This is a special edition; if the community needs it, they can add specific features themselves.

.github/workflows/python-bindings.yml

@@ -17,6 +17,8 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v4
+        with:
+          submodules: recursive
       - uses: actions/cache@v4
         with:
           path: |
@@ -44,6 +46,8 @@ jobs:
     runs-on: ${{ matrix.os }}
     steps:
       - uses: actions/checkout@v4
+        with:
+          submodules: recursive
       - name: Set up Python 3.11
         uses: actions/setup-python@v5
         with:

.github/workflows/python-wheels.yml

@@ -47,6 +47,8 @@ jobs:
           - { runner: windows-latest, target: x86_64-pc-windows-msvc }
     steps:
       - uses: actions/checkout@v4
+        with:
+          submodules: recursive
       - name: Build wheel
         uses: PyO3/maturin-action@v1
         with:

.github/workflows/rapier-ci-build.yml

@@ -22,6 +22,8 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v4
+        with:
+          submodules: recursive
       - name: Check formatting
         run: cargo fmt -- --check
   doc:
@@ -30,6 +32,8 @@ jobs:
       RUSTDOCFLAGS: -D warnings
     steps:
       - uses: actions/checkout@v4
+        with:
+          submodules: recursive
       - uses: Swatinem/rust-cache@v2
       - name: Cargo doc
         run: cargo doc --features parallel,serde-serialize,debug-render -p rapier3d -p rapier2d -p rapier3d-meshloader -p rapier3d-urdf && cargo doc -p mjcf-rs --features msh && cargo doc -p rapier3d-mjcf --features stl,wavefront,msh
@@ -42,6 +46,8 @@ jobs:
       RUSTFLAGS: -D warnings
     steps:
       - uses: actions/checkout@v4
+        with:
+          submodules: recursive
       - uses: Swatinem/rust-cache@v2
       - run: sudo apt-get install -y cmake libxcb-composite0-dev
       # WORKAROUND: zune-core 0.5.2 made its `warn!` macro expand to nothing, which breaks
@@ -77,6 +83,8 @@ jobs:
       RUSTFLAGS: -D warnings
     steps:
       - uses: actions/checkout@v4
+        with:
+          submodules: recursive
       - uses: Swatinem/rust-cache@v2
       - name: Build rapier2d
         run: cargo build -p rapier2d;
@@ -103,6 +111,8 @@ jobs:
       RUSTFLAGS: -D warnings
     steps:
       - uses: actions/checkout@v4
+        with:
+          submodules: recursive
       - uses: Swatinem/rust-cache@v2
       - name: Test determinism (SIMD backend)
         run: cargo test -p rapier3d --release --features enhanced-determinism --test simd_backend_determinism
@@ -131,6 +141,8 @@ jobs:
       RUSTFLAGS: -D warnings
     steps:
       - uses: actions/checkout@v4
+        with:
+          submodules: recursive
       - uses: Swatinem/rust-cache@v2
       - name: Test snapshot portability (3D, aarch64)
         run: cargo test -p rapier3d --release --features enhanced-determinism,serde-serialize --test snapshot_portability
@@ -147,6 +159,8 @@ jobs:
       RUSTFLAGS: -D warnings
     steps:
       - uses: actions/checkout@v4
+        with:
+          submodules: recursive
       - uses: Swatinem/rust-cache@v2
       - name: Test thread-count determinism
         run: cargo test -p rapier3d --release --features parallel,serde-serialize --test thread_count_determinism
@@ -170,6 +184,8 @@ jobs:
       RUSTFLAGS: -D warnings
     steps:
       - uses: actions/checkout@v4
+        with:
+          submodules: recursive
       - name: Install stable Rust
         uses: dtolnay/rust-toolchain@master
         with:
@@ -211,6 +227,8 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v4
+        with:
+          submodules: recursive
       - name: Install nightly Rust with Miri
         uses: dtolnay/rust-toolchain@master
         with:
@@ -227,6 +245,8 @@ jobs:
       RUSTFLAGS: -D warnings
     steps:
       - uses: actions/checkout@v4
+        with:
+          submodules: recursive
       - run: rustup target add wasm32-unknown-unknown
       - uses: Swatinem/rust-cache@v2
       - name: build rapier2d
@@ -246,6 +266,8 @@ jobs:
       CARGO_TARGET_WASM32_WASIP1_RUNNER: node ${{ github.workspace }}/.github/scripts/run-wasi.mjs
     steps:
       - uses: actions/checkout@v4
+        with:
+          submodules: recursive
       - name: Install stable Rust with wasm32-wasip1
         uses: dtolnay/rust-toolchain@master
         with:
@@ -274,6 +296,8 @@ jobs:
       RUSTFLAGS: -D warnings
     steps:
       - uses: actions/checkout@v4
+        with:
+          submodules: recursive
       - uses: Swatinem/rust-cache@v2
       - run: sudo apt-get install -y cmake libxcb-composite0-dev
       # See `clippy`: zune-core 0.5.2 breaks zune-jpeg, reached here through the
@@ -303,6 +327,8 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v4
+        with:
+          submodules: recursive
       - name: Install Linux dependencies
         uses: ./.github/actions/install-linux-deps
       - uses: Swatinem/rust-cache@v2

.gitmodules

@@ -0,0 +1,3 @@
+[submodule "parry"]
+	path = parry
+	url = https://github.com/Polari-Stars-MC/parry.git

Cargo.toml

@@ -41,7 +41,7 @@ default-members = [
 ]
 # `typescript/` is the JS/Wasm bindings' own Cargo workspace; keep it out of
 # this one so root-level `cargo` commands never try to absorb its crates.
-exclude = ["typescript"]
+exclude = ["typescript", "parry", "nalgebra"]
 resolver = "2"
 
 [workspace.package]
@@ -69,13 +69,15 @@ nalgebra = { version = "0.35", default-features = false, features = ["macros"] }
 glamx = { version = "0.3", default-features = false }
 simba = { version = "0.10.2", default-features = false }
 num-traits = { version = "0.2", default-features = false }
+# Bit-identical gemm backend (same crate nalgebra delegates to for dynamic matrices).
+matrixmultiply = "0.3"
 approx = { version = "0.5", default-features = false }
 
 # Parry (each crate picks its own variant)
-parry2d = { version = "0.30.2", default-features = false, features = ["required-features"] }
-parry3d = { version = "0.30.2", default-features = false, features = ["required-features"] }
-parry2d-f64 = { version = "0.30.2", default-features = false, features = ["required-features"] }
-parry3d-f64 = { version = "0.30.2", default-features = false, features = ["required-features"] }
+parry2d = { package = "parry2d", path = "parry/crates/parry2d", default-features = false, features = ["required-features"] }
+parry3d = { package = "parry3d", path = "parry/crates/parry3d", default-features = false, features = ["required-features"] }
+parry2d-f64 = { package = "parry2d-f64", path = "parry/crates/parry2d-f64", default-features = false, features = ["required-features"] }
+parry3d-f64 = { package = "parry3d-f64", path = "parry/crates/parry3d-f64", default-features = false, features = ["required-features"] }
 
 # Utilities
 arrayvec = { version = "0.7", default-features = false }

crates/rapier2d-f64/Cargo.toml

@@ -57,6 +57,7 @@ serde-serialize = [
     "nalgebra/serde-serialize",
     "parry2d-f64/serde-serialize",
     "dep:serde",
+    "dep:bincode",
     "std",
 ]
 enhanced-determinism = ["simba/libm_force", "parry2d-f64/enhanced-determinism"]
@@ -104,6 +105,7 @@ web-time = { workspace = true, optional = true }
 rayon = { workspace = true, optional = true }
 serde = { workspace = true, optional = true }
 bytemuck = { workspace = true, optional = true }
+bincode = { workspace = true, optional = true }
 
 # Nalgebra is only included on non-spirv targets. On spirv, rapier exposes only the
 # subset of its API that doesn't require nalgebra.

crates/rapier2d/Cargo.toml

@@ -63,6 +63,7 @@ serde-serialize = [
     "nalgebra/serde-serialize",
     "parry2d/serde-serialize",
     "dep:serde",
+    "dep:bincode",
     "std",
 ]
 enhanced-determinism = ["simba/libm_force", "parry2d/enhanced-determinism"]
@@ -111,6 +112,7 @@ web-time = { workspace = true, optional = true }
 rayon = { workspace = true, optional = true }
 serde = { workspace = true, optional = true }
 bytemuck = { workspace = true, optional = true }
+bincode = { workspace = true, optional = true }
 
 # Nalgebra is only included on non-spirv targets. On spirv, rapier exposes only the
 # subset of its API that doesn't require nalgebra.

crates/rapier3d-f64/Cargo.toml

@@ -58,6 +58,7 @@ serde-serialize = [
     "nalgebra/serde-serialize",
     "parry3d-f64/serde-serialize",
     "dep:serde",
+    "dep:bincode",
     "std",
 ]
 enhanced-determinism = ["simba/libm_force", "parry3d-f64/enhanced-determinism"]
@@ -105,12 +106,14 @@ web-time = { workspace = true, optional = true }
 rayon = { workspace = true, optional = true }
 serde = { workspace = true, optional = true }
 bytemuck = { workspace = true, optional = true }
+bincode = { workspace = true, optional = true }
 
 # Nalgebra is only included on non-spirv targets. On spirv, rapier exposes only the
 # subset of its API that doesn't require nalgebra.
 [target.'cfg(not(target_arch = "spirv"))'.dependencies]
 nalgebra = { workspace = true }
 glamx = { workspace = true, features = ["nalgebra"] }
+matrixmultiply = { workspace = true }
 
 [dev-dependencies]
 bincode.workspace = true

crates/rapier3d/Cargo.toml

@@ -64,6 +64,7 @@ serde-serialize = [
     "nalgebra/serde-serialize",
     "parry3d/serde-serialize",
     "dep:serde",
+    "dep:bincode",
     "std",
 ]
 enhanced-determinism = ["simba/libm_force", "parry3d/enhanced-determinism"]
@@ -111,6 +112,7 @@ web-time = { workspace = true, optional = true }
 rayon = { workspace = true, optional = true }
 serde = { workspace = true, optional = true }
 bytemuck = { workspace = true, optional = true }
+bincode = { workspace = true, optional = true }
 
 # Nalgebra is only included on non-spirv targets. On spirv, rapier exposes only the
 # subset of its API that doesn't require nalgebra.