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Update dependencies #153

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bd435ca
update dependencies
prnthp-meta Jul 3, 2025
64177e2
use proper semantic versioning
prnthp-meta Jul 3, 2025
f06b504
cargo fmt
prnthp-meta Jul 3, 2025
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3 changes: 3 additions & 0 deletions .gitignore
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Original file line number Diff line number Diff line change
Expand Up @@ -11,3 +11,6 @@ Cargo.lock

# for emacs
*~

# JetBrains
.idea
4 changes: 2 additions & 2 deletions Cargo.toml
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Expand Up @@ -19,8 +19,8 @@ serde = ["nalgebra/serde-serialize", "dep:serde"]

# Note: nalgebra, simba, urdf-rs, and serde are public dependencies.
[dependencies]
nalgebra = "0.30"
simba = "0.7"
nalgebra = "0.33"
simba = "0.9"
thiserror = "2.0"
tracing = "0.1"
urdf-rs = "0.9"
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2 changes: 1 addition & 1 deletion benches/fk.rs
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Expand Up @@ -99,7 +99,7 @@ where
.iter()
.map(|range| match range {
Some(range) => {
(range.max.clone() - range.min.clone()) * na::convert(rand::random())
(range.max.clone() - range.min.clone()) * na::convert(rand::random::<f32>())
+ range.min.clone()
}
None => na::convert::<f64, T>(rand::random::<f64>() - 0.5) * na::convert(2.0 * PI),
Expand Down
34 changes: 26 additions & 8 deletions examples/interactive_ik.rs
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Expand Up @@ -26,7 +26,7 @@ fn main() {
use kiss3d::light::Light;
use kiss3d::scene::SceneNode;
use kiss3d::window::Window;
use na::{Isometry3, Point3, Translation3, UnitQuaternion, Vector3};
use na::{Isometry3, Translation3, UnitQuaternion, Vector3};

#[derive(Debug, Parser)]
struct Opt {
Expand Down Expand Up @@ -114,9 +114,9 @@ fn main() {
}
let x_ind = j as f32 - 2.5;
let y_ind = i as f32 - 2.5;
let trans = Isometry3::from_parts(
Translation3::new(size * x_ind, 0.0, size * y_ind),
UnitQuaternion::from_euler_angles(0.0, -1.57, -1.57),
let trans = kiss3d::nalgebra::Isometry3::from_parts(
kiss3d::nalgebra::Translation3::new(size * x_ind, 0.0, size * y_ind),
kiss3d::nalgebra::UnitQuaternion::from_euler_angles(0.0, -1.57, -1.57),
);
c0.set_local_transformation(trans);
panels.push(c0);
Expand Down Expand Up @@ -145,6 +145,24 @@ fn main() {
vec![c_fixed, c0, c1, c2, c3, c4, c5, c6]
}

fn to_kiss3d_transform(
transform: &nalgebra::Isometry3<f32>,
) -> kiss3d::nalgebra::Isometry3<f32> {
let target_translation = kiss3d::nalgebra::Translation3::new(
transform.translation.x,
transform.translation.y,
transform.translation.z,
);
let target_rotation = kiss3d::nalgebra::Quaternion::new(
transform.rotation.w,
transform.rotation.i,
transform.rotation.j,
transform.rotation.k,
);
let target_rotation = kiss3d::nalgebra::UnitQuaternion::from_quaternion(target_rotation);
kiss3d::nalgebra::Isometry3::from_parts(target_translation, target_rotation)
}

let opt = Opt::parse();
let root = create_joint_with_link_array();
let arm = k::SerialChain::new_unchecked(k::Chain::from_root(root));
Expand All @@ -170,8 +188,8 @@ fn main() {
let mut target = end.world_transform().unwrap();
let mut c_t = window.add_sphere(0.05);
c_t.set_color(1.0, 0.2, 0.2);
let eye = Point3::new(0.5f32, 1.0, 2.0);
let at = Point3::new(0.0f32, 0.0, 0.0);
let eye = kiss3d::nalgebra::Point3::new(0.5f32, 1.0, 2.0);
let at = kiss3d::nalgebra::Point3::new(0.0f32, 0.0, 0.0);
let mut arc_ball = ArcBall::new(eye, at);
let mut solver = JacobianIkSolver::default();
//solver.set_nullspace_function(Box::new(|vec| vec.iter().map(|x| -x).collect()));
Expand Down Expand Up @@ -216,9 +234,9 @@ fn main() {
.unwrap_or_else(|err| {
println!("Err: {err}");
});
c_t.set_local_transformation(target);
c_t.set_local_transformation(to_kiss3d_transform(&target));
for (i, trans) in arm.update_transforms().iter().enumerate() {
cubes[i].set_local_transformation(*trans);
cubes[i].set_local_transformation(to_kiss3d_transform(trans));
}
}
}
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34 changes: 26 additions & 8 deletions examples/interactive_ik_scara.rs
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Expand Up @@ -25,7 +25,7 @@ fn main() {
use kiss3d::light::Light;
use kiss3d::scene::SceneNode;
use kiss3d::window::Window;
use na::{Isometry3, Point3, Translation3, UnitQuaternion, Vector3};
use na::{Isometry3, Translation3, UnitQuaternion, Vector3};

fn create_joint_with_link_array() -> k::Node<f32> {
let fixed: k::Node<f32> = NodeBuilder::new()
Expand Down Expand Up @@ -83,9 +83,9 @@ fn main() {
}
let x_ind = j as f32 - 2.5;
let y_ind = i as f32 - 2.5;
let trans = Isometry3::from_parts(
Translation3::new(size * x_ind, 0.0, size * y_ind),
UnitQuaternion::from_euler_angles(0.0, -1.57, -1.57),
let trans = kiss3d::nalgebra::Isometry3::from_parts(
kiss3d::nalgebra::Translation3::new(size * x_ind, 0.0, size * y_ind),
kiss3d::nalgebra::UnitQuaternion::from_euler_angles(0.0, -1.57, -1.57),
);
c0.set_local_transformation(trans);
panels.push(c0);
Expand All @@ -108,6 +108,24 @@ fn main() {
vec![c_fixed, c0, c1, c2, c3]
}

fn to_kiss3d_transform(
transform: &nalgebra::Isometry3<f32>,
) -> kiss3d::nalgebra::Isometry3<f32> {
let target_translation = kiss3d::nalgebra::Translation3::new(
transform.translation.x,
transform.translation.y,
transform.translation.z,
);
let target_rotation = kiss3d::nalgebra::Quaternion::new(
transform.rotation.w,
transform.rotation.i,
transform.rotation.j,
transform.rotation.k,
);
let target_rotation = kiss3d::nalgebra::UnitQuaternion::from_quaternion(target_rotation);
kiss3d::nalgebra::Isometry3::from_parts(target_translation, target_rotation)
}

let root = create_joint_with_link_array();
let arm = k::SerialChain::new_unchecked(k::Chain::from_root(root));

Expand All @@ -132,8 +150,8 @@ fn main() {
let mut target = end.world_transform().unwrap();
let mut c_t = window.add_sphere(0.05);
c_t.set_color(1.0, 0.2, 0.2);
let eye = Point3::new(0.5f32, 1.0, 2.0);
let at = Point3::new(0.0f32, 0.0, 0.0);
let eye = kiss3d::nalgebra::Point3::new(0.5f32, 1.0, 2.0);
let at = kiss3d::nalgebra::Point3::new(0.0f32, 0.0, 0.0);
let mut arc_ball = ArcBall::new(eye, at);

let solver = JacobianIkSolver::default();
Expand Down Expand Up @@ -192,9 +210,9 @@ fn main() {
println!("Err: {err}");
});
}
c_t.set_local_transformation(target);
c_t.set_local_transformation(to_kiss3d_transform(&target));
for (i, trans) in arm.update_transforms().iter().enumerate() {
cubes[i].set_local_transformation(*trans);
cubes[i].set_local_transformation(to_kiss3d_transform(trans));
}
}
}
Expand Down
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