Merge pull request #96 from dimforge/rkyv-rayon

Add partial rkyv support + parallel qbvh traversal + Heigthfield support of Cuda kernels

CHANGELOG.md

@@ -13,7 +13,11 @@
 - Add the support for linear shape-cast (`query::time_of_impact`) for heightfields.
 - Make the convex polyhedron scaling more forgiving regarding normals to avoid frequent unjustified panics.
 - Fix panic happening when building a convex polyhedron with empty inputs.
-
+- Add the support of Heightfields on CUDA kernels written in Rust using the `cust` crate.
+- Add the `rkyv-serialize` feature that enables the implementation of `rkyv` serialization/deserialization
+  for most shapes.
+- Add the `parallel` feature that enables methods for the parallel traversal of QBVH trees: `QBVH::traverse_bvtt_parallel`,
+  `QBVH::traverse_bvtt_node_parallel`, `QBVH::traverse_depth_first_parallel`, `QBVH::traverse_depth_first_node_parallel`.
 
 ### Fixed
 - Fix the application of non-uniform scaling to balls.

Cargo.toml

@@ -8,4 +8,6 @@ parry3d = { path = "crates/parry3d" }
 parry2d-f64 = { path = "crates/parry2d-f64" }
 parry3d-f64 = { path = "crates/parry3d-f64" }
 
+#simba = { path = "../simba" }
+#simba = { git = "https://github.com/dimforge/simba", rev = "b1392df62a0f4cf91e397bbb6bd41b7731afb6ab" }
 # nalgebra = { git = "https://github.com/dimforge/nalgebra" }

crates/parry2d-f64/Cargo.toml

@@ -23,10 +23,12 @@ std     = [ "nalgebra/std", "slab", "rustc-hash", "simba/std", "arrayvec/std", "
 dim2    = [ ]
 f64     = [ ]
 serde-serialize = [ "serde", "nalgebra/serde-serialize", "arrayvec/serde" ]
+rkyv-serialize = [ "rkyv", "nalgebra/rkyv-serialize", "simba/rkyv-serialize" ]
 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
 # enabled with the "simd-stable" or "simd-nightly" feature.
@@ -45,15 +47,17 @@ 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 = "0.7", default-features = false }
+simba           = { version = "^0.7.2", default-features = false }
 nalgebra        = { version = "0.31", default-features = false, features = [ "libm" ] }
 approx          = { version = "0.5", default-features = false }
-serde           = { version = "1.0", optional = true, features = ["derive"]}
+serde           = { version = "1.0", optional = true, features = ["derive"] }
+rkyv            = { version = "0.7", optional = true }
 num-derive      = "0.3"
 indexmap        = { version = "1", features = [ "serde-1" ], optional = true }
 rustc-hash      = { version = "1", optional = true }
 cust_core       = { version = "0.1", optional = true }
 spade           = { version = "2", optional = true } # Make this optional?
+rayon           = { version = "1", optional = true }
 
 [target.'cfg(not(target_os = "cuda"))'.dependencies]
 cust       = { version = "0.3", optional = true }

crates/parry2d/Cargo.toml

@@ -23,10 +23,12 @@ std     = [ "nalgebra/std", "slab", "rustc-hash", "simba/std", "arrayvec/std", "
 dim2    = [ ]
 f32     = [ ]
 serde-serialize = [ "serde", "nalgebra/serde-serialize", "arrayvec/serde" ]
+rkyv-serialize = [ "rkyv", "nalgebra/rkyv-serialize", "simba/rkyv-serialize" ]
 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" ]
+cuda = [ "cust_core", "cust", "nalgebra/cuda" ]
+parallel = [ "rayon" ]
 
 # Do not enable this feature directly. It is automatically
 # enabled with the "simd-stable" or "simd-nightly" feature.
@@ -45,15 +47,17 @@ 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 = "0.7", default-features = false }
+simba           = { version = "^0.7.2", default-features = false }
 nalgebra        = { version = "0.31", default-features = false, features = [ "libm" ] }
 approx          = { version = "0.5", default-features = false }
-serde           = { version = "1.0", optional = true, features = ["derive"]}
+serde           = { version = "1.0", optional = true, features = ["derive"] }
+rkyv            = { version = "0.7", optional = true }
 num-derive      = "0.3"
 indexmap        = { version = "1", features = [ "serde-1" ], optional = true }
 rustc-hash      = { version = "1", optional = true }
 cust_core       = { version = "0.1", optional = true }
-spade           = { version = "2", optional = true } # Make this optional?
+spade           = { version = "2", optional = true }
+rayon           = { version = "1", optional = true }
 
 [target.'cfg(not(target_os = "cuda"))'.dependencies]
 cust = { version = "0.3", optional = true }

crates/parry3d-f64/Cargo.toml

@@ -23,10 +23,12 @@ std     = [ "nalgebra/std", "slab", "rustc-hash", "simba/std", "arrayvec/std", "
 dim3    = [ ]
 f64     = [ ]
 serde-serialize = [ "serde", "nalgebra/serde-serialize" ]
+rkyv-serialize = [ "rkyv", "nalgebra/rkyv-serialize", "simba/rkyv-serialize" ]
 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
 # enabled with the "simd-stable" or "simd-nightly" feature.
@@ -45,15 +47,17 @@ 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 = "0.7", default-features = false }
+simba      = { version = "^0.7.2", default-features = false }
 nalgebra   = { version = "0.31", 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", optional = true }
 num-derive = "0.3"
 indexmap   = { version = "1", features = [ "serde-1" ], optional = true }
 rustc-hash = { version = "1", optional = true }
 cust_core  = { version = "0.1", optional = true }
 spade      = { version = "2", optional = true } # Make this optional?
+rayon      = { version = "1", optional = true }
 
 [target.'cfg(not(target_os = "cuda"))'.dependencies]
 cust       = { version = "0.3", optional = true }

crates/parry3d/Cargo.toml

@@ -23,10 +23,13 @@ std     = [ "nalgebra/std", "slab", "rustc-hash", "simba/std", "arrayvec/std", "
 dim3    = [ ]
 f32     = [ ]
 serde-serialize = [ "serde", "nalgebra/serde-serialize" ]
+rkyv-serialize = [ "rkyv", "nalgebra/rkyv-serialize", "simba/rkyv-serialize" ]
+
 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
 # enabled with the "simd-stable" or "simd-nightly" feature.
@@ -45,15 +48,17 @@ 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 = "0.7", default-features = false }
+simba      = { version = "^0.7.2", default-features = false }
 nalgebra   = { version = "0.31", 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", optional = true }
 num-derive = "0.3"
 indexmap   = { version = "1", features = [ "serde-1" ], optional = true }
 rustc-hash = { version = "1", optional = true }
 cust_core  = { version = "0.1", optional = true }
 spade      = { version = "2", optional = true } # Make this optional?
+rayon      = { version = "1", optional = true }
 
 [target.'cfg(not(target_os = "cuda"))'.dependencies]
 cust       = { version = "0.3", optional = true }

src/bounding_volume/aabb.rs

@@ -13,6 +13,10 @@ use na::ComplexField; // for .abs()
 
 /// An Axis Aligned Bounding Box.
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
+#[cfg_attr(
+    feature = "rkyv",
+    derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize)
+)]
 #[cfg_attr(feature = "cuda", derive(cust_core::DeviceCopy))]
 #[derive(Debug, PartialEq, Copy, Clone)]
 pub struct AABB {

src/bounding_volume/bounding_sphere.rs

@@ -7,6 +7,10 @@ use num::Zero;
 
 /// A Bounding Sphere.
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
+#[cfg_attr(
+    feature = "rkyv",
+    derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize)
+)]
 #[derive(Debug, PartialEq, Copy, Clone)]
 pub struct BoundingSphere {
     pub center: Point<Real>,

src/bounding_volume/simd_aabb.rs

@@ -7,6 +7,10 @@ use simba::simd::{SimdPartialOrd, SimdValue};
 
 /// Four AABB represented as a single SoA AABB with SIMD components.
 #[derive(Debug, Copy, Clone)]
+#[cfg_attr(
+    feature = "rkyv",
+    derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize)
+)]
 pub struct SimdAABB {
     /// The min coordinates of the AABBs.
     pub mins: Point<SimdReal>,

src/lib.rs

@@ -28,10 +28,6 @@ std::compile_error!("The `simd-is-enabled` feature should not be enabled explici
 std::compile_error!(
     "SIMD cannot be enabled when the `enhanced-determinism` feature is also enabled."
 );
-#[cfg(all(feature = "simd-is-enabled", feature = "f64"))]
-std::compile_error!(
-    "Explicit SIMD optimization are not yet supported when the f64 feature is enabled."
-);
 
 macro_rules! array(
     ($callback: expr; SIMD_WIDTH) => {
@@ -252,36 +248,18 @@ mod simd {
 
 #[cfg(feature = "simd-is-enabled")]
 mod simd {
-    #[allow(unused_imports)]
-    #[cfg(feature = "simd-nightly")]
-    use simba::simd::{f32x16, f32x4, f32x8, m32x16, m32x4, m32x8, u8x16, u8x4, u8x8};
-    #[cfg(feature = "simd-stable")]
-    use simba::simd::{WideBoolF32x4, WideF32x4};
+    #[cfg(all(feature = "simd-nightly", feature = "f32"))]
+    pub use simba::simd::{f32x4 as SimdReal, m32x4 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};
+    #[cfg(all(feature = "simd-stable", feature = "f64"))]
+    pub use simba::simd::{WideBoolF64x4 as SimdBool, WideF64x4 as SimdReal};
 
     /// The number of lanes of a SIMD number.
     pub const SIMD_WIDTH: usize = 4;
     /// SIMD_WIDTH - 1
     pub const SIMD_LAST_INDEX: usize = 3;
-    #[cfg(not(feature = "simd-nightly"))]
-    /// A SIMD float with SIMD_WIDTH lanes.
-    pub type SimdReal = WideF32x4;
-    #[cfg(not(feature = "simd-nightly"))]
-    /// A SIMD bool with SIMD_WIDTH lanes.
-    pub type SimdBool = WideBoolF32x4;
-    #[cfg(feature = "simd-nightly")]
-    /// A SIMD float with SIMD_WIDTH lanes.
-    pub type SimdReal = f32x4;
-    #[cfg(feature = "simd-nightly")]
-    /// A bool float with SIMD_WIDTH lanes.
-    pub type SimdBool = m32x4;
-
-    // pub const SIMD_WIDTH: usize = 8;
-    // pub const SIMD_LAST_INDEX: usize = 7;
-    // pub type SimdReal = f32x8;
-    // pub type SimdBool = m32x8;
-
-    // pub const SIMD_WIDTH: usize = 16;
-    // pub const SIMD_LAST_INDEX: usize = 15;
-    // pub type SimdReal = f32x16;
-    // pub type SimdBool = m32x16;
 }

src/mass_properties/mass_properties.rs

@@ -10,6 +10,10 @@ const EPSILON: Real = f32::EPSILON as Real;
 
 #[derive(Copy, Clone, Debug, Default, PartialEq)]
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
+#[cfg_attr(
+    feature = "rkyv",
+    derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize)
+)]
 /// The local mass properties of a rigid-body.
 pub struct MassProperties {
     /// The center of mass of a rigid-body expressed in its local-space.

src/partitioning/mod.rs

@@ -1,6 +1,11 @@
 //! Spatial partitioning tools.
 
-pub use self::qbvh::{IndexedData, QBVHDataGenerator, QbvhNonOverlappingDataSplitter, QBVH};
+pub use self::qbvh::{
+    CenterDataSplitter, IndexedData, NodeIndex, QBVHDataGenerator, QBVHNode, QBVHProxy,
+    QbvhNonOverlappingDataSplitter, SimdNodeIndex, QBVH,
+};
+#[cfg(feature = "parallel")]
+pub use self::visitor::{ParallelSimdSimultaneousVisitor, ParallelSimdVisitor};
 pub use self::visitor::{
     SimdBestFirstVisitStatus, SimdBestFirstVisitor, SimdSimultaneousVisitStatus,
     SimdSimultaneousVisitor, SimdVisitStatus, SimdVisitor,