Replace generics in the path finding layer with dynamic dispatch

.github/workflows/cargo-deny.yml

@@ -1,7 +1,7 @@
-name: Cargo Dependencies
+name: Safe Stage - Check Dependencies
 on:
   pull_request:
-    branches: [$default-branch]
+    branches: [ main ]
     paths:
       - "**/Cargo.lock"
       - "**/Cargo.toml"

.github/workflows/release.yml

@@ -1,4 +1,4 @@
-name: Build and Release Service Application
+name: Build and Release
 on:
   push:
     tags:
@@ -23,10 +23,10 @@ jobs:
       - name: Build Safe Stage
         run: |
           cargo run -p bindings
-          cargo build --release -F ffi
+          cargo build --release --features ffi
         working-directory: ./safe-stage
 
-      - name: Publish Service Application
+      - name: Build Service App
         run: |
           dotnet publish
         working-directory: ./service-app

.github/workflows/safe-stage-miri.yml

@@ -1,13 +1,13 @@
-name: Check Safe Stage Safety
+name: Safe Stage - Check Safety
 on:
   push:
-    branches: [$default-branch]
+    branches: [ main ]
     paths:
-      - "safe-stage/src/*"
+      - "safe-stage/src/**"
   pull_request:
-    branches: [$default-branch]
+    branches: [ main ]
     paths:
-      - "safe-stage/src/*"
+      - "safe-stage/src/**"
 
 env:
   CARGO_TERM_COLOR: always

.github/workflows/safe-stage.yml

@@ -1,48 +1,20 @@
-name: Check Safe Stage
+name: Safe Stage - Checks
 on:
   push:
-    branches: [$default-branch]
+    branches: [ main ]
     paths:
-      - "safe-stage/*"
+      - "safe-stage/**"
   pull_request:
-    branches: [$default-branch]
+    branches: [ main ]
     paths:
-      - "safe-stage/*"
+      - "safe-stage/**"
 
 env:
   CARGO_TERM_COLOR: always
+  MSRV: 1.86.0
 
 jobs:
-  safe-stage-build:
-    runs-on: ubuntu-latest
-    strategy:
-      matrix:
-        FEATURES: ["--all", "-F ffi"]
-    steps:
-      - uses: actions/checkout@v4
-      - uses: actions/cache@v4
-        with:
-          path: |
-            ~/.cargo/bin/
-            ~/.cargo/registry/index/
-            ~/.cargo/registry/cache/
-            ~/.cargo/git/db/
-            ./safe-stage/target/
-          key: ${{ runner.os }}-cargo-${{ hashFiles('**/Cargo.lock') }}
-
-      - name: Check Formatting
-        run: cargo fmt --all --check
-        working-directory: ./safe-stage
-
-      - name: Build with Features "${{ matrix.FEATURES }}"
-        run: cargo build --locked ${{ matrix.FEATURES }}
-        working-directory: ./safe-stage
-
-      - name: Run clippy with Features "${{ matrix.FEATURES }}"
-        run: cargo clippy --locked ${{ matrix.FEATURES }} -- -D warnings
-        working-directory: ./safe-stage
-
-  safe-stage-test:
+  safe-stage:
     runs-on: ubuntu-latest
     permissions:
       checks: write
@@ -51,8 +23,6 @@ jobs:
         PROFILE_FEATURES:
           [
             "ci-default;--all",
-            "ci-features-serde;--all -F serde",
-            "ci-features-linear;-p collisions --no-default-features -F rayon-bvh-linear",
             "ci-features-ffi;-F ffi",
           ]
     steps:
@@ -67,9 +37,6 @@ jobs:
             ./safe-stage/target/
           key: ${{ runner.os }}-cargo-${{ hashFiles('**/Cargo.lock') }}
 
-      - name: Add nextest
-        uses: taiki-e/install-action@nextest
-
       - name: Extract Profile and Features
         id: extraction
         run: |
@@ -85,6 +52,27 @@ jobs:
           echo "profile=$PROFILE" >> "$GITHUB_OUTPUT"
           echo "features=$FEATURES" >> "$GITHUB_OUTPUT"
 
+      - name: Install Rust with MSRV
+        uses: taiki-e/github-actions/install-rust@main
+        with:
+          toolchain: ${{ env.MSRV }}
+          component: rustfmt,clippy
+
+      - name: Check Formatting
+        run: cargo fmt --all --check
+        working-directory: ./safe-stage
+
+      - name: Build with Features "${{ steps.extraction.outputs.features }}"
+        run: cargo build --locked ${{ steps.extraction.outputs.features }}
+        working-directory: ./safe-stage
+
+      - name: Run clippy with Features "${{ steps.extraction.outputs.features }}"
+        run: cargo clippy --locked ${{ steps.extraction.outputs.features }} -- -D warnings
+        working-directory: ./safe-stage
+
+      - name: Add nextest
+        uses: taiki-e/install-action@nextest
+
       - name: Run Documentation Tests with Profile "${{ steps.extraction.outputs.profile }}"
         run: cargo test --locked --doc ${{ steps.extraction.outputs.features }}
         working-directory: ./safe-stage

.github/workflows/service-app.yml

@@ -1,9 +1,9 @@
-name: Build Service Application
+name: Service App - Build
 on:
   push:
-    branches: [$default-branch]
+    branches: [ main ]
   pull_request:
-    branches: [$default-branch]
+    branches: [ main ]
 
 env:
   CARGO_TERM_COLOR: always
@@ -36,10 +36,10 @@ jobs:
       - name: Build Safe Stage
         run: |
           cargo run -p bindings
-          cargo build -F ffi
+          cargo build --release --features ffi
         working-directory: ./safe-stage
 
-      - name: Build Service Application
+      - name: Build Service App
         run: |
           dotnet build
         working-directory: ./service-app

README.md

@@ -28,7 +28,7 @@ Only Windows and .NET runtime are needed to run a compiled binary of the service
 
 ### Building
 
-- installed Rust with version 1.83 or newer
+- installed Rust with version 1.86 or newer
   - As of 18/12/2024, the *Nightly* version of the Rust toolchain results in a slightly better performance and is therefore recommended
 - installed .NET SDK 8 or newer
 - installed `cargo-expand` or selected nightly chain (run `cargo install cargo-expand` to install) - required for generating bindings
@@ -38,7 +38,7 @@ Only Windows and .NET runtime are needed to run a compiled binary of the service
 
 ### MSRV (Minimum Supported Rust Version)
 
-- `1.83.0` - due to stabilization of floats in `const` context
+- `1.86.0` - floats in `const` context, trait upcasting coercion
 
 
 ## Building

safe-stage/.nextest.toml

@@ -7,26 +7,6 @@ path = "junit-report.xml"
 store-success-output = true
 store-failure-output = true
 
-[profile.ci-features-serde]
-fail-fast = false
-
-[profile.ci-features-serde.junit]
-report-name = "nextest-features-serde"
-path = "junit-report.xml"
-store-success-output = true
-store-failure-output = true
-
-[profile.ci-features-linear]
-fail-fast = false
-
-[profile.ci-features-linear.junit]
-report-name = "nextest-features-linear"
-path = "junit-report.xml"
-store-success-output = true
-store-failure-output = true
-
-[profile.ci-features-ffi]
-fail-fast = false
 
 [profile.ci-features-ffi.junit]
 report-name = "nextest-features-ffi"

safe-stage/collisions/src/complex.rs

@@ -2,14 +2,10 @@
 //! Composite data structures for accelerating collision detection.
 //!
 //! Differences:
-//!  - [BvhTree] - boxes for bounding volumes, slower transformations, tighter bounds,
-//!     any `Collider` composites, during rotation, AABBs are converted to OBBs
-//!  - [BvhRecursive] - generic bounding volume hierarchy,
-//!     recommended to use with [AlignedBoxCollider]
-//!  - [BvhSphereLinear] - bounding sphere hierarchy, implemented with Vec as node storage,
-//!     very fast transformations slower collision detection
-//! - [BvhSphereRecursive] - bounding sphere hierarchy, variant of [BvhRecursive] but optimized
-//!     for [SphereCollider] as the bounding shape
+//!  - [BvhTree] - boxes for bounding volumes, slower transformations, tighter bounds, any `Collider` composites, during rotation, AABBs are converted to OBBs
+//!  - [BvhRecursive] - generic bounding volume hierarchy, recommended to use with [AlignedBoxCollider]
+//!  - [BvhSphereLinear] - bounding sphere hierarchy, implemented with Vec as node storage, very fast transformations slower collision detection
+//!  - [BvhSphereRecursive] - bounding sphere hierarchy, variant of [BvhRecursive] but optimized for [SphereCollider] as the bounding shape
 
 use crate::collides_group_impl;
 use crate::complex::bvh_recursive::BvhRecursive;

safe-stage/models/src/assembly/thesis/chamber.rs

@@ -1,7 +1,7 @@
+use crate::immovable::Immovable;
 use crate::loader::load_stl_from_bytes;
 use crate::parts::chamber::Chamber;
 use collisions::common::Translation;
-use collisions::complex::group::ColliderGroup;
 use collisions::{collider_group, PrimaryCollider};
 use maths::Vector3;
 
@@ -21,19 +21,19 @@ pub struct ThesisChamber {
 }
 
 impl Chamber for ThesisChamber {
-    fn full(&self) -> ColliderGroup<PrimaryCollider> {
+    fn full(&self) -> Immovable {
         collider_group!(
             self.pole_piece.clone(),
             self.walls.clone(),
             self.door.clone()
         )
     }
 
-    fn less_obstructive(&self) -> ColliderGroup<PrimaryCollider> {
+    fn less_obstructive(&self) -> Immovable {
         collider_group!(self.pole_piece.clone(), self.walls.clone())
     }
 
-    fn non_obstructive(&self) -> ColliderGroup<PrimaryCollider> {
+    fn non_obstructive(&self) -> Immovable {
         collider_group!(self.pole_piece.clone())
     }
 }

safe-stage/models/src/assembly/thesis/equipment.rs

@@ -1,6 +1,6 @@
+use crate::immovable::Immovable;
 use crate::loader::load_stl_from_bytes;
 use crate::parts::equipment::Equipment;
-use collisions::complex::group::ColliderGroup;
 use collisions::{collider_group, PrimaryCollider};
 
 const DETECTOR_ALPHA: &[u8] = include_bytes!("./models/Detector Alpha.stl");
@@ -17,7 +17,7 @@ impl Default for ThesisDetectorAlpha {
 }
 
 impl Equipment for ThesisDetectorAlpha {
-    fn collider(&self) -> ColliderGroup<PrimaryCollider> {
+    fn collider(&self) -> Immovable {
         collider_group!(self.0.clone())
     }
 }
@@ -33,7 +33,7 @@ impl Default for ThesisDetectorBeta {
 }
 
 impl Equipment for ThesisDetectorBeta {
-    fn collider(&self) -> ColliderGroup<PrimaryCollider> {
+    fn collider(&self) -> Immovable {
         collider_group!(self.0.clone())
     }
 }

safe-stage/models/src/assembly/thesis/holders.rs

@@ -1,7 +1,7 @@
+use crate::immovable::Immovable;
 use crate::loader::load_stl_from_bytes;
 use crate::parts::holder::Holder;
 use collisions::common::{Rotation, Translation};
-use collisions::complex::group::ColliderGroup;
 use collisions::{collider_group, PrimaryCollider};
 use maths::{Quaternion, Vector3};
 use std::sync::LazyLock;
@@ -38,7 +38,7 @@ macro_rules! thesis_holder_impl {
                 Box::new(self.clone())
             }
 
-            fn collider(&self) -> ColliderGroup<PrimaryCollider> {
+            fn collider(&self) -> Immovable {
                 if let Some(sample) = &self.sample {
                     collider_group!(self.body.clone(), sample.clone())
                 } else {

safe-stage/models/src/assembly/thesis/retract.rs

@@ -1,9 +1,9 @@
+use crate::immovable::Immovable;
 use crate::loader::load_stl_from_bytes;
 use crate::movable::Movable;
 use crate::parts::retract::Retract;
 use crate::position::linear::LinearState;
 use collisions::common::Translation;
-use collisions::complex::group::ColliderGroup;
 use collisions::{collider_group, PrimaryCollider};
 use maths::Vector3;
 use std::sync::Arc;
@@ -22,7 +22,7 @@ pub struct ThesisRetract {
 }
 
 impl Retract for ThesisRetract {
-    fn as_arc(&self) -> Arc<dyn Movable<LinearState> + Send + Sync> {
+    fn as_movable(&self) -> Arc<dyn Movable<LinearState>> {
         Arc::new(self.clone())
     }
 }
@@ -44,7 +44,7 @@ impl Default for ThesisRetract {
 }
 
 impl Movable<LinearState> for ThesisRetract {
-    fn move_to(&self, position: &LinearState) -> ColliderGroup<PrimaryCollider> {
+    fn move_to(&self, position: &LinearState) -> Immovable {
         match position {
             LinearState::None => collider_group!(self.entry.clone(), self.retracted.clone()),
             LinearState::Full => collider_group!(self.entry.clone(), self.inserted.clone()),

safe-stage/models/src/assembly/thesis/stage.rs

@@ -1,3 +1,4 @@
+use crate::immovable::Immovable;
 use crate::loader::load_stl_from_bytes;
 use crate::movable::Movable;
 use crate::parts::holder::Holder;
@@ -36,7 +37,7 @@ impl Clone for ThesisStage {
 }
 
 impl Stage for ThesisStage {
-    fn as_arc(&self) -> Arc<dyn Movable<SixAxis> + Send + Sync> {
+    fn as_movable(&self) -> Arc<dyn Movable<SixAxis>> {
         Arc::new(self.clone())
     }
     fn swap_holder(&mut self, holder: Option<Box<dyn Holder>>) {
@@ -67,7 +68,7 @@ impl Default for ThesisStage {
 }
 
 impl Movable<SixAxis> for ThesisStage {
-    fn move_to(&self, coords: &SixAxis) -> ColliderGroup<PrimaryCollider> {
+    fn move_to(&self, coords: &SixAxis) -> Immovable {
         let offset = coords.pos + STAGE_POSITION;
         let tilt = Quaternion::from_euler(&Vector3::new(0.0, coords.rot.y(), 0.0));
         let rotation = Quaternion::from_euler(&Vector3::new(0.0, 0.0, coords.rot.z()));

safe-stage/models/src/immovable.rs

@@ -0,0 +1,4 @@
+use collisions::complex::group::ColliderGroup;
+use collisions::PrimaryCollider;
+
+pub type Immovable = ColliderGroup<PrimaryCollider>;

safe-stage/models/src/lib.rs

@@ -2,6 +2,7 @@
 //! Focused on modeling the parts of an electron microscope.
 
 pub mod assembly;
+pub mod immovable;
 pub mod loader;
 pub mod movable;
 pub mod parts;

safe-stage/models/src/movable.rs

@@ -1,8 +1,7 @@
-use collisions::complex::group::ColliderGroup;
-use collisions::PrimaryCollider;
+use crate::immovable::Immovable;
 
 /// Entity can be moved to position `P` where it is represented as `C`.
-pub trait Movable<P> {
+pub trait Movable<P>: Send + Sync {
     /// Get the representation of the entity at the given position.
-    fn move_to(&self, position: &P) -> ColliderGroup<PrimaryCollider>;
+    fn move_to(&self, position: &P) -> Immovable;
 }