Stability improvements + remove cuda support

CHANGELOG.md

@@ -1,5 +1,31 @@
 # Change Log
 
+## Unreleased
+
+### Modified
+
+- Remove CUDA support to break free from the toolchain restriction required by cust.
+- Rework internal edges resolution using normal cones. This implies the modification of the
+  `SimdCompositeShape::map_part_at`, `TypedSimdCompositeShape::map_typed_part`, and
+  `TypedSimdCompositeShape::map_untyped_part` trait functions so that the closure argument takes
+  an extra argument for the (optional) normal constraints. This argument can be safely ignored
+  by user code unless applying the normal collection is relevant to your use-case.
+- Contact manifolds will now retain all contacts (including the ones further than the specified `prediction`
+  distance) whenever any contact is actually closer than this `prediction` distance.
+- Typo fix: renamed `TopologyError::BadAdjascentTrianglesOrientation` to `BadAdjacentTrianglesOrientation`.
+
+### Fixed
+
+- Fix contacts between convex shapes being occasionally ignored due to some rounding errors.
+- Remove crash when entering unreachable code in non-linear TOI calculation.
+- Fix accuracy issue in triangle-mesh center-of-mass calculation when the mesh isn’t manifold.
+
+### Added
+
+- Add `SdpMatrix2::inverse_and_get_determinant_unchecked`. This is useful for computing the
+  inverse in a AoSoA SIMD setting.
+- Add `Aabb::intersects_moving_aabb` to perform a swept test between two moving aabbs.
+
 ## v0.13.8
 ### Added
 

crates/parry2d-f64/Cargo.toml

@@ -28,7 +28,6 @@ bytemuck-serialize = ["bytemuck", "nalgebra/convert-bytemuck"]
 simd-stable = ["simba/wide", "simd-is-enabled"]
 simd-nightly = ["simba/packed_simd", "simd-is-enabled"]
 enhanced-determinism = ["simba/libm_force", "indexmap"]
-cuda = ["cust_core", "cust", "nalgebra/cuda"]
 parallel = ["rayon"]
 
 # Do not enable this feature directly. It is automatically
@@ -60,9 +59,7 @@ cust_core = { version = "0.1", optional = true }
 spade = { version = "2", optional = true } # Make this optional?
 rayon = { version = "1", optional = true }
 bytemuck = { version = "1", features = ["derive"], optional = true }
-
-[target.'cfg(not(target_os = "cuda"))'.dependencies]
-cust = { version = "0.3", optional = true }
+log = "0.4"
 
 [dev-dependencies]
 simba = { version = "0.8", default-features = false, features = ["partial_fixed_point_support"] }

crates/parry2d/Cargo.toml

@@ -28,7 +28,6 @@ bytemuck-serialize = ["bytemuck", "nalgebra/convert-bytemuck"]
 simd-stable = ["simba/wide", "simd-is-enabled"]
 simd-nightly = ["simba/packed_simd", "simd-is-enabled"]
 enhanced-determinism = ["simba/libm_force", "indexmap"]
-cuda = ["cust_core", "cust", "nalgebra/cuda"]
 parallel = ["rayon"]
 
 # Do not enable this feature directly. It is automatically
@@ -60,9 +59,7 @@ cust_core = { version = "0.1", optional = true }
 spade = { version = "2", optional = true }
 rayon = { version = "1", optional = true }
 bytemuck = { version = "1", features = ["derive"], optional = true }
-
-[target.'cfg(not(target_os = "cuda"))'.dependencies]
-cust = { version = "0.3", optional = true }
+log = "0.4"
 
 [dev-dependencies]
 simba = { version = "0.8", default-features = false, features = ["partial_fixed_point_support"] }

crates/parry2d/tests/geometry/epa2.rs

@@ -42,7 +42,15 @@ fn cuboids_large_size_ratio_issue_181() {
         let pos_ab = pos_a.inv_mul(&pos_b);
         let mut manifold: ContactManifold<(), ()> = ContactManifold::new();
         dispatcher
-            .contact_manifold_convex_convex(&pos_ab, &cuboid_a, &cuboid_b, 0.0, &mut manifold)
+            .contact_manifold_convex_convex(
+                &pos_ab,
+                &cuboid_a,
+                &cuboid_b,
+                None,
+                None,
+                0.0,
+                &mut manifold,
+            )
             .unwrap();
 
         if let Some(deepest) = manifold.find_deepest_contact() {

crates/parry3d-f64/Cargo.toml

@@ -28,7 +28,6 @@ bytemuck-serialize = ["bytemuck", "nalgebra/convert-bytemuck"]
 simd-stable = ["simba/wide", "simd-is-enabled"]
 simd-nightly = ["simba/packed_simd", "simd-is-enabled"]
 enhanced-determinism = ["simba/libm_force", "indexmap"]
-cuda = ["cust_core", "cust", "nalgebra/cuda"]
 parallel = ["rayon"]
 
 # Do not enable this feature directly. It is automatically
@@ -60,9 +59,7 @@ cust_core = { version = "0.1", optional = true }
 spade = { version = "2", optional = true } # Make this optional?
 rayon = { version = "1", optional = true }
 bytemuck = { version = "1", features = ["derive"], optional = true }
-
-[target.'cfg(not(target_os = "cuda"))'.dependencies]
-cust = { version = "0.3", optional = true }
+log = "0.4"
 
 [dev-dependencies]
 oorandom = "11"

crates/parry3d/Cargo.toml

@@ -29,7 +29,6 @@ bytemuck-serialize = ["bytemuck", "nalgebra/convert-bytemuck"]
 simd-stable = ["simba/wide", "simd-is-enabled"]
 simd-nightly = ["simba/packed_simd", "simd-is-enabled"]
 enhanced-determinism = ["simba/libm_force", "indexmap"]
-cuda = ["cust_core", "cust", "nalgebra/cuda"]
 parallel = ["rayon"]
 
 # Do not enable this feature directly. It is automatically
@@ -61,9 +60,7 @@ cust_core = { version = "0.1", optional = true }
 spade = { version = "2", optional = true } # Make this optional?
 rayon = { version = "1", optional = true }
 bytemuck = { version = "1", features = ["derive"], optional = true }
-
-[target.'cfg(not(target_os = "cuda"))'.dependencies]
-cust = { version = "0.3", optional = true }
+log = "0.4"
 
 [dev-dependencies]
 oorandom = "11"

src/bounding_volume/aabb.rs

@@ -11,6 +11,7 @@ use num::Bounded;
 #[cfg(not(feature = "std"))]
 use na::ComplexField; // for .abs()
 
+use crate::query::{Ray, RayCast};
 #[cfg(feature = "rkyv")]
 use rkyv::{bytecheck, CheckBytes};
 
@@ -22,7 +23,6 @@ use rkyv::{bytecheck, CheckBytes};
     derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize, CheckBytes),
     archive(as = "Self")
 )]
-#[cfg_attr(feature = "cuda", derive(cust_core::DeviceCopy))]
 #[derive(Debug, PartialEq, Copy, Clone)]
 #[repr(C)]
 pub struct Aabb {
@@ -201,6 +201,7 @@ impl Aabb {
         BoundingSphere::new(center, radius)
     }
 
+    /// Does this AABB contains a point expressed in the same coordinate frame as `self`?
     #[inline]
     pub fn contains_local_point(&self, point: &Point<Real>) -> bool {
         for i in 0..DIM {
@@ -212,6 +213,19 @@ impl Aabb {
         true
     }
 
+    /// Does this AABB intersects an AABB `aabb2` moving at velocity `vel12` relative to `self`?
+    #[inline]
+    pub fn intersects_moving_aabb(&self, aabb2: &Self, vel12: Vector<Real>) -> bool {
+        // Minkowski sum.
+        let msum = Aabb {
+            mins: self.mins - aabb2.maxs.coords,
+            maxs: self.maxs - aabb2.mins.coords,
+        };
+        let ray = Ray::new(Point::origin(), vel12);
+
+        msum.intersects_local_ray(&ray, 1.0)
+    }
+
     /// Computes the intersection of this `Aabb` and another one.
     pub fn intersection(&self, other: &Aabb) -> Option<Aabb> {
         let result = Aabb {

src/bounding_volume/aabb_heightfield.rs

@@ -1,8 +1,8 @@
 use crate::bounding_volume::Aabb;
 use crate::math::{Isometry, Real};
-use crate::shape::{GenericHeightField, HeightFieldStorage};
+use crate::shape::HeightField;
 
-impl<Storage: HeightFieldStorage> GenericHeightField<Storage> {
+impl HeightField {
     /// Computes the world-space [`Aabb`] of this heightfield, transformed by `pos`.
     #[inline]
     pub fn aabb(&self, pos: &Isometry<Real>) -> Aabb {

src/bounding_volume/bounding_sphere_heightfield.rs

@@ -1,8 +1,8 @@
 use crate::bounding_volume::BoundingSphere;
 use crate::math::{Isometry, Real};
-use crate::shape::{GenericHeightField, HeightFieldStorage};
+use crate::shape::HeightField;
 
-impl<Storage: HeightFieldStorage> GenericHeightField<Storage> {
+impl HeightField {
     /// Computes the world-space bounding sphere of this height-field, transformed by `pos`.
     #[inline]
     pub fn bounding_sphere(&self, pos: &Isometry<Real>) -> BoundingSphere {

src/bounding_volume/mod.rs

@@ -23,6 +23,7 @@ mod aabb_convex_polygon;
 mod aabb_convex_polyhedron;
 mod aabb_cuboid;
 mod aabb_halfspace;
+#[cfg(feature = "std")]
 mod aabb_heightfield;
 mod aabb_support_map;
 mod aabb_triangle;
@@ -45,6 +46,7 @@ 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;

src/bounding_volume/simd_aabb.rs

@@ -12,7 +12,6 @@ use simba::simd::{SimdPartialOrd, SimdValue};
     derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize),
     archive(check_bytes)
 )]
-#[cfg_attr(feature = "cuda", derive(cust_core::DeviceCopy))]
 pub struct SimdAabb {
     /// The min coordinates of the Aabbs.
     pub mins: Point<SimdReal>,

src/mass_properties/mass_properties_trimesh3d.rs

@@ -156,7 +156,7 @@ pub fn trimesh_signed_volume_and_center_of_mass(
     vertices: &[Point<Real>],
     indices: &[[u32; DIM]],
 ) -> (Real, Point<Real>) {
-    let geometric_center = Point::new(-10.0, -10.0, -10.0); // utils::center(vertices);
+    let geometric_center = crate::utils::center(vertices);
 
     let mut res = Point::origin();
     let mut vol = 0.0;

src/partitioning/mod.rs

@@ -2,10 +2,8 @@
 
 #[cfg(feature = "std")]
 pub use self::qbvh::{
-    CenterDataSplitter, QbvhDataGenerator, QbvhNonOverlappingDataSplitter, QbvhUpdateWorkspace,
-};
-pub use self::qbvh::{
-    GenericQbvh, IndexedData, NodeIndex, Qbvh, QbvhNode, QbvhProxy, QbvhStorage, SimdNodeIndex,
+    CenterDataSplitter, IndexedData, NodeIndex, Qbvh, QbvhDataGenerator, QbvhNode,
+    QbvhNonOverlappingDataSplitter, QbvhProxy, QbvhUpdateWorkspace, SimdNodeIndex,
 };
 #[cfg(feature = "parallel")]
 pub use self::visitor::{ParallelSimdSimultaneousVisitor, ParallelSimdVisitor};
@@ -16,7 +14,9 @@ pub use self::visitor::{
 
 /// A quaternary bounding-volume-hierarchy.
 #[deprecated(note = "Renamed to Qbvh")]
+#[cfg(feature = "std")]
 pub type SimdQbvh<T> = Qbvh<T>;
 
+#[cfg(feature = "std")]
 mod qbvh;
 mod visitor;

src/partitioning/qbvh/mod.rs

@@ -1,23 +1,15 @@
-#[cfg(feature = "std")]
 pub use self::{
     build::{CenterDataSplitter, QbvhDataGenerator, QbvhNonOverlappingDataSplitter},
     update::QbvhUpdateWorkspace,
 };
 
 pub use self::qbvh::{
-    GenericQbvh, IndexedData, NodeIndex, Qbvh, QbvhNode, QbvhNodeFlags, QbvhProxy, SimdNodeIndex,
+    IndexedData, NodeIndex, Qbvh, QbvhNode, QbvhNodeFlags, QbvhProxy, SimdNodeIndex,
 };
-pub use self::storage::QbvhStorage;
 
 mod qbvh;
-mod storage;
 mod utils;
 
-#[cfg(feature = "std")]
 mod build;
-#[cfg(feature = "std")]
 mod traversal;
-#[cfg(not(feature = "std"))]
-mod traversal_no_std;
-#[cfg(feature = "std")]
 mod update;