Update to Rapier 0.32, migrate to glam

CHANGELOG.md

@@ -1,4 +1,5 @@
 # Unreleased
+- Update to Rapier 0.32. This migrates most public APIs and internals to use `glam` instead of `nalgebra`.
 - Fix a GPU validation error / panic on simulations with more than ~4.19M particles, caused by
   compute kernels dispatching more than 65535 workgroups along a single dimension. The affected 
   kernels now clamp the dispatch and grid-stride over the particles.

Cargo.toml

@@ -4,11 +4,16 @@ members = [
     "crates/slosh_testbed3d",
     "crates/slosh2d",
     "crates/slosh3d",
-#    "validation_tests",
+    # "validation_tests",
 ]
 resolver = "2"
 
 [workspace.dependencies]
+glam = { version = "0.30", default-features = false, features = [
+    "std",
+    "encase",
+    "bytemuck",
+] }
 nalgebra = { version = "0.34", features = ["convert-bytemuck"] }
 wgpu = { version = "27", features = ["naga-ir"] }
 encase = "0.12"

crates/slosh2d/Cargo.toml

@@ -19,12 +19,12 @@ required-features = ["dim2"]
 default = ["dim2"]
 dim2 = []
 
-comptime = [ "slosh_testbed2d/comptime", "stensor/comptime" ]
-runtime = [ "slosh_testbed2d/runtime", "stensor/runtime" ]
-webgpu = [ "slosh_testbed2d/webgpu", "stensor/webgpu" ]
+comptime = ["slosh_testbed2d/comptime", "stensor/comptime"]
+runtime = ["slosh_testbed2d/runtime", "stensor/runtime"]
+webgpu = ["slosh_testbed2d/webgpu", "stensor/webgpu"]
 
 [dependencies]
-nalgebra = { workspace = true }
+glam = { workspace = true }
 wgpu = { workspace = true }
 encase = { workspace = true }
 slang-hal = { workspace = true }
@@ -37,20 +37,21 @@ static_assertions = { workspace = true }
 bvh = "0.12.0"
 
 # TODO: make rapier optional?
-rapier2d = "0.31"
+rapier2d = "0.32"
 
 # For wasm?
 getrandom = { version = "0.3.1", features = ["wasm_js"] }
 uuid = { version = "1", features = ["js"] }
 
 
 [dev-dependencies]
-nalgebra = { version = "0.34", features = ["rand"] }
 futures-test = "0.3"
 serial_test = "3"
 approx = "0.5"
 async-std = { version = "1", features = ["attributes"] }
-slosh_testbed2d = { path = "../slosh_testbed2d", features = ["dim2"], default-features = false }
+slosh_testbed2d = { path = "../slosh_testbed2d", features = [
+    "dim2",
+], default-features = false }
 kiss3d = { version = "0.37.0" }
 
 [build-dependencies]

crates/slosh2d/examples/centilever_beam2.rs

@@ -1,6 +1,6 @@
 use slosh_testbed2d::{RapierData, slosh};
 
-use nalgebra::{point, vector};
+use glam::vec2;
 use rapier2d::prelude::{ColliderBuilder, RigidBodyBuilder};
 use slang_hal::backend::WebGpu;
 use slosh::{
@@ -33,7 +33,7 @@ pub fn beam_demo(backend: &WebGpu, app_state: &mut AppState) -> PhysicsContext {
     let mut particles = vec![];
     for i in 0..ni {
         for j in 0..nj {
-            let position = point![i as f32, j as f32] * diameter;
+            let position = vec2(i as f32, j as f32) * diameter;
             let density = 1000.0;
             let radius = diameter / 2.0;
             let model = ParticleModel::elastic_neo_hookean(young_modulus, poisson_ratio);
@@ -48,13 +48,13 @@ pub fn beam_demo(backend: &WebGpu, app_state: &mut AppState) -> PhysicsContext {
     };
 
     let params = SimulationParams {
-        gravity: vector![0.0, -9.81] * app_state.gravity_factor,
+        gravity: vec2(0.0, -9.81) * app_state.gravity_factor,
         dt: 1.0 / 60.0,
         padding: 0.0,
     };
 
     let rb = RigidBodyBuilder::fixed()
-        .translation(vector![0.0, height / 2.0])
+        .translation(vec2(0.0, height / 2.0))
         .build();
     let rb_handle = rapier_data.bodies.insert(rb);
     let co = ColliderBuilder::cuboid(fixed_part, height);

crates/slosh2d/examples/elastic_cut2.rs

@@ -1,6 +1,6 @@
 use slosh_testbed2d::{RapierData, slosh};
 
-use nalgebra::{Vector2, point, vector};
+use glam::vec2;
 use rapier2d::prelude::{ColliderBuilder, RigidBodyBuilder};
 use slang_hal::backend::WebGpu;
 use slosh::{
@@ -25,7 +25,7 @@ pub fn elastic_cut_demo(backend: &WebGpu, app_state: &mut AppState) -> PhysicsCo
     for i in 0..700 {
         for j in 0..700 {
             let position =
-                point![i as f32 + 0.5, j as f32 + 0.5] * cell_width / 2.0 + Vector2::y() * offset_y;
+                vec2(i as f32 + 0.5, j as f32 + 0.5) * cell_width / 2.0 + vec2(0.0, offset_y);
 
             let density = 1000.0;
             let radius = cell_width / 4.0;
@@ -40,7 +40,7 @@ pub fn elastic_cut_demo(backend: &WebGpu, app_state: &mut AppState) -> PhysicsCo
     };
 
     let params = SimulationParams {
-        gravity: vector![0.0, -9.81] * app_state.gravity_factor,
+        gravity: vec2(0.0, -9.81) * app_state.gravity_factor,
         dt: 1.0 / 60.0,
         padding: 0.0,
     };
@@ -50,7 +50,7 @@ pub fn elastic_cut_demo(backend: &WebGpu, app_state: &mut AppState) -> PhysicsCo
     /*
      * Static platforms.
      */
-    let rb = RigidBodyBuilder::fixed().translation(vector![35.0, 20.0]);
+    let rb = RigidBodyBuilder::fixed().translation(vec2(35.0, 20.0));
     let rb_handle = rapier_data.bodies.insert(rb);
     let co = ColliderBuilder::cuboid(70.0, 1.0);
     rapier_data
@@ -60,12 +60,12 @@ pub fn elastic_cut_demo(backend: &WebGpu, app_state: &mut AppState) -> PhysicsCo
     let mut polyline = vec![];
     let subdivs = 100;
     let length = 84.0;
-    let start = point![35.0, 70.0] - vector![length / 2.0, 0.0];
+    let start = vec2(35.0 - length / 2.0, 70.0);
 
     for i in 0..=subdivs {
         let step = length / (subdivs as f32);
         let dx = i as f32 * step;
-        polyline.push(start + vector![dx, dx.sin()])
+        polyline.push(start + vec2(dx, dx.sin()))
     }
 
     let rb = RigidBodyBuilder::fixed();
@@ -80,8 +80,8 @@ pub fn elastic_cut_demo(backend: &WebGpu, app_state: &mut AppState) -> PhysicsCo
         let rb_handle = rapier_data.bodies.insert(rb);
         let co = ColliderBuilder::polyline(
             vec![
-                point![0.0 + k as f32 * 15.0, 20.0],
-                point![-10.0 + k as f32 * 15.0, 45.0],
+                vec2(0.0 + k as f32 * 15.0, 20.0),
+                vec2(-10.0 + k as f32 * 15.0, 45.0),
             ],
             None,
         )

crates/slosh2d/examples/elasticity2.rs

@@ -1,6 +1,6 @@
 use slosh_testbed2d::{RapierData, slosh};
 
-use nalgebra::{Vector2, point, vector};
+use glam::vec2;
 use rapier2d::prelude::{ColliderBuilder, RigidBodyBuilder};
 use slang_hal::backend::WebGpu;
 use slosh::{
@@ -25,8 +25,8 @@ pub fn elasticity_demo(backend: &WebGpu, app_state: &mut AppState) -> PhysicsCon
     for i in 0..700 {
         for j in 0..700 {
             let position =
-                point![i as f32 + 0.5 + (i / 50) as f32 * 2.0, j as f32 + 0.5] * cell_width / 2.0
-                    + Vector2::y() * offset_y;
+                vec2(i as f32 + 0.5 + (i / 50) as f32 * 2.0, j as f32 + 0.5) * cell_width / 2.0
+                    + vec2(0.0, offset_y);
             let density = 1000.0;
             let radius = cell_width / 4.0;
             let model = ParticleModel::elastic(5.0e6, 0.2);
@@ -40,20 +40,20 @@ pub fn elasticity_demo(backend: &WebGpu, app_state: &mut AppState) -> PhysicsCon
     };
 
     let params = SimulationParams {
-        gravity: vector![0.0, -9.81] * app_state.gravity_factor,
+        gravity: vec2(0.0, -9.81) * app_state.gravity_factor,
         dt: 1.0 / 60.0,
         padding: 0.0,
     };
 
-    let rb = RigidBodyBuilder::fixed().translation(vector![0.0, -1.0]);
+    let rb = RigidBodyBuilder::fixed().translation(vec2(0.0, -1.0));
     let rb_handle = rapier_data.bodies.insert(rb);
     let co = ColliderBuilder::cuboid(1000.0, 1.0);
     rapier_data
         .colliders
         .insert_with_parent(co, rb_handle, &mut rapier_data.bodies);
 
     let rb = RigidBodyBuilder::fixed()
-        .translation(vector![-20.0, 0.0])
+        .translation(vec2(-20.0, 0.0))
         .rotation(0.5);
     let rb_handle = rapier_data.bodies.insert(rb);
     let co = ColliderBuilder::cuboid(1.0, 60.0);
@@ -62,7 +62,7 @@ pub fn elasticity_demo(backend: &WebGpu, app_state: &mut AppState) -> PhysicsCon
         .insert_with_parent(co, rb_handle, &mut rapier_data.bodies);
 
     let rb = RigidBodyBuilder::fixed()
-        .translation(vector![90.0, 0.0])
+        .translation(vec2(90.0, 0.0))
         .rotation(-0.5);
     let rb_handle = rapier_data.bodies.insert(rb);
     let co = ColliderBuilder::cuboid(1.0, 60.0);

crates/slosh2d/examples/sand2.rs

@@ -1,6 +1,6 @@
 use slosh_testbed2d::{RapierData, slosh};
 
-use nalgebra::{Vector2, point, vector};
+use glam::vec2;
 use rapier2d::prelude::{ColliderBuilder, RigidBodyBuilder};
 use slang_hal::backend::WebGpu;
 use slosh::{
@@ -25,7 +25,7 @@ pub fn sand_demo(backend: &WebGpu, app_state: &mut AppState) -> PhysicsContext {
     for i in 0..700 {
         for j in 0..700 {
             let position =
-                point![i as f32 + 0.5, j as f32 + 0.5] * cell_width / 2.0 + Vector2::y() * offset_y;
+                vec2(i as f32 + 0.5, j as f32 + 0.5) * cell_width / 2.0 + vec2(0.0, offset_y);
             let density = 1000.0;
             let radius = cell_width / 4.0;
             let young_modulus = 1.0e7;
@@ -43,7 +43,7 @@ pub fn sand_demo(backend: &WebGpu, app_state: &mut AppState) -> PhysicsContext {
     };
 
     let params = SimulationParams {
-        gravity: vector![0.0, -9.81] * app_state.gravity_factor,
+        gravity: vec2(0.0, -9.81) * app_state.gravity_factor,
         dt: 1.0 / 60.0,
         padding: 0.0,
     };
@@ -53,15 +53,15 @@ pub fn sand_demo(backend: &WebGpu, app_state: &mut AppState) -> PhysicsContext {
     /*
      * Static platforms.
      */
-    let rb = RigidBodyBuilder::fixed().translation(vector![35.0, -1.0]);
+    let rb = RigidBodyBuilder::fixed().translation(vec2(35.0, -1.0));
     let rb_handle = rapier_data.bodies.insert(rb);
     let co = ColliderBuilder::cuboid(42.0, 1.0);
     rapier_data
         .colliders
         .insert_with_parent(co, rb_handle, &mut rapier_data.bodies);
 
     let rb = RigidBodyBuilder::fixed()
-        .translation(vector![-25.0, 45.0])
+        .translation(vec2(-25.0, 45.0))
         .rotation(0.5);
     let rb_handle = rapier_data.bodies.insert(rb);
     let co = ColliderBuilder::cuboid(1.0, 52.0);
@@ -70,7 +70,7 @@ pub fn sand_demo(backend: &WebGpu, app_state: &mut AppState) -> PhysicsContext {
         .insert_with_parent(co, rb_handle, &mut rapier_data.bodies);
 
     let rb = RigidBodyBuilder::fixed()
-        .translation(vector![95.0, 45.0])
+        .translation(vec2(95.0, 45.0))
         .rotation(-0.5);
     let rb_handle = rapier_data.bodies.insert(rb);
     let co = ColliderBuilder::cuboid(1.0, 52.0);
@@ -82,7 +82,7 @@ pub fn sand_demo(backend: &WebGpu, app_state: &mut AppState) -> PhysicsContext {
      * Rotating platforms.
      */
     let rb = RigidBodyBuilder::kinematic_velocity_based()
-        .translation(vector![5.0, 35.0])
+        .translation(vec2(5.0, 35.0))
         .angvel(ANGVEL);
     let rb_handle = rapier_data.bodies.insert(rb);
     let co = ColliderBuilder::cuboid(1.0, 10.0);
@@ -91,7 +91,7 @@ pub fn sand_demo(backend: &WebGpu, app_state: &mut AppState) -> PhysicsContext {
         .insert_with_parent(co, rb_handle, &mut rapier_data.bodies);
 
     let rb = RigidBodyBuilder::kinematic_velocity_based()
-        .translation(vector![35.0, 35.0])
+        .translation(vec2(35.0, 35.0))
         .angvel(-ANGVEL);
     let rb_handle = rapier_data.bodies.insert(rb);
     let co = ColliderBuilder::cuboid(10.0, 1.0);
@@ -100,7 +100,7 @@ pub fn sand_demo(backend: &WebGpu, app_state: &mut AppState) -> PhysicsContext {
         .insert_with_parent(co, rb_handle, &mut rapier_data.bodies);
 
     let rb = RigidBodyBuilder::kinematic_velocity_based()
-        .translation(vector![65.0, 35.0])
+        .translation(vec2(65.0, 35.0))
         .angvel(ANGVEL);
     let rb_handle = rapier_data.bodies.insert(rb);
     let co = ColliderBuilder::cuboid(1.0, 10.0);
@@ -109,7 +109,7 @@ pub fn sand_demo(backend: &WebGpu, app_state: &mut AppState) -> PhysicsContext {
         .insert_with_parent(co, rb_handle, &mut rapier_data.bodies);
 
     let rb = RigidBodyBuilder::kinematic_velocity_based()
-        .translation(vector![20.0, 20.0])
+        .translation(vec2(20.0, 20.0))
         .angvel(-ANGVEL);
     let rb_handle = rapier_data.bodies.insert(rb);
     let co = ColliderBuilder::ball(5.0);
@@ -118,7 +118,7 @@ pub fn sand_demo(backend: &WebGpu, app_state: &mut AppState) -> PhysicsContext {
         .insert_with_parent(co, rb_handle, &mut rapier_data.bodies);
 
     let rb = RigidBodyBuilder::kinematic_velocity_based()
-        .translation(vector![50.0, 20.0])
+        .translation(vec2(50.0, 20.0))
         .angvel(-ANGVEL);
     let rb_handle = rapier_data.bodies.insert(rb);
     let co = ColliderBuilder::capsule_y(5.0, 3.0);

crates/slosh3d/Cargo.toml

@@ -19,12 +19,12 @@ required-features = ["dim3"]
 default = ["dim3"]
 dim3 = []
 
-comptime = [ "stensor/comptime", "slosh_testbed3d/comptime" ]
-runtime = [ "stensor/runtime", "slosh_testbed3d/runtime" ]
-webgpu = [ "stensor/webgpu", "slosh_testbed3d/webgpu" ]
+comptime = ["stensor/comptime", "slosh_testbed3d/comptime"]
+runtime = ["stensor/runtime", "slosh_testbed3d/runtime"]
+webgpu = ["stensor/webgpu", "slosh_testbed3d/webgpu"]
 
 [dependencies]
-nalgebra = { workspace = true }
+glam = { workspace = true }
 wgpu = { workspace = true }
 encase = { workspace = true }
 bytemuck = { workspace = true }
@@ -37,10 +37,9 @@ bvh = "0.12.0"
 serde = "1"
 
 # TODO: make rapier optional?
-rapier3d = "0.31"
+rapier3d = "0.32"
 
 [dev-dependencies]
-nalgebra = { version = "0.34", features = ["rand"] }
 futures-test = "0.3"
 serial_test = "3"
 approx = "0.5"

crates/slosh3d/examples/centilever_beam3.rs

@@ -1,6 +1,6 @@
 use slosh_testbed3d::{PhysicsState, RapierData, slosh};
 
-use nalgebra::{point, vector};
+use glam::vec3;
 use rapier3d::prelude::{ColliderBuilder, RigidBodyBuilder};
 use slang_hal::backend::WebGpu;
 use slosh::{
@@ -34,7 +34,7 @@ pub fn beam_demo(backend: &WebGpu, app_state: &mut AppState) -> PhysicsContext {
     for i in 0..ni {
         for j in 0..njk {
             for k in 0..njk {
-                let position = point![i as f32, j as f32, k as f32] * diameter;
+                let position = vec3(i as f32, j as f32, k as f32) * diameter;
                 let density = 1000.0;
                 let radius = diameter / 2.0;
                 let model = ParticleModel::elastic_neo_hookean(young_modulus, poisson_ratio);
@@ -52,12 +52,12 @@ pub fn beam_demo(backend: &WebGpu, app_state: &mut AppState) -> PhysicsContext {
     };
 
     let params = SimulationParams {
-        gravity: vector![0.0, -9.81, 0.0] * app_state.gravity_factor,
+        gravity: vec3(0.0, -9.81, 0.0) * app_state.gravity_factor,
         dt: 1.0 / 60.0,
     };
 
     let rb = RigidBodyBuilder::fixed()
-        .translation(vector![0.0, height / 2.0, height / 2.0])
+        .translation(vec3(0.0, height / 2.0, height / 2.0))
         .build();
     let rb_handle = rapier_data.bodies.insert(rb);
     let co = ColliderBuilder::cuboid(fixed_part, height, height);