Merge pull request #761 from dimforge/rapier

Update to the latest simba version.

.circleci/config.yml

@@ -47,10 +47,10 @@ jobs:
       - checkout
       - run:
           name: test
-          command: cargo test --all-features
+          command: cargo test --features arbitrary --features serde-serialize --features abomonation-serialize --features sparse --features debug --features io --features compare --features libm
       - run:
           name: test nalgebra-glm
-          command: cargo test -p nalgebra-glm --all-features
+          command: cargo test -p nalgebra-glm  --features arbitrary --features serde-serialize --features abomonation-serialize --features sparse --features debug --features io --features compare --features libm
   build-wasm:
     executor: rust-executor
     steps:

Cargo.toml

@@ -24,13 +24,16 @@ default         = [ "std" ]
 std             = [ "matrixmultiply", "rand/std", "rand_distr", "simba/std" ]
 stdweb          = [ "rand/stdweb" ]
 arbitrary       = [ "quickcheck" ]
-serde-serialize = [ "serde", "serde_derive", "num-complex/serde" ]
+serde-serialize = [ "serde", "num-complex/serde" ]
 abomonation-serialize = [ "abomonation" ]
 sparse = [ ]
 debug = [ "approx/num-complex", "rand/std" ]
 alloc = [ ]
 io = [ "pest", "pest_derive" ]
 compare = [ "matrixcompare-core" ]
+libm = [ "simba/libm" ]
+libm-force = [ "simba/libm_force" ]
+
 
 [dependencies]
 typenum        = "1.11"
@@ -40,12 +43,11 @@ num-traits     = { version = "0.2", default-features = false }
 num-complex    = { version = "0.2", default-features = false }
 num-rational   = { version = "0.2", default-features = false }
 approx         = { version = "0.3", default-features = false }
-simba          = { version = "0.1", default-features = false }
+simba          = { version = "0.2", default-features = false }
 alga           = { version = "0.9", default-features = false, optional = true }
 rand_distr     = { version = "0.2", optional = true }
 matrixmultiply = { version = "0.2", optional = true }
-serde          = { version = "1.0", optional = true }
-serde_derive   = { version = "1.0", optional = true }
+serde          = { version = "1.0", features = [ "derive" ], optional = true }
 abomonation    = { version = "0.7", optional = true }
 mint           = { version = "0.5", optional = true }
 quickcheck     = { version = "0.9", optional = true }
@@ -76,6 +78,3 @@ path = "benches/lib.rs"
 
 [profile.bench]
 lto = true
-
-#[patch.crates-io]
-#simba = { path = "../simba" }

nalgebra-glm/Cargo.toml

@@ -24,5 +24,5 @@ abomonation-serialize = [ "nalgebra/abomonation-serialize" ]
 [dependencies]
 num-traits = { version = "0.2", default-features = false }
 approx = { version = "0.3", default-features = false }
-simba = { version = "0.1", default-features = false }
+simba = { version = "0.2", default-features = false }
 nalgebra = { path =  "..", version = "0.21", default-features = false }

nalgebra-lapack/Cargo.toml

@@ -26,7 +26,7 @@ intel-mkl  = ["lapack-src/intel-mkl"]
 nalgebra      = { version = "0.21", path = ".." }
 num-traits    = "0.2"
 num-complex   = { version = "0.2", default-features = false }
-simba         = "0.1"
+simba         = "0.2"
 serde         = { version = "1.0", optional = true }
 serde_derive  = { version = "1.0", optional = true }
 lapack        = { version = "0.16", default-features = false }

src/base/construction.rs

@@ -1011,6 +1011,14 @@ where
     N: Scalar + Zero + One,
     DefaultAllocator: Allocator<N, R>,
 {
+    /// The column vector with `val` as its i-th component.
+    #[inline]
+    pub fn ith(i: usize, val: N) -> Self {
+        let mut res = Self::zeros();
+        res[i] = val;
+        res
+    }
+
     /// The column vector with a 1 as its first component, and zero elsewhere.
     #[inline]
     pub fn x() -> Self

src/lib.rs

@@ -90,11 +90,9 @@ an optimized set of tools for computer graphics and physics. Those features incl
 #[cfg(feature = "arbitrary")]
 extern crate quickcheck;
 
-#[cfg(feature = "serde")]
-extern crate serde;
-#[cfg(feature = "serde")]
+#[cfg(feature = "serde-serialize")]
 #[macro_use]
-extern crate serde_derive;
+extern crate serde;
 
 #[cfg(feature = "abomonation-serialize")]
 extern crate abomonation;

src/linalg/mod.rs

@@ -5,6 +5,10 @@ mod bidiagonal;
 mod cholesky;
 mod convolution;
 mod determinant;
+// FIXME: this should not be needed. However, the exp uses
+// explicit float operations on `f32` and `f64`. We need to
+// get rid of these to allow exp to be used on a no-std context.
+#[cfg(feature = "std")]
 mod exp;
 mod full_piv_lu;
 pub mod givens;
@@ -27,6 +31,7 @@ mod symmetric_tridiagonal;
 pub use self::bidiagonal::*;
 pub use self::cholesky::*;
 pub use self::convolution::*;
+#[cfg(feature = "std")]
 pub use self::exp::*;
 pub use self::full_piv_lu::*;
 pub use self::hessenberg::*;