Add partial support for rust-cuda

.github/Xargo.toml

@@ -0,0 +1,5 @@
+[target.x86_64-unknown-linux-gnu.dependencies]
+alloc = {}
+
+[target.thumbv7em-none-eabihf.dependencies]
+alloc = {}

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

@@ -44,3 +44,32 @@ jobs:
         run: cd build/parry2d && cargo build --verbose --target wasm32-unknown-unknown;
       - name: build parry3d
         run: cd build/parry3d && cargo build --verbose --target wasm32-unknown-unknown;
+  build-no-std:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v2
+      - name: Install latest nightly
+        uses: actions-rs/toolchain@v1
+        with:
+          toolchain: nightly
+          override: true
+          components: rustfmt
+      - name: install xargo
+        run: cp .github/Xargo.toml .; rustup component add rust-src; cargo install -f xargo;
+      - name: build x86_64-unknown-linux-gnu
+        run: xargo build --verbose --no-default-features --features required-features --target=x86_64-unknown-linux-gnu;
+      - name: build thumbv7em-none-eabihf
+        run: xargo build --verbose --no-default-features --features required-features --target=thumbv7em-none-eabihf;
+  build-cuda:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: Jimver/[email protected]
+      - name: Install nightly-2021-10-17
+        uses: actions-rs/toolchain@v1
+        with:
+          toolchain: nightly-2021-10-17
+          override: true
+      - uses: actions/checkout@v2
+      - run: rustup target add nvptx64-nvidia-cuda
+      - run: cargo build --no-default-features --features required-features,cuda
+      - run: cargo build --no-default-features --features required-features,cuda --target=nvptx64-nvidia-cuda

Cargo.toml

@@ -1,8 +1,11 @@
 [workspace]
 members = ["build/parry2d", "build/parry3d", "build/parry2d-f64", "build/parry3d-f64"]
+resolver = "2"
 
 [patch.crates-io]
 parry2d = { path = "build/parry2d" }
 parry3d = { path = "build/parry3d" }
 parry2d-f64 = { path = "build/parry2d-f64" }
 parry3d-f64 = { path = "build/parry3d-f64" }
+simba = { git = "https://github.com/dimforge/simba" }
+nalgebra = { git = "https://github.com/dimforge/nalgebra", branch = "rust-cuda" }

build/parry2d-f64/Cargo.toml

@@ -17,38 +17,45 @@ edition = "2018"
 maintenance = { status = "actively-developed" }
 
 [features]
-default = [ "dim2", "f64" ]
+default = [ "required-features", "std" ]
+required-features = [ "dim2", "f64" ]
+std     = [ "nalgebra/std", "slab", "rustc-hash", "simba/std", "arrayvec" ]
 dim2    = [ ]
 f64     = [ ]
 serde-serialize = [ "serde", "nalgebra/serde-serialize", "arrayvec/serde" ]
 simd-stable = [ "simba/wide", "simd-is-enabled" ]
 simd-nightly = [ "simba/packed_simd", "simd-is-enabled" ]
 enhanced-determinism = [ "simba/libm_force", "indexmap" ]
+cuda   = [ "cust", "nalgebra/cuda" ]
+
 # Do not enable this feature directly. It is automatically
 # enabled with the "simd-stable" or "simd-nightly" feature.
 simd-is-enabled = [ ]
 
 [lib]
 name = "parry2d_f64"
 path = "../../src/lib.rs"
-required-features = [ "dim2", "f64" ]
+required-features = [ "required-features" ]
 
 [dependencies]
-either          = "1"
+either          = { version = "1", default-features = false }
 bitflags        = "1"
-downcast-rs     = "1"
+downcast-rs     = { version = "1", default-features = false }
 num-traits      = { version = "0.2", default-features = false }
 smallvec        = "1"
-slab            = "0.4"
-arrayvec        = "0.7"
-simba           = "0.6"
-nalgebra        = "0.29"
+slab            = { version = "0.4", optional = true }
+arrayvec        = { version = "0.7", optional = true }
+simba           = { version = "0.6", default-features = false }
+nalgebra        = { version = "0.29", default-features = false, features = [ "libm" ] }
 approx          = { version = "0.5", default-features = false }
 serde           = { version = "1.0", optional = true, features = ["derive"]}
 num-derive      = "0.3"
-indexmap = { version = "1", features = [ "serde-1" ], optional = true }
-rustc-hash = "1"
+indexmap        = { version = "1", features = [ "serde-1" ], optional = true }
+rustc-hash      = { version = "1", optional = true }
+
+[target.'cfg(not(target_os = "cuda"))'.dependencies]
+cust       = { version = "0.1", optional = true }
 
 [dev-dependencies]
-simba = { version = "0.6", features = [ "partial_fixed_point_support" ] }
+simba = { version = "0.6", default-features = false, features = [ "partial_fixed_point_support" ] }
 oorandom = "11"

build/parry2d/Cargo.toml

@@ -17,38 +17,45 @@ edition = "2018"
 maintenance = { status = "actively-developed" }
 
 [features]
-default = [ "dim2", "f32" ]
+default = [ "required-features", "std" ]
+required-features = [ "dim2", "f32" ]
+std     = [ "nalgebra/std", "slab", "rustc-hash", "simba/std", "arrayvec" ]
 dim2    = [ ]
 f32     = [ ]
 serde-serialize = [ "serde", "nalgebra/serde-serialize", "arrayvec/serde" ]
 simd-stable = [ "simba/wide", "simd-is-enabled" ]
 simd-nightly = [ "simba/packed_simd", "simd-is-enabled" ]
 enhanced-determinism = [ "simba/libm_force", "indexmap" ]
+cuda   = [ "cust", "nalgebra/cuda" ]
+
 # Do not enable this feature directly. It is automatically
 # enabled with the "simd-stable" or "simd-nightly" feature.
 simd-is-enabled = [ ]
 
 [lib]
 name = "parry2d"
 path = "../../src/lib.rs"
-required-features = [ "dim2", "f32" ]
+required-features = [ "required-features" ]
 
 [dependencies]
-either          = "1"
+either          = { version = "1", default-features = false }
 bitflags        = "1"
-downcast-rs     = "1"
+downcast-rs     = { version = "1", default-features = false }
 num-traits      = { version = "0.2", default-features = false }
 smallvec        = "1"
-slab            = "0.4"
-arrayvec        = "0.7"
-simba           = "0.6"
-nalgebra        = "0.29"
+slab            = { version = "0.4", optional = true }
+arrayvec        = { version = "0.7", optional = true }
+simba           = { version = "0.6", default-features = false }
+nalgebra        = { version = "0.29", default-features = false, features = [ "libm" ] }
 approx          = { version = "0.5", default-features = false }
 serde           = { version = "1.0", optional = true, features = ["derive"]}
 num-derive      = "0.3"
 indexmap        = { version = "1", features = [ "serde-1" ], optional = true }
-rustc-hash      = "1"
+rustc-hash      = { version = "1", optional = true }
+
+[target.'cfg(not(target_os = "cuda"))'.dependencies]
+cust = { version = "0.1", optional = true }
 
 [dev-dependencies]
-simba = { version = "0.6", features = [ "partial_fixed_point_support" ] }
+simba = { version = "0.6", default-features = false, features = [ "partial_fixed_point_support" ] }
 oorandom = "11"

build/parry3d-f64/Cargo.toml

@@ -17,37 +17,43 @@ edition = "2018"
 maintenance = { status = "actively-developed" }
 
 [features]
-default = [ "dim3", "f64" ]
+default = [ "required-features", "std" ]
+required-features = [ "dim3", "f64" ]
+std     = [ "nalgebra/std", "slab", "rustc-hash", "simba/std" ]
 dim3    = [ ]
 f64     = [ ]
 serde-serialize = [ "serde", "nalgebra/serde-serialize" ]
 simd-stable = [ "simba/wide", "simd-is-enabled" ]
 simd-nightly = [ "simba/packed_simd", "simd-is-enabled" ]
 enhanced-determinism = [ "simba/libm_force", "indexmap" ]
+cuda   = [ "cust", "nalgebra/cuda" ]
+
 # Do not enable this feature directly. It is automatically
 # enabled with the "simd-stable" or "simd-nightly" feature.
 simd-is-enabled = [ ]
 
 [lib]
 name = "parry3d_f64"
 path = "../../src/lib.rs"
-required-features = [ "dim3", "f64" ]
+required-features = [ "required-features" ]
 
 [dependencies]
-either      = "1"
+either      = { version = "1", default-features = false }
 bitflags    = "1"
-downcast-rs = "1"
+downcast-rs = { version = "1", default-features = false }
 num-traits = { version = "0.2", default-features = false }
 smallvec   = "1"
-slab       = "0.4"
-simba      = "0.6"
-nalgebra   = "0.29"
+slab       = { version = "0.4", optional = true }
+simba      = { version = "0.6", default-features = false }
+nalgebra   = { version = "0.29", default-features = false, features = [ "libm" ] }
 approx     = { version = "0.5", default-features = false }
 serde      = { version = "1.0", optional = true, features = ["derive", "rc"]}
-num-derive   = "0.3"
-indexmap = { version = "1", features = [ "serde-1" ], optional = true }
-rustc-hash = "1"
+num-derive = "0.3"
+indexmap   = { version = "1", features = [ "serde-1" ], optional = true }
+rustc-hash = { version = "1", optional = true }
 
+[target.'cfg(not(target_os = "cuda"))'.dependencies]
+cust       = { version = "0.1", optional = true }
 
 [dev-dependencies]
 oorandom = "11"

build/parry3d/Cargo.toml

@@ -17,37 +17,43 @@ edition = "2018"
 maintenance = { status = "actively-developed" }
 
 [features]
-default = [ "dim3", "f32" ]
+default = [ "required-features", "std" ]
+required-features = [ "dim3", "f32" ]
+std     = [ "nalgebra/std", "slab", "rustc-hash", "simba/std" ]
 dim3    = [ ]
 f32     = [ ]
 serde-serialize = [ "serde", "nalgebra/serde-serialize" ]
 simd-stable = [ "simba/wide", "simd-is-enabled" ]
 simd-nightly = [ "simba/packed_simd", "simd-is-enabled" ]
 enhanced-determinism = [ "simba/libm_force", "indexmap" ]
+cuda   = [ "cust", "nalgebra/cuda" ]
+
 # Do not enable this feature directly. It is automatically
 # enabled with the "simd-stable" or "simd-nightly" feature.
 simd-is-enabled = [ ]
 
 [lib]
 name = "parry3d"
 path = "../../src/lib.rs"
-required-features = [ "dim3", "f32" ]
+required-features = [ "required-features" ]
 
 [dependencies]
-either      = "1"
+either      = { version = "1", default-features = false }
 bitflags    = "1"
-downcast-rs = "1"
+downcast-rs = { version = "1", default-features = false }
 num-traits = { version = "0.2", default-features = false }
 smallvec   = "1"
-slab       = "0.4"
-simba      = "0.6"
-nalgebra   = "0.29"
+slab       = { version = "0.4", optional = true }
+simba      = { version = "0.6", default-features = false }
+nalgebra   = { version = "0.29", default-features = false, features = [ "libm" ] }
 approx     = { version = "0.5", default-features = false }
 serde      = { version = "1.0", optional = true, features = ["derive", "rc"]}
-num-derive   = "0.3"
-indexmap = { version = "1", features = [ "serde-1" ], optional = true }
-rustc-hash = "1"
+num-derive = "0.3"
+indexmap   = { version = "1", features = [ "serde-1" ], optional = true }
+rustc-hash = { version = "1", optional = true }
 
+[target.'cfg(not(target_os = "cuda"))'.dependencies]
+cust       = { version = "0.1", optional = true }
 
 [dev-dependencies]
 oorandom = "11"

src/bounding_volume/aabb.rs

@@ -7,6 +7,9 @@ use crate::utils::IsometryOps;
 use na;
 use num::Bounded;
 
+#[cfg(not(feature = "std"))]
+use na::ComplexField; // for .abs()
+
 /// An Axis Aligned Bounding Box.
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 #[derive(Debug, PartialEq, Copy, Clone)]
@@ -270,6 +273,7 @@ impl AABB {
     }
 
     #[cfg(feature = "dim3")]
+    #[cfg(feature = "std")]
     pub fn intersects_spiral(
         &self,
         point: &Point<Real>,

src/bounding_volume/mod.rs

@@ -16,11 +16,14 @@ pub mod bounding_volume;
 pub mod aabb;
 mod aabb_ball;
 #[cfg(feature = "dim2")]
+#[cfg(feature = "std")]
 mod aabb_convex_polygon;
 #[cfg(feature = "dim3")]
+#[cfg(feature = "std")]
 mod aabb_convex_polyhedron;
 mod aabb_cuboid;
 mod aabb_halfspace;
+#[cfg(feature = "std")]
 mod aabb_heightfield;
 mod aabb_support_map;
 mod aabb_triangle;
@@ -34,17 +37,22 @@ mod bounding_sphere_capsule;
 #[cfg(feature = "dim3")]
 mod bounding_sphere_cone;
 #[cfg(feature = "dim3")]
+#[cfg(feature = "std")]
 mod bounding_sphere_convex;
 #[cfg(feature = "dim2")]
+#[cfg(feature = "std")]
 mod bounding_sphere_convex_polygon;
 mod bounding_sphere_cuboid;
 #[cfg(feature = "dim3")]
 mod bounding_sphere_cylinder;
 mod bounding_sphere_halfspace;
+#[cfg(feature = "std")]
 mod bounding_sphere_heightfield;
+#[cfg(feature = "std")]
 mod bounding_sphere_polyline;
 mod bounding_sphere_segment;
 mod bounding_sphere_triangle;
+#[cfg(feature = "std")]
 mod bounding_sphere_trimesh;
 mod bounding_sphere_utils;
 mod simd_aabb;

src/lib.rs

@@ -16,6 +16,7 @@ the rust programming language.
 #![warn(unused_imports)]
 #![allow(missing_copy_implementations)]
 #![doc(html_root_url = "http://docs.rs/parry/0.1.1")]
+#![cfg_attr(not(feature = "std"), no_std)]
 
 #[cfg(all(
     feature = "simd-is-enabled",
@@ -46,6 +47,13 @@ macro_rules! array(
     }
 );
 
+#[cfg(all(feature = "alloc", not(feature = "std")))]
+#[cfg_attr(test, macro_use)]
+extern crate alloc;
+
+#[cfg(not(feature = "std"))]
+extern crate core as std;
+
 #[cfg(feature = "serde")]
 #[macro_use]
 extern crate serde;
@@ -61,9 +69,11 @@ pub extern crate simba;
 
 pub mod bounding_volume;
 pub mod mass_properties;
+#[cfg(feature = "std")]
 pub mod partitioning;
 pub mod query;
 pub mod shape;
+#[cfg(feature = "std")]
 pub mod transformation;
 pub mod utils;
 

src/mass_properties/mass_properties.rs

@@ -2,7 +2,6 @@ use crate::math::{AngVector, AngularInertia, Isometry, Point, Real, Rotation, Ve
 use crate::utils;
 use na::ComplexField;
 use num::Zero;
-use std::iter::Sum;
 use std::ops::{Add, AddAssign, Sub, SubAssign};
 #[cfg(feature = "dim3")]
 use {na::Matrix3, std::ops::MulAssign};
@@ -350,7 +349,8 @@ impl AddAssign<MassProperties> for MassProperties {
     }
 }
 
-impl Sum<MassProperties> for MassProperties {
+#[cfg(feature = "std")]
+impl std::iter::Sum<MassProperties> for MassProperties {
     #[cfg(feature = "dim2")]
     fn sum<I>(iter: I) -> Self
     where