Some parts of lib in no_std with alloc. Tests pass

crates/parry2d/Cargo.toml

@@ -19,7 +19,8 @@ maintenance = { status = "actively-developed" }
 [features]
 default = [ "required-features", "std" ]
 required-features = [ "dim2", "f32" ]
-std     = [ "nalgebra/std", "slab", "rustc-hash", "simba/std", "arrayvec/std", "spade" ]
+alloc   = [ "hashbrown", "num-traits/libm", "nalgebra/alloc", "spade/alloc" ]
+std     = [ "nalgebra/std", "slab", "rustc-hash", "simba/std", "arrayvec/std", "spade/std" ]
 dim2    = [ ]
 f32     = [ ]
 serde-serialize = [ "serde", "nalgebra/serde-serialize", "arrayvec/serde" ]
@@ -57,9 +58,10 @@ num-derive      = "0.4"
 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 }
+spade           = { git = "https://github.com/hatmajster/spade.git", branch = "no_std", default-features = false, optional = true }
 rayon           = { version = "1", optional = true }
 bytemuck        = { version = "1", features = [ "derive" ], optional = true }
+hashbrown       = { version = "0.14.2", optional = true }
 
 [target.'cfg(not(target_os = "cuda"))'.dependencies]
 cust = { version = "0.3", optional = true }

crates/parry3d/Cargo.toml

@@ -19,7 +19,8 @@ maintenance = { status = "actively-developed" }
 [features]
 default = [ "required-features", "std" ]
 required-features = [ "dim3", "f32" ]
-std     = [ "nalgebra/std", "slab", "rustc-hash", "simba/std", "arrayvec/std", "spade" ]
+alloc   = [ "hashbrown", "num-traits/libm", "nalgebra/alloc", "spade/alloc"]
+std     = [ "nalgebra/std", "slab", "rustc-hash", "simba/std", "arrayvec/std", "spade/std" ]
 dim3    = [ ]
 f32     = [ ]
 serde-serialize = [ "serde", "nalgebra/serde-serialize" ]
@@ -58,9 +59,10 @@ num-derive = "0.4"
 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      = { git = "https://github.com/hatmajster/spade.git", branch = "no_std", default-features = false, optional = true }
 rayon      = { version = "1", optional = true }
 bytemuck   = { version = "1", features = [ "derive" ], optional = true }
+hashbrown  = { version = "0.14.2", optional = true }
 
 [target.'cfg(not(target_os = "cuda"))'.dependencies]
 cust       = { version = "0.3", optional = true }

src/bounding_volume/mod.rs

@@ -16,10 +16,10 @@ pub mod bounding_volume;
 pub mod aabb;
 mod aabb_ball;
 #[cfg(feature = "dim2")]
-#[cfg(feature = "std")]
+#[cfg(any(feature = "std", feature = "alloc"))]
 mod aabb_convex_polygon;
 #[cfg(feature = "dim3")]
-#[cfg(feature = "std")]
+#[cfg(any(feature = "std", feature = "alloc"))]
 mod aabb_convex_polyhedron;
 mod aabb_cuboid;
 mod aabb_halfspace;
@@ -36,21 +36,21 @@ mod bounding_sphere_capsule;
 #[cfg(feature = "dim3")]
 mod bounding_sphere_cone;
 #[cfg(feature = "dim3")]
-#[cfg(feature = "std")]
+#[cfg(any(feature = "std", feature = "alloc"))]
 mod bounding_sphere_convex;
 #[cfg(feature = "dim2")]
-#[cfg(feature = "std")]
+#[cfg(any(feature = "std", feature = "alloc"))]
 mod bounding_sphere_convex_polygon;
 mod bounding_sphere_cuboid;
 #[cfg(feature = "dim3")]
 mod bounding_sphere_cylinder;
 mod bounding_sphere_halfspace;
 mod bounding_sphere_heightfield;
-#[cfg(feature = "std")]
+#[cfg(any(feature = "std", feature = "alloc"))]
 mod bounding_sphere_polyline;
 mod bounding_sphere_segment;
 mod bounding_sphere_triangle;
-#[cfg(feature = "std")]
+#[cfg(any(feature = "std", feature = "alloc"))]
 mod bounding_sphere_trimesh;
 mod bounding_sphere_utils;
 mod simd_aabb;

src/lib.rs

@@ -69,7 +69,7 @@ pub mod mass_properties;
 pub mod partitioning;
 pub mod query;
 pub mod shape;
-#[cfg(feature = "std")]
+#[cfg(any(feature = "std", feature = "alloc"))]
 pub mod transformation;
 pub mod utils;
 

src/mass_properties/mass_properties.rs

@@ -9,6 +9,9 @@ use {na::Matrix3, std::ops::MulAssign};
 #[cfg(feature = "rkyv")]
 use rkyv::{bytecheck, CheckBytes};
 
+#[cfg(feature = "alloc")]
+use alloc::vec::Vec;
+
 const EPSILON: Real = f32::EPSILON as Real;
 
 #[derive(Copy, Clone, Debug, Default, PartialEq)]
@@ -378,8 +381,8 @@ impl AddAssign<MassProperties> for MassProperties {
     }
 }
 
-#[cfg(feature = "std")]
-impl std::iter::Sum<MassProperties> for MassProperties {
+#[cfg(any(feature = "std", feature = "alloc"))]
+impl core::iter::Sum<MassProperties> for MassProperties {
     #[cfg(feature = "dim2")]
     fn sum<I>(iter: I) -> Self
     where

src/mass_properties/mass_properties_trimesh3d.rs

@@ -29,7 +29,10 @@ impl MassProperties {
             itot += ipart * vol;
         }
 
+        #[cfg(feature = "std")]
         let sign = volume.signum();
+        #[cfg(not(feature = "std"))]
+        let sign = if volume >= 0.0f32 { 1.0f32 } else { -1.0f32 };
         Self::with_inertia_matrix(com, volume * density * sign, itot * density * sign)
     }
 }
@@ -208,6 +211,7 @@ mod test {
 
         use crate::shape::Shape;
         let orig_mprops = cuboid.mass_properties(1.0);
+        #[cfg(feature = "std")]
         dbg!(orig_mprops.principal_inertia());
 
         let mut trimesh = cuboid.to_trimesh();

src/mass_properties/mod.rs

@@ -5,37 +5,37 @@ pub use self::mass_properties::MassProperties;
 mod mass_properties;
 mod mass_properties_ball;
 mod mass_properties_capsule;
-#[cfg(feature = "std")]
+#[cfg(any(feature = "std", feature = "alloc"))]
 mod mass_properties_compound;
 #[cfg(feature = "dim3")]
 mod mass_properties_cone;
 #[cfg(feature = "dim2")]
-#[cfg(feature = "std")]
+#[cfg(any(feature = "std", feature = "alloc"))]
 mod mass_properties_convex_polygon;
 #[cfg(feature = "dim3")]
-#[cfg(feature = "std")]
+#[cfg(any(feature = "std", feature = "alloc"))]
 mod mass_properties_convex_polyhedron;
 mod mass_properties_cuboid;
 mod mass_properties_cylinder;
 #[cfg(feature = "dim2")]
 mod mass_properties_triangle;
 #[cfg(feature = "dim2")]
-#[cfg(feature = "std")]
+#[cfg(any(feature = "std", feature = "alloc"))]
 mod mass_properties_trimesh2d;
 #[cfg(feature = "dim3")]
-#[cfg(feature = "std")]
+#[cfg(any(feature = "std", feature = "alloc"))]
 mod mass_properties_trimesh3d;
 
 /// Free functions for some special-cases of mass-properties computation.
 pub mod details {
     #[cfg(feature = "dim2")]
-    #[cfg(feature = "std")]
+    #[cfg(any(feature = "std", feature = "alloc"))]
     pub use super::mass_properties_convex_polygon::convex_polygon_area_and_center_of_mass;
     #[cfg(feature = "dim2")]
-    #[cfg(feature = "std")]
+    #[cfg(any(feature = "std", feature = "alloc"))]
     pub use super::mass_properties_trimesh2d::trimesh_area_and_center_of_mass;
     #[cfg(feature = "dim3")]
-    #[cfg(feature = "std")]
+    #[cfg(any(feature = "std", feature = "alloc"))]
     pub use super::mass_properties_trimesh3d::{
         tetrahedron_unit_inertia_tensor_wrt_point, trimesh_signed_volume_and_center_of_mass,
     };

src/partitioning/qbvh/build.rs

@@ -5,6 +5,12 @@ use crate::query::SplitResult;
 use crate::simd::SimdReal;
 use simba::simd::SimdValue;
 
+#[cfg(feature = "alloc")]
+use alloc::{vec, vec::Vec};
+
+#[cfg(not(feature = "std"))]
+use na::ComplexField; // for .abs()
+
 use super::utils::split_indices_wrt_dim;
 use super::{IndexedData, NodeIndex, Qbvh, QbvhNode, QbvhNodeFlags, QbvhProxy};
 

src/partitioning/qbvh/mod.rs

@@ -15,11 +15,11 @@ mod qbvh;
 mod storage;
 pub(self) mod utils;
 
-#[cfg(feature = "std")]
+#[cfg(any(feature = "std", feature = "alloc"))]
 mod build;
-#[cfg(feature = "std")]
+#[cfg(any(feature = "std", feature = "alloc"))]
 mod traversal;
-#[cfg(not(feature = "std"))]
+#[cfg(not(any(feature = "std", feature = "alloc")))]
 mod traversal_no_std;
 #[cfg(feature = "std")]
 mod update;

src/partitioning/qbvh/qbvh.rs

@@ -6,6 +6,10 @@ use bitflags::bitflags;
 
 use na::SimdValue;
 
+#[cfg(feature = "alloc")]
+use alloc::vec::Vec;
+
+
 #[cfg(feature = "rkyv")]
 use rkyv::{bytecheck, CheckBytes};
 #[cfg(all(feature = "std", feature = "cuda"))]
@@ -307,7 +311,7 @@ impl<LeafData: DeviceCopy> CudaQbvh<LeafData> {
     }
 }
 
-#[cfg(feature = "std")]
+#[cfg(any(feature = "std", feature = "alloc"))]
 impl<LeafData: IndexedData> Qbvh<LeafData> {
     /// Initialize an empty Qbvh.
     pub fn new() -> Self {

src/partitioning/qbvh/storage.rs

@@ -5,6 +5,8 @@ use crate::utils::{Array1, DefaultStorage};
 use crate::utils::CudaArray1;
 #[cfg(feature = "cuda")]
 use crate::utils::{CudaArrayPointer1, CudaStorage, CudaStoragePtr};
+#[cfg(feature = "alloc")]
+use alloc::vec::Vec;
 
 /// Trait describing all the types needed for storing a Qbvh’s data.
 pub trait QbvhStorage<LeafData> {
@@ -16,7 +18,7 @@ pub trait QbvhStorage<LeafData> {
     type ArrayProxies: Array1<QbvhProxy<LeafData>>;
 }
 
-#[cfg(feature = "std")]
+#[cfg(any(feature = "std", feature = "alloc"))]
 impl<LeafData> QbvhStorage<LeafData> for DefaultStorage {
     type Nodes = Vec<QbvhNode>;
     type ArrayU32 = Vec<u32>;

src/partitioning/qbvh/traversal.rs

@@ -10,7 +10,6 @@ use crate::utils::Array1;
 use crate::utils::WeightedValue;
 use num::Bounded;
 use simba::simd::SimdBool;
-use std::collections::BinaryHeap;
 #[cfg(feature = "parallel")]
 use {
     crate::partitioning::{ParallelSimdSimultaneousVisitor, ParallelSimdVisitor},
@@ -19,6 +18,12 @@ use {
     std::sync::atomic::{AtomicBool, Ordering as AtomicOrdering},
 };
 
+#[cfg(feature = "std")]
+use std::collections::BinaryHeap;
+
+#[cfg(feature = "alloc")]
+use alloc::{vec, vec::Vec, collections::BinaryHeap};
+
 use super::{IndexedData, NodeIndex, Qbvh};
 
 impl<LeafData: IndexedData, Storage: QbvhStorage<LeafData>> GenericQbvh<LeafData, Storage> {

src/query/clip/clip_aabb_polygon.rs

@@ -1,6 +1,9 @@
 use crate::bounding_volume::Aabb;
 use crate::math::{Point, Real, Vector};
 
+#[cfg(feature = "alloc")]
+use alloc::vec::Vec;
+
 impl Aabb {
     /// Computes the intersections between this Aabb and the given polygon.
     ///

src/query/clip/clip_halfspace_polygon.rs

@@ -1,6 +1,9 @@
 use crate::math::{Point, Real, Vector};
 use crate::query::{self, Ray};
 
+#[cfg(feature = "alloc")]
+use alloc::vec::Vec;
+
 /// Cuts a polygon with the given half-space.
 ///
 /// Given the half-space `center` and outward `normal`,

src/query/clip/mod.rs

@@ -1,13 +1,13 @@
 pub use self::clip_aabb_line::clip_aabb_line;
-#[cfg(feature = "std")]
+#[cfg(any(feature = "std", feature = "alloc"))]
 pub use self::clip_halfspace_polygon::clip_halfspace_polygon;
 pub use self::clip_segment_segment::clip_segment_segment;
 #[cfg(feature = "dim2")]
 pub use self::clip_segment_segment::clip_segment_segment_with_normal;
 
 mod clip_aabb_line;
-#[cfg(feature = "std")]
+#[cfg(any(feature = "std", feature = "alloc"))]
 mod clip_aabb_polygon;
-#[cfg(feature = "std")]
+#[cfg(any(feature = "std", feature = "alloc"))]
 mod clip_halfspace_polygon;
 mod clip_segment_segment;

src/query/contact/mod.rs

@@ -14,7 +14,7 @@ pub use self::contact_halfspace_support_map::{
     contact_halfspace_support_map, contact_support_map_halfspace,
 };
 pub use self::contact_shape_shape::contact;
-#[cfg(feature = "std")] // TODO: doesn’t work without std because of EPA
+#[cfg(any(feature = "std", feature = "alloc"))]
 pub use self::contact_support_map_support_map::{
     contact_support_map_support_map, contact_support_map_support_map_with_params,
 };
@@ -27,5 +27,5 @@ mod contact_composite_shape_shape;
 mod contact_cuboid_cuboid;
 mod contact_halfspace_support_map;
 mod contact_shape_shape;
-#[cfg(feature = "std")] // TODO: doesn’t work without std because of EPA
+#[cfg(any(feature = "std", feature = "alloc"))]
 mod contact_support_map_support_map;

src/query/contact_manifolds/contact_manifold.rs

@@ -1,6 +1,9 @@
 use crate::math::{Isometry, Point, Real, Vector};
 use crate::shape::PackedFeatureId;
 
+#[cfg(feature = "alloc")]
+use alloc::{vec::Vec};
+
 #[derive(Copy, Clone, Debug)]
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
 #[cfg_attr(

src/query/contact_manifolds/contact_manifolds_composite_shape_composite_shape.rs

@@ -11,6 +11,9 @@ use crate::shape::SimdCompositeShape;
 use crate::utils::hashmap::{Entry, HashMap};
 use crate::utils::IsometryOpt;
 
+#[cfg(feature = "alloc")]
+use alloc::{boxed::Box, vec::Vec};
+
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
 #[cfg_attr(
     feature = "rkyv",
@@ -128,7 +131,7 @@ pub fn contact_manifolds_composite_shape_composite_shape<'a, ManifoldData, Conta
                                 timestamp: new_timestamp,
                             };
 
-                            let mut manifold = ContactManifold::new();
+                            let mut manifold: ContactManifold<ManifoldData, ContactData> = ContactManifold::<ManifoldData, ContactData>::new();
 
                             if flipped {
                                 manifold.subshape1 = *leaf2;

src/query/contact_manifolds/contact_manifolds_composite_shape_shape.rs

@@ -11,6 +11,9 @@ use crate::shape::{Shape, SimdCompositeShape};
 use crate::utils::hashmap::{Entry, HashMap};
 use crate::utils::IsometryOpt;
 
+#[cfg(feature = "alloc")]
+use alloc::{boxed::Box, vec::Vec};
+
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
 #[cfg_attr(
     feature = "rkyv",
@@ -103,7 +106,7 @@ pub fn contact_manifolds_composite_shape_shape<ManifoldData, ContactData>(
                         timestamp: new_timestamp,
                     };
 
-                    let mut manifold = ContactManifold::new();
+                    let mut manifold: ContactManifold<ManifoldData, ContactData> = ContactManifold::new();
 
                     if flipped {
                         manifold.subshape1 = 0;

src/query/contact_manifolds/contact_manifolds_cuboid_cuboid.rs

@@ -89,7 +89,7 @@ pub fn contact_manifold_cuboid_cuboid<'a, ManifoldData, ContactData: Default + C
     let feature1 = cuboid1.support_feature(best_sep.1);
     let feature2 = cuboid2.support_feature(local_n2);
 
-    PolygonalFeature::contacts(
+    PolygonalFeature::contacts::<ManifoldData, ContactData>(
         pos12,
         pos21,
         &best_sep.1,

src/query/contact_manifolds/contact_manifolds_cuboid_triangle.rs

@@ -122,7 +122,7 @@ pub fn contact_manifold_cuboid_triangle<'a, ManifoldData, ContactData>(
     let old_manifold_points = manifold.points.clone();
     manifold.clear();
 
-    PolygonalFeature::contacts(
+    PolygonalFeature::contacts::<ManifoldData, ContactData>(
         pos12,
         pos21,
         &best_sep.1,