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Merged
Jondolf merged 2 commits into from
Feb 3, 2026
Merged

Update to Parry 0.26 and remove Nalgebra #937

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219a1c5
Update to Parry 0.26 and remove Nalgebra
Jondolf Feb 3, 2026
4dabc3f
Update determinism hash
Jondolf Feb 3, 2026
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293 changes: 85 additions & 208 deletions Cargo.lock
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11 changes: 5 additions & 6 deletions crates/avian2d/Cargo.toml
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Original file line number Diff line number Diff line change
Expand Up @@ -37,7 +37,7 @@ enhanced-determinism = [
"parry2d-f64?/enhanced-determinism",
]

default-collider = ["dep:nalgebra"]
default-collider = []
# We unfortunately can't reuse the f32 and f64 features for this,
# because Parry uses separate crates for f32 and f64.
parry-f32 = ["f32", "dep:parry2d", "default-collider"]
Expand Down Expand Up @@ -87,16 +87,15 @@ bevy_heavy = { version = "0.4" }
bevy_transform_interpolation = { version = "0.4" }
libm = { version = "0.2", optional = true }
approx = "0.5"
parry2d = { version = "0.25", optional = true }
parry2d-f64 = { version = "0.25", optional = true }
nalgebra = { version = "0.34", features = ["convert-glam030"], optional = true }
parry2d = { version = "0.26", optional = true }
parry2d-f64 = { version = "0.26", optional = true }
obvhs = { version = "0.3" }
serde = { version = "1", features = ["derive"], optional = true }
derive_more = "2"
thiserror = "2"
arrayvec = "0.7"
smallvec = "1.15"
itertools = "0.13"
itertools = "0.14"
bitflags = "2.5.0"
thread_local = { version = "1.1" }
disqualified = { version = "1.0" }
Expand All @@ -107,7 +106,7 @@ bevy = { version = "0.18.0", default-features = false, features = ["2d", "ui"] }
bevy_heavy = { version = "0.4", features = ["approx"] }
glam = { version = "0.30", features = ["bytemuck"] }
bytemuck = "1.19"
criterion = { version = "0.5", features = ["html_reports"] }
criterion = { version = "0.8", features = ["html_reports"] }
bevy_mod_debugdump = { version = "0.15" }

[lints]
Expand Down
11 changes: 5 additions & 6 deletions crates/avian3d/Cargo.toml
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Original file line number Diff line number Diff line change
Expand Up @@ -38,7 +38,7 @@ enhanced-determinism = [
"parry3d-f64?/enhanced-determinism",
]

default-collider = ["dep:nalgebra"]
default-collider = []
# We unfortunately can't reuse the f32 and f64 features for this,
# because Parry uses separate crates for f32 and f64.
parry-f32 = ["f32", "dep:parry3d", "default-collider"]
Expand Down Expand Up @@ -89,15 +89,14 @@ bevy_heavy = { version = "0.4" }
bevy_transform_interpolation = { version = "0.4" }
libm = { version = "0.2", optional = true }
approx = "0.5"
parry3d = { version = "0.25", optional = true }
parry3d-f64 = { version = "0.25", optional = true }
nalgebra = { version = "0.34", features = ["convert-glam030"], optional = true }
parry3d = { version = "0.26", optional = true }
parry3d-f64 = { version = "0.26", optional = true }
obvhs = { version = "0.3" }
serde = { version = "1", features = ["derive"], optional = true }
derive_more = "2"
thiserror = "2"
smallvec = "1.15"
itertools = "0.13"
itertools = "0.14"
bitflags = "2.5.0"
thread_local = { version = "1.1" }
disqualified = { version = "1.0" }
Expand All @@ -111,7 +110,7 @@ bevy = { version = "0.18.0", features = [
"experimental_bevy_feathers",
] }
bevy_heavy = { version = "0.4", features = ["approx"] }
criterion = { version = "0.5", features = ["html_reports"] }
criterion = { version = "0.8", features = ["html_reports"] }
bevy_mod_debugdump = { version = "0.15" }
rand = "0.9"

Expand Down
4 changes: 2 additions & 2 deletions src/collision/collider/mod.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -476,8 +476,8 @@ impl ColliderAabb {
pub fn from_shape(shape: &crate::parry::shape::SharedShape) -> Self {
let aabb = shape.compute_local_aabb();
Self {
min: aabb.mins.into(),
max: aabb.maxs.into(),
min: aabb.mins,
max: aabb.maxs,
}
}

Expand Down
58 changes: 27 additions & 31 deletions src/collision/collider/parry/contact_query.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -72,8 +72,8 @@ pub fn contact(
) -> Result<Option<SingleContact>, UnsupportedShape> {
let rotation1: Rotation = rotation1.into();
let rotation2: Rotation = rotation2.into();
let isometry1 = make_isometry(position1.into(), rotation1);
let isometry2 = make_isometry(position2.into(), rotation2);
let isometry1 = make_pose(position1, rotation1);
let isometry2 = make_pose(position2, rotation2);

parry::query::contact(
&isometry1,
Expand All @@ -85,10 +85,10 @@ pub fn contact(
.map(|contact| {
if let Some(contact) = contact {
// Transform contact data into local space
let point1: Vector = rotation1.inverse() * Vector::from(contact.point1);
let point2: Vector = rotation2.inverse() * Vector::from(contact.point2);
let normal1: Vector = (rotation1.inverse() * Vector::from(contact.normal1)).normalize();
let normal2: Vector = (rotation2.inverse() * Vector::from(contact.normal2)).normalize();
let point1: Vector = rotation1.inverse() * contact.point1;
let point2: Vector = rotation2.inverse() * contact.point2;
let normal1: Vector = (rotation1.inverse() * contact.normal1).normalize();
let normal2: Vector = (rotation2.inverse() * contact.normal2).normalize();

// Make sure the normals are valid
if !normal1.is_normalized() || !normal2.is_normalized() {
Expand Down Expand Up @@ -167,8 +167,8 @@ pub fn contact_manifolds(
let position2: Position = position2.into();
let rotation1: Rotation = rotation1.into();
let rotation2: Rotation = rotation2.into();
let isometry1 = make_isometry(position1, rotation1);
let isometry2 = make_isometry(position2, rotation2);
let isometry1 = make_pose(position1, rotation1);
let isometry2 = make_pose(position2, rotation2);
let isometry12 = isometry1.inv_mul(&isometry2);

// TODO: Reuse manifolds from previous frame to improve performance
Expand Down Expand Up @@ -199,14 +199,14 @@ pub fn contact_manifolds(
prediction_distance,
)
{
let normal = rotation1 * Vector::from(contact.normal1);
let normal = rotation1 * contact.normal1;

// Make sure the normal is valid
if !normal.is_normalized() {
return;
}

let local_point1: Vector = contact.point1.into();
let local_point1: Vector = contact.point1;

// The contact point is the midpoint of the two points in world space.
// The anchors are relative to the positions of the colliders.
Expand All @@ -231,11 +231,7 @@ pub fn contact_manifolds(
}

let subpos1 = manifold.subshape_pos1.unwrap_or_default();
let local_normal: Vector = subpos1
.rotation
.transform_vector(&manifold.local_n1)
.normalize()
.into();
let local_normal: Vector = (subpos1.rotation * manifold.local_n1).normalize();
let normal = rotation1 * local_normal;

// Make sure the normal is valid
Expand All @@ -246,7 +242,7 @@ pub fn contact_manifolds(
let points = manifold.contacts().iter().map(|contact| {
// The contact point is the midpoint of the two points in world space.
// The anchors are relative to the positions of the colliders.
let point1 = rotation1 * Vector::from(subpos1.transform_point(&contact.local_p1));
let point1 = rotation1 * subpos1.transform_point(contact.local_p1);
let anchor1 = point1 + normal * contact.dist * 0.5;
let anchor2 = anchor1 + (position1.0 - position2.0);
let world_point = position1.0 + anchor1;
Expand Down Expand Up @@ -355,8 +351,8 @@ pub fn closest_points(
) -> Result<ClosestPoints, UnsupportedShape> {
let rotation1: Rotation = rotation1.into();
let rotation2: Rotation = rotation2.into();
let isometry1 = make_isometry(position1.into(), rotation1);
let isometry2 = make_isometry(position2.into(), rotation2);
let isometry1 = make_pose(position1, rotation1);
let isometry2 = make_pose(position2, rotation2);

parry::query::closest_points(
&isometry1,
Expand All @@ -368,7 +364,7 @@ pub fn closest_points(
.map(|closest_points| match closest_points {
parry::query::ClosestPoints::Intersecting => ClosestPoints::Intersecting,
parry::query::ClosestPoints::WithinMargin(point1, point2) => {
ClosestPoints::WithinMargin(point1.into(), point2.into())
ClosestPoints::WithinMargin(point1, point2)
}
parry::query::ClosestPoints::Disjoint => ClosestPoints::OutsideMargin,
})
Expand Down Expand Up @@ -432,8 +428,8 @@ pub fn distance(
) -> Result<Scalar, UnsupportedShape> {
let rotation1: Rotation = rotation1.into();
let rotation2: Rotation = rotation2.into();
let isometry1 = make_isometry(position1.into(), rotation1);
let isometry2 = make_isometry(position2.into(), rotation2);
let isometry1 = make_pose(position1, rotation1);
let isometry2 = make_pose(position2, rotation2);

parry::query::distance(
&isometry1,
Expand Down Expand Up @@ -500,8 +496,8 @@ pub fn intersection_test(
) -> Result<bool, UnsupportedShape> {
let rotation1: Rotation = rotation1.into();
let rotation2: Rotation = rotation2.into();
let isometry1 = make_isometry(position1.into(), rotation1);
let isometry2 = make_isometry(position2.into(), rotation2);
let isometry1 = make_pose(position1, rotation1);
let isometry2 = make_pose(position2, rotation2);

parry::query::intersection_test(
&isometry1,
Expand Down Expand Up @@ -588,15 +584,15 @@ pub fn time_of_impact(
let velocity1: LinearVelocity = velocity1.into();
let velocity2: LinearVelocity = velocity2.into();

let isometry1 = make_isometry(position1.into(), rotation1);
let isometry2 = make_isometry(position2.into(), rotation2);
let isometry1 = make_pose(position1, rotation1);
let isometry2 = make_pose(position2, rotation2);

parry::query::cast_shapes(
&isometry1,
&velocity1.0.into(),
velocity1.0,
collider1.shape_scaled().0.as_ref(),
&isometry2,
&velocity2.0.into(),
velocity2.0,
collider2.shape_scaled().0.as_ref(),
ShapeCastOptions {
max_time_of_impact,
Expand All @@ -607,10 +603,10 @@ pub fn time_of_impact(
.map(|toi| {
toi.map(|toi| TimeOfImpact {
time_of_impact: toi.time_of_impact,
point1: toi.witness1.into(),
point2: toi.witness2.into(),
normal1: toi.normal1.into(),
normal2: toi.normal2.into(),
point1: toi.witness1,
point2: toi.witness2,
normal1: toi.normal1,
normal2: toi.normal2,
status: toi.status,
})
})
Expand Down
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