feat: simplify the python bindings to only include the 3d-f32 variant

.github/workflows/python-bindings.yml

@@ -9,9 +9,9 @@ on:
 env:
   CARGO_TERM_COLOR: always
 
-# The four engine packages live under python/rapier-py-{2,3}d{,-f64}; the
-# pure-Python testbed under python/rapier-testbed; the shared parity test
-# suite under python/tests (imports all four engine packages at once).
+# The engine package lives under python/rapier-py-3d (rapier3d, f32); the
+# pure-Python testbed under python/rapier-testbed; the test suite under
+# python/tests.
 jobs:
   lint-rust:
     runs-on: ubuntu-latest
@@ -32,9 +32,7 @@ jobs:
       - name: Cargo clippy (Python bindings)
         run: |
           cargo clippy --no-deps \
-            -p rapier-py-core \
-            -p rapier-py-2d -p rapier-py-2d-f64 \
-            -p rapier-py-3d -p rapier-py-3d-f64 \
+            -p rapier-py-3d \
             -- -D warnings
 
   test:
@@ -64,18 +62,15 @@ jobs:
         run: |
           python -m pip install --upgrade pip
           python -m pip install maturin pytest pytest-timeout hypothesis numpy matplotlib
-      # Build + install all four engine packages into the runner's environment
-      # so the cross-flavor parity suite can import every variant.
-      - name: Build & install engine packages
+      # Build + install the rapier3d (f32) engine package into the runner's
+      # environment so the test suite can import it.
+      - name: Build & install engine package
         shell: bash
-        run: |
-          for crate in rapier-py-2d rapier-py-2d-f64 rapier-py-3d rapier-py-3d-f64; do
-            python -m pip install --no-build-isolation "./python/$crate"
-          done
-      - name: Install testbed (no deps; engine packages already present)
+        run: python -m pip install --no-build-isolation ./python/rapier-py-3d
+      - name: Install testbed (no deps; engine package already present)
         shell: bash
         run: python -m pip install --no-deps ./python/rapier-testbed
       - name: Smoke (import surface)
-        run: python -m pytest python/tests/test_smoke.py python/tests/test_math.py python/tests/test_math_2d.py -v
-      - name: Full parity test suite
+        run: python -m pytest python/tests/test_smoke.py python/tests/test_math.py -v
+      - name: Full test suite
         run: python -m pytest python/tests/ -q --timeout=120

.github/workflows/python-wheels.yml

@@ -1,13 +1,13 @@
 name: Python wheels
 
-# Build abi3 wheels for the four engine packages across every supported
-# platform and (on a `python-v*` tag) publish them to PyPI via trusted
-# publishing.
+# Build abi3 wheels for the rapier3d (f32) engine package across every
+# supported platform and (on a `python-v*` tag) publish them to PyPI via
+# trusted publishing.
 #
 # abi3-py39 means ONE wheel per (package, platform, arch) covers Python 3.9+,
 # so there is deliberately no Python-version axis.
 #
-# NOTE: no sdist is published. The rapier2d/3d engine crates share their
+# NOTE: no sdist is published. The rapier3d engine crate shares its
 # source via the repo-root `src/` tree (`[lib] path = "../../src/lib.rs"`),
 # which lives outside any vendored crate directory, and maturin's sdist
 # packer cannot reach parent paths (`..` is rejected in `include`). A source
@@ -38,9 +38,6 @@ jobs:
       matrix:
         package:
           - { dir: rapier-py-3d,     name: rapier3d }
-          - { dir: rapier-py-3d-f64, name: rapier3d-f64 }
-          - { dir: rapier-py-2d,     name: rapier2d }
-          - { dir: rapier-py-2d-f64, name: rapier2d-f64 }
         platform:
           - { runner: ubuntu-latest,  target: x86_64-unknown-linux-gnu,  manylinux: auto }
           - { runner: ubuntu-latest,  target: aarch64-unknown-linux-gnu, manylinux: auto }
@@ -77,7 +74,7 @@ jobs:
           path: dist
           pattern: "wheels-*"
           merge-multiple: true
-      - name: Publish all four packages
+      - name: Publish the rapier3d package
         uses: pypa/gh-action-pypi-publish@release/v1
         with:
           packages-dir: dist

Cargo.toml

@@ -15,11 +15,7 @@ members = [
     "crates/rapier3d-meshloader",
     "crates/mjcf-rs",
     "crates/rapier3d-mjcf",
-    "python/rapier-py-core",
-    "python/rapier-py-2d",
-    "python/rapier-py-2d-f64",
     "python/rapier-py-3d",
-    "python/rapier-py-3d-f64",
 ]
 # Bare `cargo build` / `cargo test` / `cargo clippy` only touches the
 # pure-Rust crates. The Python-binding crates need a Python build env

python/README.md

@@ -1,28 +1,23 @@
 # Rapier Python bindings
 
 The Rapier physics engine exposed to Python via [PyO3](https://pyo3.rs/) and
-[maturin](https://www.maturin.rs/). The bindings ship as **four independent
-PyPI packages**, one per `(dimension, scalar)` flavor — they share an
-identical API differing only in dimension and scalar type:
+[maturin](https://www.maturin.rs/). The bindings ship as a single PyPI
+package wrapping the 3D, `f32` engine:
 
 | PyPI dist     | import name    | crate (`python/…`) | dim | scalar |
 | ------------- | -------------- | ------------------ | --- | ------ |
-| `rapier2d`    | `rapier2d`     | `rapier-py-2d`     | 2D  | f32    |
 | `rapier3d`    | `rapier3d`     | `rapier-py-3d`     | 3D  | f32    |
-| `rapier2d-f64`| `rapier2d_f64` | `rapier-py-2d-f64` | 2D  | f64    |
-| `rapier3d-f64`| `rapier3d_f64` | `rapier-py-3d-f64` | 3D  | f64    |
 
-`rapier-py-core` holds the shared PyO3 binding macros (compiled into each
+`rapier-py-core` holds the shared PyO3 binding macros (compiled into the
 package; it is not published on its own). The Panda3D visual testbed lives in
 the separate `rapier-testbed` package.
 
-Full documentation lives in [`docs/`](docs/); the design of this split is
-recorded in [`docs/repackaging/`](docs/repackaging/).
+Full documentation lives in [`docs/`](docs/).
 
-> **Note:** these are not yet published on PyPI. The instructions below build
-> the packages locally from this checkout. There is currently no source
+> **Note:** this is not yet published on PyPI. The instructions below build
+> the package locally from this checkout. There is currently no source
 > distribution (sdist), so building requires the full git repository plus a
-> Rust toolchain — see [`docs/repackaging/05-publishing-pypi.md`](docs/repackaging/05-publishing-pypi.md).
+> Rust toolchain.
 
 ## Prerequisites
 
@@ -39,13 +34,13 @@ pip install maturin
 
 ## Quick start
 
-[`python/dev.sh`](dev.sh) does everything below in one command — builds all four
-packages, runs the test suite, builds the docs, and smoke-tests the testbed. It
+[`python/dev.sh`](dev.sh) does everything below in one command — builds the
+package, runs the test suite, builds the docs, and smoke-tests the testbed. It
 creates and manages a `.venv` at the repo root on first run:
 
 ```bash
 python/dev.sh                 # build + test + docs + testbed (headless smoke)
-python/dev.sh build           # just build the four packages
+python/dev.sh build           # just build the package
 python/dev.sh test            # build + run the test suite
 python/dev.sh docs            # build + build the docs
 python/dev.sh testbed         # build + install testbed, open the picker
@@ -56,39 +51,29 @@ The sections below are the manual equivalents.
 
 ## 1. Build the bindings
 
-Each flavor is its own package. Build the one(s) you want, editable, with
-`maturin develop` (add `--release` for an optimized build — slower to compile,
-much faster at runtime):
+Build the package, editable, with `maturin develop` (add `--release` for an
+optimized build — slower to compile, much faster at runtime):
 
 ```bash
 maturin develop -m python/rapier-py-3d/Cargo.toml      # 3D f32 -> import rapier3d
 ```
 
-Swap `rapier-py-3d` for `rapier-py-2d`, `rapier-py-3d-f64`, or
-`rapier-py-2d-f64` to build the other flavors (see the table above for the
-matching import name).
-
 ```bash
 python -c "import rapier3d; print(rapier3d.__version__)"   # smoke check
 ```
 
 ### Run the test suite
 
-The test suite is cross-flavor (it parametrizes over all four packages), so
-install every flavor first:
-
 ```bash
-for c in rapier-py-2d rapier-py-2d-f64 rapier-py-3d rapier-py-3d-f64; do
-  maturin develop --release -m "python/$c/Cargo.toml"
-done
+maturin develop --release -m python/rapier-py-3d/Cargo.toml
 pip install pytest pytest-timeout hypothesis numpy matplotlib
-python -m pytest python/tests        # ~708 passed
+python -m pytest python/tests
 ```
 
 ## 2. Build and open the docs
 
-The docs use Sphinx autodoc, so the engine packages must be **built first**
-(step 1 — build all four to avoid import warnings). Then:
+The docs use Sphinx autodoc, so the engine package must be **built first**
+(step 1). Then:
 
 ```bash
 pip install sphinx furo sphinx-autodoc-typehints
@@ -100,14 +85,13 @@ open _build/html/index.html          # macOS; Linux: xdg-open; Windows: start
 ## 3. Run the testbed examples
 
 `rapier-testbed` is a [Panda3D](https://www.panda3d.org/) visual gallery of
-~127 examples ported from the Rust `examples2d/` and `examples3d/`. It drives
-both the 2D and 3D engines.
+examples ported from the Rust `examples3d/`. It drives the 3D engine.
 
 ### Install
 
-The testbed depends on `rapier2d` and `rapier3d`. Since those aren't on PyPI
-yet, build them first (step 1 above), then install the testbed with
-`--no-deps` so pip uses your local builds instead of trying to fetch them.
+The testbed depends on `rapier3d`. Since it isn't on PyPI yet, build it first
+(step 1 above), then install the testbed with `--no-deps` so pip uses your
+local build instead of trying to fetch it.
 Run this **from the repository root** (the `./python/...` path is relative to
 it, like the build steps above):
 
@@ -130,10 +114,8 @@ Once installed, these run from **any** directory (they invoke the installed
 # Interactive picker — browse every example by category (opens a window):
 python -m rapier_testbed
 
-# Jump straight into one example. 3D examples live under `examples3`,
-# 2D under `examples2`:
+# Jump straight into one example. 3D examples live under `examples3`:
 python -m rapier_testbed.examples3.domino3
-python -m rapier_testbed.examples2.pyramid2
 
 # Headless — run a fixed number of steps with no window (needs no display;
 # this is what CI uses):
@@ -144,7 +126,7 @@ To walk through **every** example in turn — each opens in a window, and
 closing it launches the next (Ctrl-C to stop):
 
 ```bash
-python python/examples_tour.py          # all (2D then 3D); accepts 2d|3d|--start NAME
+python python/examples_tour.py          # every 3D example; accepts --start NAME
 python/dev.sh tour                      # same, but builds + installs the testbed first
 ```
 
@@ -158,10 +140,10 @@ python/dev.sh tour                      # same, but builds + installs the testbe
 | | | | `W` | toggle wireframe |
 | | | | `Esc` | quit |
 
-The examples span 9 categories: Collisions, Dynamics, Joints, Controls,
-Robotics, Stress Tests, Debug, Misc, and "Inspired by Solver 2D". The picker
-lists them all; each example's module name (for direct launch) matches its
-file under `python/rapier-testbed/rapier_testbed/examples{2,3}/`.
+The examples span categories such as Collisions, Dynamics, Joints, Controls,
+Robotics, Stress Tests, Debug, and Misc. The picker lists them all; each
+example's module name (for direct launch) matches its file under
+`python/rapier-testbed/rapier_testbed/examples3/`.
 
 ## License
 

python/dev.sh

@@ -5,13 +5,13 @@
 #
 # Usage (run from anywhere; paths are resolved relative to the repo):
 #   python/dev.sh                 # all: build + test + docs + testbed (headless smoke)
-#   python/dev.sh build           # build all four engine packages (editable)
+#   python/dev.sh build           # build the rapier3d engine package (editable)
 #   python/dev.sh test            # build, then run the full test suite
 #   python/dev.sh docs            # build, then build the HTML docs
 #   python/dev.sh testbed         # build + install testbed, open the picker
 #   python/dev.sh testbed examples3.domino3   # build + install testbed, run one example
 #   python/dev.sh tour            # build + install testbed, run every example in turn
-#                                 #   (close a window to advance; accepts 2d|3d|--start NAME)
+#                                 #   (close a window to advance; accepts --start NAME)
 #   python/dev.sh clean           # remove build artifacts + the managed venv
 #
 # Environment:
@@ -26,7 +26,7 @@ cd "$REPO_ROOT"
 
 PROFILE="${PROFILE:-release}"
 VENV="${RAPIER_PY_VENV:-$REPO_ROOT/.venv}"
-CRATES=(rapier-py-2d rapier-py-2d-f64 rapier-py-3d rapier-py-3d-f64)
+CRATES=(rapier-py-3d)
 
 log()  { printf '\n\033[1;34m==>\033[0m \033[1m%s\033[0m\n' "$*"; }
 note() { printf '    %s\n' "$*"; }
@@ -65,8 +65,7 @@ build_all() {
         log "Building $c ($PROFILE)"
         maturin_develop "python/$c/Cargo.toml"
     done
-    python -c "import rapier2d, rapier2d_f64, rapier3d, rapier3d_f64 as _; \
-print('built all four flavors, version', rapier3d.__version__)"
+    python -c "import rapier3d as _; print('built rapier3d, version', _.__version__)"
 }
 
 run_tests() {
@@ -86,7 +85,7 @@ install_testbed() {
     pip_install panda3d numpy
     # Editable (-e) so edits to examples / camera / the testbed itself are
     # picked up by `python -m rapier_testbed` without reinstalling. --no-deps
-    # because its rapier2d/rapier3d deps are the local builds from build_all.
+    # because its rapier3d dep is the local build from build_all.
     # Note: --no-deps must precede -e, else pip reads it as the -e target.
     pip_install --no-deps -e "$REPO_ROOT/python/rapier-testbed"
 }
@@ -111,7 +110,7 @@ cmd_testbed() {
 
 cmd_tour() {
     # Launch every example one after another (close a window to advance).
-    # Extra args (2d|3d|--start NAME) pass through to examples_tour.py.
+    # Extra args (--start NAME) pass through to examples_tour.py.
     ensure_venv; build_all; install_testbed
     log "Touring all examples (close each window to advance; Ctrl-C to stop)"
     python "$REPO_ROOT/python/examples_tour.py" "$@"

python/docs/api/errors.rst

@@ -9,10 +9,6 @@ Every exception the bindings raise derives from a single base,
 rapier-specific failure; catch the leaf types when you need to tell them
 apart.
 
-Each ``(dim, scalar)`` package has its **own** error tree — there is no
-cross-flavor base shared between, say, ``rapier3d`` and ``rapier2d``, so
-catch the error type from the package you imported.
-
 Base
 ----
 
@@ -32,10 +28,7 @@ Core errors
 Loader errors
 -------------
 
-Raised by the loaders (see :doc:`loaders`). The error types are exported
-by every package for a uniform error tree, but only the f32-3D
-``rapier3d`` package ships loaders that actually raise them — the 2D and
-f64 packages expose no loader machinery.
+Raised by the loaders (see :doc:`loaders`).
 
 .. autoexception:: MeshConversionError
    :show-inheritance:

python/docs/api/geometry.rst

@@ -38,22 +38,6 @@ Shapes
 .. autoclass:: Cone
 .. autoclass:: ConvexPolyhedron
 
-``Cylinder``, ``Cone``, and ``ConvexPolyhedron`` are 3D-only. The 2D
-packages instead expose the flat shapes below.
-
-2D-only shapes
-~~~~~~~~~~~~~~
-
-The same surface in 2D lives under :mod:`rapier2d`:
-
-.. currentmodule:: rapier2d
-
-.. autoclass:: Segment
-.. autoclass:: Polyline
-.. autoclass:: ConvexPolygon
-
-.. currentmodule:: rapier3d
-
 Bounding volumes
 ----------------
 

python/docs/api/loaders.rst

@@ -1,10 +1,8 @@
 Loaders
 =======
 
-Loaders for external scene formats. All three are **3D-only / f32**:
-the upstream ``rapier3d-urdf``, ``rapier3d-meshloader``, and
-``rapier3d-mjcf`` crates are 3D-only and have no ``-f64`` variant, so
-the loaders are registered solely by the f32-3D ``rapier3d`` cdylib.
+Loaders for external scene formats, backed by the upstream
+``rapier3d-urdf``, ``rapier3d-meshloader``, and ``rapier3d-mjcf`` crates.
 
 URDF
 ----