Improve no_std compatibility

CHANGELOG.md

@@ -4,7 +4,18 @@
 
 ### Added
 
-- derive `Copy` for `VHACDParameters`.
+- Derive `Copy` for `VHACDParameters`.
+- Add `spade` default feature for algorithms using Delaunay triangulation from `spade`.
+
+### Modified
+
+- Improve `no_std` compatibility.
+  - Everything is now compatible, except `mesh_intersections`, `split_trimesh`,
+    convex hull validation, and computation of connected components for `TriMesh`.
+  - Add the `alloc_instead_of_core`, `std_instead_of_alloc`, and `std_instead_of_core` Clippy lints to the workspace.
+  - Use `core` and `alloc` directly rather than using an `std` alias.
+  - Use `hashbrown` instead of `rustc-hash` when `enhanced-determinism` is not enabled.
+  - Make `spade` optional.
 
 ## v0.18.0
 
@@ -158,7 +169,7 @@ This version modifies many names related to shape-casting:
   now prefixed with `cast_shapes_` (e.g. `cast_shapes_ball_ball`).
 - Rename `QueryDispatcher::time_of_impact` to `QueryDispatcher::cast_shapes`.
 - The (linear) shape-casting functions like `query::cast_shapes` (previously named
-  `query::time_of_impact) now take a `ShapeCastOptions` instead of the `max_toi` and
+  `query::time_of_impact`) now take a `ShapeCastOptions` instead of the `max_toi` and
   `stop_at_penetration` arguments.
 - Rename `query::nonlinear_time_of_impact` to `query::cast_shapes_nonlinear`.
 - Rename `QueryDispatcher::nonlinear_time_of_impact` to `QueryDispatcher::cast_shapes_nonlinear`.

Cargo.toml

@@ -1,5 +1,10 @@
 [workspace]
-members = ["crates/parry2d", "crates/parry3d", "crates/parry2d-f64", "crates/parry3d-f64"]
+members = [
+    "crates/parry2d",
+    "crates/parry3d",
+    "crates/parry2d-f64",
+    "crates/parry3d-f64",
+]
 resolver = "2"
 
 [workspace.lints]
@@ -9,6 +14,11 @@ rust.unexpected_cfgs = { level = "warn", check-cfg = [
     'cfg(feature, values("wavefront"))',
 ] }
 
+[workspace.lints.clippy]
+alloc_instead_of_core = "warn"
+std_instead_of_alloc = "warn"
+std_instead_of_core = "warn"
+
 [patch.crates-io]
 parry2d = { path = "crates/parry2d" }
 parry3d = { path = "crates/parry3d" }
@@ -17,4 +27,4 @@ parry3d-f64 = { path = "crates/parry3d-f64" }
 
 #simba = { path = "../simba" }
 #simba = { git = "https://github.com/dimforge/simba", rev = "45a5266eb36ed9d25907e9bf9130cd4ac846a748" }
-#nalgebra = { git = "https://github.com/dimforge/nalgebra", rev = "0cf79aef0e6155befc3279a3145f1940822b8377" }
+#nalgebra = { git = "https://github.com/dimforge/nalgebra", rev = "0cf79aef0e6155befc3279a3145f1940822b8377" }

crates/parry2d-f64/Cargo.toml

@@ -20,17 +20,17 @@ maintenance = { status = "actively-developed" }
 workspace = true
 
 [features]
-default = ["required-features", "std"]
+default = ["required-features", "std", "spade"]
 required-features = ["dim2", "f64"]
 std = [
     "nalgebra/std",
     "slab",
-    "rustc-hash",
     "simba/std",
     "arrayvec/std",
     "spade",
     "thiserror/std",
-    "ena"
+    "ena",
+    "spade?/std",
 ]
 dim2 = []
 f64 = []
@@ -39,6 +39,8 @@ serde-serialize = [
     "nalgebra/serde-serialize",
     "arrayvec/serde",
     "bitflags/serde",
+    "hashbrown?/serde",
+    "spade?/serde",
 ]
 rkyv-serialize = [
     "rkyv/validation",
@@ -50,7 +52,8 @@ simd-stable = ["simba/wide", "simd-is-enabled"]
 simd-nightly = ["simba/portable_simd", "simd-is-enabled"]
 enhanced-determinism = ["simba/libm_force", "indexmap"]
 parallel = ["rayon"]
-alloc = []
+alloc = ["nalgebra/alloc", "hashbrown"]
+spade = ["dep:spade", "alloc"]
 improved_fixed_point_support = []
 
 # Do not enable this feature directly. It is automatically
@@ -76,15 +79,17 @@ 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 = "2", optional = true }
+hashbrown = { version = "0.15", optional = true, default-features = false, features = [
+    "default-hasher",
+] }
 cust_core = { version = "0.1", optional = true }
-spade = { version = "2", optional = true } # Make this optional?
+spade = { version = "2", optional = true, default-features = false }
 rayon = { version = "1", optional = true }
 bytemuck = { version = "1", features = ["derive"], optional = true }
 log = "0.4"
 ordered-float = { version = "5", default-features = false }
 thiserror = { version = "2", default-features = false }
-ena = { version = "0.14.3", optional = true }
+ena = { version = "0.14.3", optional = true, default-features = false }
 
 [dev-dependencies]
 simba = { version = "0.9", default-features = false }

crates/parry2d/Cargo.toml

@@ -20,17 +20,17 @@ maintenance = { status = "actively-developed" }
 workspace = true
 
 [features]
-default = ["required-features", "std"]
+default = ["required-features", "std", "spade"]
 required-features = ["dim2", "f32"]
 std = [
+    "alloc",
     "nalgebra/std",
     "slab",
-    "rustc-hash",
     "simba/std",
     "arrayvec/std",
-    "spade",
+    "spade?/std",
     "thiserror/std",
-    "ena"
+    "ena",
 ]
 dim2 = []
 f32 = []
@@ -39,6 +39,8 @@ serde-serialize = [
     "nalgebra/serde-serialize",
     "arrayvec/serde",
     "bitflags/serde",
+    "hashbrown?/serde",
+    "spade?/serde",
 ]
 rkyv-serialize = [
     "rkyv/validation",
@@ -50,7 +52,8 @@ simd-stable = ["simba/wide", "simd-is-enabled"]
 simd-nightly = ["simba/portable_simd", "simd-is-enabled"]
 enhanced-determinism = ["simba/libm_force", "indexmap"]
 parallel = ["rayon"]
-alloc = []
+alloc = ["nalgebra/alloc", "hashbrown"]
+spade = ["dep:spade", "alloc"]
 improved_fixed_point_support = []
 
 # Do not enable this feature directly. It is automatically
@@ -76,15 +79,17 @@ 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 = "2", optional = true }
+hashbrown = { version = "0.15", optional = true, default-features = false, features = [
+    "default-hasher",
+] }
 cust_core = { version = "0.1", optional = true }
-spade = { version = "2", optional = true }
+spade = { version = "2", optional = true, default-features = false }
 rayon = { version = "1", optional = true }
 bytemuck = { version = "1", features = ["derive"], optional = true }
 ordered-float = { version = "5", default-features = false }
 log = "0.4"
 thiserror = { version = "2", default-features = false }
-ena = { version = "0.14.3", optional = true }
+ena = { version = "0.14.3", optional = true, default-features = false }
 
 [dev-dependencies]
 simba = { version = "0.9", default-features = false }

crates/parry2d/examples/common_macroquad2d.rs

@@ -1,4 +1,4 @@
-use std::f32::consts::{FRAC_PI_2, FRAC_PI_4};
+use core::f32::consts::{FRAC_PI_2, FRAC_PI_4};
 
 use macroquad::prelude::*;
 use macroquad::{

crates/parry2d/examples/convex_hull2d.rs

@@ -1,6 +1,6 @@
 mod common_macroquad2d;
 
-use std::f32::consts::{FRAC_PI_2, FRAC_PI_4};
+use core::f32::consts::{FRAC_PI_2, FRAC_PI_4};
 
 use common_macroquad2d::{draw_point, draw_polygon, lissajous_2d_with_params, na_from_mquad};
 use macroquad::prelude::*;

crates/parry2d/examples/raycasts_animated.rs

@@ -35,7 +35,7 @@ async fn main() {
             Point2::new(2.0, 2.0),
             UnitComplex::new(animation_rotation * i as f32) * -Vector2::x(),
         );
-        let toi = cube.cast_ray(&cube_pose, &ray, std::f32::MAX, true);
+        let toi = cube.cast_ray(&cube_pose, &ray, f32::MAX, true);
 
         /*
          *

crates/parry2d/examples/solid_ray_cast2d.rs

@@ -12,24 +12,24 @@ fn main() {
     // Solid cast.
     assert_eq!(
         cuboid
-            .cast_ray(&Isometry2::identity(), &ray_inside, std::f32::MAX, true)
+            .cast_ray(&Isometry2::identity(), &ray_inside, f32::MAX, true)
             .unwrap(),
         0.0
     );
 
     // Non-solid cast.
     assert_eq!(
         cuboid
-            .cast_ray(&Isometry2::identity(), &ray_inside, std::f32::MAX, false)
+            .cast_ray(&Isometry2::identity(), &ray_inside, f32::MAX, false)
             .unwrap(),
         2.0
     );
 
     // The other ray does not intersect this shape.
     assert!(cuboid
-        .cast_ray(&Isometry2::identity(), &ray_miss, std::f32::MAX, false)
+        .cast_ray(&Isometry2::identity(), &ray_miss, f32::MAX, false)
         .is_none());
     assert!(cuboid
-        .cast_ray(&Isometry2::identity(), &ray_miss, std::f32::MAX, true)
+        .cast_ray(&Isometry2::identity(), &ray_miss, f32::MAX, true)
         .is_none());
 }

crates/parry2d/tests/geometry/ray_cast.rs

@@ -9,7 +9,7 @@ fn issue_178_parallel_raycast() {
     let ray = Ray::new(Point2::new(0.0, 0.0), Vector2::new(0.0, 1.0));
     let seg = Segment::new(Point2::new(2.0, 1.0), Point2::new(2.0, 0.0));
 
-    let cast = seg.cast_ray(&m1, &ray, std::f32::MAX, true);
+    let cast = seg.cast_ray(&m1, &ray, f32::MAX, true);
     assert!(cast.is_none());
 }
 
@@ -19,7 +19,7 @@ fn parallel_raycast() {
     let ray = Ray::new(Point2::new(0.0, 0.0), Vector2::new(0.0, 1.0));
     let seg = Segment::new(Point2::new(2.0, 1.0), Point2::new(2.0, -1.0));
 
-    let cast = seg.cast_ray(&m1, &ray, std::f32::MAX, true);
+    let cast = seg.cast_ray(&m1, &ray, f32::MAX, true);
     assert!(cast.is_none());
 }
 
@@ -29,7 +29,7 @@ fn collinear_raycast_starting_on_segment() {
     let ray = Ray::new(Point2::new(0.0, 0.0), Vector2::new(0.0, 1.0));
     let seg = Segment::new(Point2::new(0.0, 1.0), Point2::new(0.0, -1.0));
 
-    let cast = seg.cast_ray(&m1, &ray, std::f32::MAX, true);
+    let cast = seg.cast_ray(&m1, &ray, f32::MAX, true);
     assert_eq!(cast, Some(0.0));
 }
 
@@ -39,7 +39,7 @@ fn collinear_raycast_starting_below_segment() {
     let ray = Ray::new(Point2::new(0.0, -2.0), Vector2::new(0.0, 1.0));
     let seg = Segment::new(Point2::new(0.0, 1.0), Point2::new(0.0, -1.0));
 
-    let cast = seg.cast_ray(&m1, &ray, std::f32::MAX, true);
+    let cast = seg.cast_ray(&m1, &ray, f32::MAX, true);
     assert_eq!(cast, Some(1.0));
 }
 
@@ -49,45 +49,45 @@ fn collinear_raycast_starting_above_segment() {
     let ray = Ray::new(Point2::new(0.0, 2.0), Vector2::new(0.0, 1.0));
     let seg = Segment::new(Point2::new(0.0, 1.0), Point2::new(0.0, -1.0));
 
-    let cast = seg.cast_ray(&m1, &ray, std::f32::MAX, true);
+    let cast = seg.cast_ray(&m1, &ray, f32::MAX, true);
     assert_eq!(cast, None);
 }
 
 #[test]
 fn perpendicular_raycast_starting_behind_segment() {
     let segment = Segment::new(Point2::new(0.0f32, -10.0), Point2::new(0.0, 10.0));
     let ray = Ray::new(Point2::new(-1.0, 0.0), Vector2::new(1.0, 0.0));
-    assert!(segment.intersects_local_ray(&ray, std::f32::MAX));
+    assert!(segment.intersects_local_ray(&ray, f32::MAX));
 }
 
 #[test]
 fn perpendicular_raycast_starting_in_front_of_segment() {
     let segment = Segment::new(Point2::new(0.0f32, -10.0), Point2::new(0.0, 10.0));
     let ray = Ray::new(Point2::new(1.0, 0.0), Vector2::new(1.0, 0.0));
-    assert!(!segment.intersects_local_ray(&ray, std::f32::MAX));
+    assert!(!segment.intersects_local_ray(&ray, f32::MAX));
 }
 
 #[test]
 fn perpendicular_raycast_starting_on_segment() {
     let segment = Segment::new(Point2::new(0.0f32, -10.0), Point2::new(0.0, 10.0));
     let ray = Ray::new(Point2::new(0.0, 3.0), Vector2::new(1.0, 0.0));
 
-    let cast = segment.cast_local_ray(&ray, std::f32::MAX, true);
+    let cast = segment.cast_local_ray(&ray, f32::MAX, true);
     assert_eq!(cast, Some(0.0));
 }
 
 #[test]
 fn perpendicular_raycast_starting_above_segment() {
     let segment = Segment::new(Point2::new(0.0f32, -10.0), Point2::new(0.0, 10.0));
     let ray = Ray::new(Point2::new(0.0, 11.0), Vector2::new(1.0, 0.0));
-    assert!(!segment.intersects_local_ray(&ray, std::f32::MAX));
+    assert!(!segment.intersects_local_ray(&ray, f32::MAX));
 }
 
 #[test]
 fn perpendicular_raycast_starting_below_segment() {
     let segment = Segment::new(Point2::new(0.0f32, -10.0), Point2::new(0.0, 10.0));
     let ray = Ray::new(Point2::new(0.0, -11.0), Vector2::new(1.0, 0.0));
-    assert!(!segment.intersects_local_ray(&ray, std::f32::MAX));
+    assert!(!segment.intersects_local_ray(&ray, f32::MAX));
 }
 
 #[test]
@@ -99,7 +99,7 @@ fn raycast_starting_outside_of_triangle() {
     );
     let ray = Ray::new(Point2::new(-10.0, 0.0), Vector2::new(1.0, 0.0));
     let intersect = triangle
-        .cast_local_ray_and_get_normal(&ray, std::f32::MAX, true)
+        .cast_local_ray_and_get_normal(&ray, f32::MAX, true)
         .expect("No intersection");
 
     assert_ne!(intersect.time_of_impact, 0.0);
@@ -114,7 +114,7 @@ fn raycast_starting_inside_of_triangle() {
     );
     let ray = Ray::new(Point2::new(2.0, 0.0), Vector2::new(1.0, 0.0));
     let intersect = triangle
-        .cast_local_ray_and_get_normal(&ray, std::f32::MAX, true)
+        .cast_local_ray_and_get_normal(&ray, f32::MAX, true)
         .expect("No intersection");
 
     assert_eq!(intersect.time_of_impact, 0.0);
@@ -129,7 +129,7 @@ fn raycast_starting_on_edge_of_triangle() {
     );
     let ray = Ray::new(Point2::new(0.0, 0.0), Vector2::new(1.0, 0.0));
     let intersect = triangle
-        .cast_local_ray_and_get_normal(&ray, std::f32::MAX, true)
+        .cast_local_ray_and_get_normal(&ray, f32::MAX, true)
         .expect("No intersection");
 
     assert_eq!(intersect.time_of_impact, 0.0);

crates/parry2d/tests/geometry/time_of_impact2.rs

@@ -152,7 +152,7 @@ fn cast_shapes_should_return_toi_for_ball_and_rotated_polyline() {
     let ball_isometry = Isometry2::identity();
     let ball_velocity = Vector2::new(1.0, 0.0);
     let ball = Ball::new(0.5);
-    let polyline_isometry = Isometry2::rotation(-std::f32::consts::FRAC_PI_2);
+    let polyline_isometry = Isometry2::rotation(-core::f32::consts::FRAC_PI_2);
     let polyline_velocity = Vector2::zeros();
     let polyline = Polyline::new(vec![Point2::new(1.0, 1.0), Point2::new(-1.0, 1.0)], None);
 
@@ -184,7 +184,7 @@ fn cast_shapes_should_return_toi_for_ball_and_rotated_segment() {
     let ball_isometry = Isometry2::identity();
     let ball_velocity = Vector2::new(1.0, 0.0);
     let ball = Ball::new(0.5);
-    let segment_isometry = Isometry2::rotation(-std::f32::consts::FRAC_PI_2);
+    let segment_isometry = Isometry2::rotation(-core::f32::consts::FRAC_PI_2);
     let segment_velocity = Vector2::zeros();
     let segment = Segment::new(Point2::new(1.0, 1.0), Point2::new(-1.0, 1.0));
 
@@ -216,7 +216,7 @@ fn cast_shapes_should_return_toi_for_rotated_segment_and_ball() {
     let ball_isometry = Isometry2::identity();
     let ball_velocity = Vector2::new(1.0, 0.0);
     let ball = Ball::new(0.5);
-    let segment_isometry = Isometry2::rotation(-std::f32::consts::FRAC_PI_2);
+    let segment_isometry = Isometry2::rotation(-core::f32::consts::FRAC_PI_2);
     let segment_velocity = Vector2::zeros();
     let segment = Segment::new(Point2::new(1.0, 1.0), Point2::new(-1.0, 1.0));