Merge pull request #119 from dimforge/rkyv-self-archives

rkyv: let archived objects be Self when possible
dimforge · Jan 13, 2023 · 9e7abd6 · 9e7abd6
2 parents 192dfb5 + 3c1cfbd
commit 9e7abd6
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Showing 22 changed files with 61 additions and 32 deletions.
diff --git a/Cargo.toml b/Cargo.toml
@@ -9,5 +9,5 @@ parry2d-f64 = { path = "crates/parry2d-f64" }
 parry3d-f64 = { path = "crates/parry3d-f64" }
 
 #simba = { path = "../simba" }
-#simba = { git = "https://github.com/dimforge/simba", rev = "d928e4aedbf8ee03043abae38c8f846dba4801e5" }
-# nalgebra = { git = "https://github.com/dimforge/nalgebra" }
+simba = { git = "https://github.com/dimforge/simba", rev = "45a5266eb36ed9d25907e9bf9130cd4ac846a748" }
+nalgebra = { git = "https://github.com/dimforge/nalgebra", rev = "0cf79aef0e6155befc3279a3145f1940822b8377" }
diff --git a/src/bounding_volume/aabb.rs b/src/bounding_volume/aabb.rs
@@ -16,7 +16,8 @@ use na::ComplexField; // for .abs()
 #[cfg_attr(feature = "bytemuck", derive(bytemuck::Pod, bytemuck::Zeroable))]
 #[cfg_attr(
     feature = "rkyv",
-    derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize)
+    derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize),
+    archive(as = "Self")
 )]
 #[cfg_attr(feature = "cuda", derive(cust_core::DeviceCopy))]
 #[derive(Debug, PartialEq, Copy, Clone)]

diff --git a/src/bounding_volume/bounding_sphere.rs b/src/bounding_volume/bounding_sphere.rs
@@ -10,7 +10,8 @@ use num::Zero;
 #[cfg_attr(feature = "bytemuck", derive(bytemuck::Pod, bytemuck::Zeroable))]
 #[cfg_attr(
     feature = "rkyv",
-    derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize)
+    derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize),
+    archive(as = "Self")
 )]
 #[derive(Debug, PartialEq, Copy, Clone)]
 #[repr(C)]

diff --git a/src/lib.rs b/src/lib.rs
@@ -10,13 +10,13 @@ the rust programming language.
 #![deny(non_camel_case_types)]
 #![deny(unused_parens)]
 #![deny(non_upper_case_globals)]
-#![deny(unused_qualifications)]
 #![deny(unused_results)]
 #![warn(missing_docs)] // TODO: deny this
 #![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_attr(not(feature = "rkyv"), deny(unused_qualifications))] // TODO: deny that everytime
 
 #[cfg(all(
     feature = "simd-is-enabled",

diff --git a/src/mass_properties/mass_properties.rs b/src/mass_properties/mass_properties.rs
@@ -12,7 +12,8 @@ const EPSILON: Real = f32::EPSILON as Real;
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
 #[cfg_attr(
     feature = "rkyv",
-    derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize)
+    derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize),
+    archive(as = "Self")
 )]
 /// The local mass properties of a rigid-body.
 pub struct MassProperties {

diff --git a/src/partitioning/qbvh/qbvh.rs b/src/partitioning/qbvh/qbvh.rs
@@ -59,7 +59,8 @@ pub type SimdNodeIndex = u32;
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
 #[cfg_attr(
     feature = "rkyv",
-    derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize)
+    derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize),
+    archive(as = "Self")
 )]
 #[cfg_attr(feature = "cuda", derive(cust_core::DeviceCopy))]
 /// The index of one specific node of a Qbvh.
@@ -91,7 +92,8 @@ bitflags! {
     #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
     #[cfg_attr(
         feature = "rkyv",
-        derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize)
+        derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize),
+        archive(as = "Self")
     )]
     #[cfg_attr(feature = "cuda", derive(cust_core::DeviceCopy))]
     #[derive(Default)]

diff --git a/src/query/contact/contact.rs b/src/query/contact/contact.rs
@@ -7,7 +7,8 @@ use std::mem;
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 #[cfg_attr(
     feature = "rkyv",
-    derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize)
+    derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize),
+    archive(as = "Self")
 )]
 pub struct Contact {
     /// Position of the contact on the first object.

diff --git a/src/query/point/point_query.rs b/src/query/point/point_query.rs
@@ -7,7 +7,8 @@ use na;
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 #[cfg_attr(
     feature = "rkyv",
-    derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize)
+    derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize),
+    archive(as = "Self")
 )]
 pub struct PointProjection {
     /// Whether or not the point to project was inside of the shape.

diff --git a/src/query/ray/ray.rs b/src/query/ray/ray.rs
@@ -8,7 +8,8 @@ use crate::shape::FeatureId;
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 #[cfg_attr(
     feature = "rkyv",
-    derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize)
+    derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize),
+    archive(as = "Self")
 )]
 #[cfg_attr(feature = "cuda", derive(cust_core::DeviceCopy))]
 #[repr(C)]
@@ -60,7 +61,8 @@ impl Ray {
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 #[cfg_attr(
     feature = "rkyv",
-    derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize)
+    derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize),
+    archive(as = "Self")
 )]
 pub struct RayIntersection {
     /// The time of impact of the ray with the object.  The exact contact point can be computed

diff --git a/src/shape/capsule.rs b/src/shape/capsule.rs
@@ -10,7 +10,8 @@ use either::Either;
 #[cfg_attr(feature = "bytemuck", derive(bytemuck::Pod, bytemuck::Zeroable))]
 #[cfg_attr(
     feature = "rkyv",
-    derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize)
+    derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize),
+    archive(as = "Self")
 )]
 #[cfg_attr(feature = "cuda", derive(cust_core::DeviceCopy))]
 #[repr(C)]

diff --git a/src/shape/cone.rs b/src/shape/cone.rs
@@ -16,7 +16,8 @@ use na::RealField; // for .copysign()
 #[cfg_attr(feature = "bytemuck", derive(bytemuck::Pod, bytemuck::Zeroable))]
 #[cfg_attr(
     feature = "rkyv",
-    derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize)
+    derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize),
+    archive(as = "Self")
 )]
 #[cfg_attr(feature = "cuda", derive(cust_core::DeviceCopy))]
 #[derive(PartialEq, Debug, Copy, Clone)]

diff --git a/src/shape/convex_polyhedron.rs b/src/shape/convex_polyhedron.rs
@@ -12,7 +12,8 @@ use na::ComplexField; // for .abs()
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 #[cfg_attr(
     feature = "rkyv",
-    derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize)
+    derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize),
+    archive(as = "Self")
 )]
 #[derive(PartialEq, Debug, Copy, Clone)]
 pub struct Vertex {
@@ -23,7 +24,8 @@ pub struct Vertex {
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 #[cfg_attr(
     feature = "rkyv",
-    derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize)
+    derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize),
+    archive(as = "Self")
 )]
 #[derive(PartialEq, Debug, Copy, Clone)]
 pub struct Edge {
@@ -46,7 +48,8 @@ impl Edge {
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 #[cfg_attr(
     feature = "rkyv",
-    derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize)
+    derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize),
+    archive(as = "Self")
 )]
 #[derive(PartialEq, Debug, Copy, Clone)]
 pub struct Face {

diff --git a/src/shape/cuboid.rs b/src/shape/cuboid.rs
@@ -15,7 +15,8 @@ use na::RealField; // for .copysign()
 #[cfg_attr(feature = "bytemuck", derive(bytemuck::Pod, bytemuck::Zeroable))]
 #[cfg_attr(
     feature = "rkyv",
-    derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize)
+    derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize),
+    archive(as = "Self")
 )]
 #[cfg_attr(feature = "cuda", derive(cust_core::DeviceCopy))]
 #[derive(PartialEq, Debug, Copy, Clone)]

diff --git a/src/shape/cylinder.rs b/src/shape/cylinder.rs
@@ -16,7 +16,8 @@ use na::RealField; // for .copysign()
 #[cfg_attr(feature = "bytemuck", derive(bytemuck::Pod, bytemuck::Zeroable))]
 #[cfg_attr(
     feature = "rkyv",
-    derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize)
+    derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize),
+    archive(as = "Self")
 )]
 #[cfg_attr(feature = "cuda", derive(cust_core::DeviceCopy))]
 #[derive(PartialEq, Debug, Copy, Clone)]

diff --git a/src/shape/feature_id.rs b/src/shape/feature_id.rs
@@ -6,7 +6,8 @@
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 #[cfg_attr(
     feature = "rkyv",
-    derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize)
+    derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize),
+    archive(as = "Self")
 )]
 #[derive(Copy, Clone, Debug, Hash, PartialEq, Eq)]
 pub enum FeatureId {
@@ -58,7 +59,8 @@ impl FeatureId {
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 #[cfg_attr(
     feature = "rkyv",
-    derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize)
+    derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize),
+    archive(as = "Self")
 )]
 #[derive(Copy, Clone, Debug, Hash, PartialEq, Eq)]
 /// A feature id where the feature type is packed into the same value as the feature index.

diff --git a/src/shape/half_space.rs b/src/shape/half_space.rs
@@ -7,7 +7,8 @@ use na::Unit;
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 #[cfg_attr(
     feature = "rkyv",
-    derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize)
+    derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize),
+    archive(as = "Self")
 )]
 #[cfg_attr(feature = "cuda", derive(cust_core::DeviceCopy))]
 #[repr(C)]

diff --git a/src/shape/heightfield3.rs b/src/shape/heightfield3.rs
@@ -21,7 +21,8 @@ bitflags! {
     #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
     #[cfg_attr(
         feature = "rkyv",
-        derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize)
+        derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize),
+        archive(as = "Self")
     )]
     #[cfg_attr(feature = "cuda", derive(cust_core::DeviceCopy))]
     #[derive(Default)]

diff --git a/src/shape/segment.rs b/src/shape/segment.rs
@@ -11,7 +11,8 @@ use std::mem;
 #[cfg_attr(feature = "bytemuck", derive(bytemuck::Pod, bytemuck::Zeroable))]
 #[cfg_attr(
     feature = "rkyv",
-    derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize)
+    derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize),
+    archive(as = "Self")
 )]
 #[cfg_attr(feature = "cuda", derive(cust_core::DeviceCopy))]
 #[derive(PartialEq, Debug, Copy, Clone)]

diff --git a/src/shape/tetrahedron.rs b/src/shape/tetrahedron.rs
@@ -14,7 +14,8 @@ use na::ComplexField; // for .abs()
 #[cfg_attr(feature = "bytemuck", derive(bytemuck::Pod, bytemuck::Zeroable))]
 #[cfg_attr(
     feature = "rkyv",
-    derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize)
+    derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize),
+    archive(as = "Self")
 )]
 #[cfg_attr(feature = "cuda", derive(cust_core::DeviceCopy))]
 #[derive(Copy, Clone, Debug)]

diff --git a/src/shape/triangle.rs b/src/shape/triangle.rs
@@ -19,7 +19,8 @@ use crate::shape::PackedFeatureId;
 #[cfg_attr(feature = "bytemuck", derive(bytemuck::Pod, bytemuck::Zeroable))]
 #[cfg_attr(
     feature = "rkyv",
-    derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize)
+    derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize),
+    archive(as = "Self")
 )]
 #[cfg_attr(feature = "cuda", derive(cust_core::DeviceCopy))]
 #[derive(PartialEq, Debug, Copy, Clone, Default)]

diff --git a/src/shape/trimesh.rs b/src/shape/trimesh.rs
@@ -155,7 +155,8 @@ impl TriMeshConnectedComponents<DefaultStorage> {
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
 #[cfg_attr(
     feature = "rkyv",
-    derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize)
+    derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize),
+    archive(as = "Self")
 )]
 #[cfg_attr(feature = "cuda", derive(cust_core::DeviceCopy))]
 #[repr(C)] // Needed for Cuda.
@@ -169,7 +170,8 @@ pub struct TopoVertex {
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
 #[cfg_attr(
     feature = "rkyv",
-    derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize)
+    derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize),
+    archive(as = "Self")
 )]
 #[cfg_attr(feature = "cuda", derive(cust_core::DeviceCopy))]
 #[repr(C)] // Needed for Cuda.
@@ -184,7 +186,8 @@ pub struct TopoFace {
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
 #[cfg_attr(
     feature = "rkyv",
-    derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize)
+    derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize),
+    archive(as = "Self")
 )]
 #[cfg_attr(feature = "cuda", derive(cust_core::DeviceCopy))]
 #[repr(C)] // Needed for Cuda.
@@ -259,7 +262,8 @@ bitflags::bitflags! {
     #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
     #[cfg_attr(
         feature = "rkyv",
-        derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize)
+        derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize),
+        archive(as = "Self")
     )]
     #[cfg_attr(feature = "cuda", derive(cust_core::DeviceCopy))]
     #[repr(C)] // Needed for Cuda.

diff --git a/src/utils/sdp_matrix.rs b/src/utils/sdp_matrix.rs
@@ -7,7 +7,8 @@ use std::ops::{Add, Mul};
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
 #[cfg_attr(
     feature = "rkyv",
-    derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize)
+    derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize),
+    archive(as = "Self", bound(archive = "N: rkyv::Archive<Archived = N>"))
 )]
 pub struct SdpMatrix2<N> {
     /// The component at the first row and first column of this matrix.
@@ -112,7 +113,8 @@ impl Mul<Real> for SdpMatrix2<Real> {
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
 #[cfg_attr(
     feature = "rkyv",
-    derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize)
+    derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize),
+    archive(as = "Self", bound(archive = "N: rkyv::Archive<Archived = N>"))
 )]
 pub struct SdpMatrix3<N> {
     /// The component at the first row and first column of this matrix.