupportMap,
+        G1: ?Sized + SupportMap,
+        G2: ?Sized + SupportMap,
     {
         let _eps: Real = crate::math::DEFAULT_EPSILON;
         let _eps_tol = _eps * 100.0;

src/query/epa/epa3.rs

@@ -188,15 +188,12 @@ impl EPA {
     /// the EPA algorithm failed to compute the projection.
     ///
     /// Return the projected point in the local-space of `g`.
-    pub fn project_origin<G: ?Sized>(
+    pub fn project_origin<G: ?Sized + SupportMap>(
         &mut self,
         m: &Isometry<Real>,
         g: &G,
         simplex: &VoronoiSimplex,
-    ) -> Option<Point<Real>>
-    where
-        G: SupportMap,
-    {
+    ) -> Option<Point<Real>> {
         self.closest_points(&m.inverse(), g, &ConstantOrigin, simplex)
             .map(|(p, _, _)| p)
     }
@@ -205,16 +202,16 @@ impl EPA {
     ///
     /// The origin is assumed to be located inside of the shape.
     /// Returns `None` if the EPA fails to converge or if `g1` and `g2` are not penetrating.
-    pub fn closest_points<G1: ?Sized, G2: ?Sized>(
+    pub fn closest_points<G1, G2>(
         &mut self,
         pos12: &Isometry<Real>,
         g1: &G1,
         g2: &G2,
         simplex: &VoronoiSimplex,
     ) -> Option<(Point<Real>, Point<Real>, Unit<Vector<Real>>)>
     where
-        G1: SupportMap,
-        G2: SupportMap,
+        G1: ?Sized + SupportMap,
+        G2: ?Sized + SupportMap,
     {
         let _eps = crate::math::DEFAULT_EPSILON;
         let _eps_tol = _eps * 100.0;