add nalgebra feature

Cargo.toml

@@ -19,8 +19,6 @@ no-default-features = true
 
 [features]
 default = ["clipboard"]
-# rapier = ["bevy_rapier3d", "nalgebra"]
-# rapier2d = ["bevy_rapier2d", "nalgebra"]
 clipboard = ["bevy_egui/manage_clipboard"]
 nightly = []
 
@@ -31,9 +29,7 @@ bevy = { version = "0.6", default-features = false, features = [
 bevy_egui = { version = "0.11.1", default-features = false, features = ["open_url"] }
 pretty-type-name = "1.0"
 image = { version = "0.23", default-features = false }
-# bevy_rapier3d = { version = "0.10", optional = true }
-# bevy_rapier2d = { version = "0.10", optional = true }
-# nalgebra = { version = "0.27", features = ["convert-glam013"], optional = true }
+nalgebra030 = { package = "nalgebra", version = "0.30", optional = true }
 
 bevy-inspector-egui-derive = { version = "0.7.1", path = "bevy-inspector-egui-derive" }
 rand = "0.8"
@@ -44,14 +40,6 @@ bevy = { version = "0.6", default-features = false, features = ["x11", "bevy_win
 noise = "0.7"
 once_cell = "1.0"
 
-# [[example]]
-# name = "rapier"
-# required-features = ["rapier"]
-
-[[example]]
-name = "rapier2d"
-# required-features = ["rapier2d"]
-
 [[example]]
 name = "texture"
 required-features = ["bevy/png"]
@@ -60,3 +48,9 @@ required-features = ["bevy/png"]
 name = "world"
 
 [patch.crates-io]
+
+[workspace]
+members = [".", "bevy-inspector-egui-derive", "integrations/*"]
+
+[profile.dev.package."*"]
+opt-level = 2

src/impls/mod.rs

@@ -3,6 +3,7 @@ mod list;
 mod number;
 mod primitives;
 mod quat;
+mod third_party;
 mod ui;
 mod vec;
 pub(crate) mod with_context;
@@ -13,6 +14,3 @@ pub use primitives::{OptionAttributes, StringAttributes};
 pub use quat::{QuatAttributes, QuatDisplay};
 pub use vec::Vec2dAttributes;
 pub use with_context::{FilterType, TextureAttributes};
-
-#[cfg(any(feature = "rapier", feature = "rapier2d"))]
-mod rapier;

src/impls/number.rs

@@ -69,11 +69,11 @@ impl<T> NumberAttributes<T> {
     }
 }
 impl NumberAttributes<f32> {
-    pub(crate) fn positive() -> Self {
+    pub fn positive() -> Self {
         NumberAttributes::min(0.0)
     }
 
-    pub(crate) fn normalized() -> Self {
+    pub fn normalized() -> Self {
         NumberAttributes::between(0.0, 1.0).with_speed(0.1)
     }
 }

src/impls/rapier/mod.rs

@@ -1,5 +1 @@
 mod nalgebra_impls;
-#[cfg(feature = "rapier2d")]
-mod rapier2d_impls;
-#[cfg(feature = "rapier")]
-mod rapier_impls;

src/impls/third_party/mod.rs

@@ -0,0 +1,2 @@
+#[cfg(feature = "nalgebra030")]
+mod nalgebra030;

src/impls/rapier/nalgebra_impls.rs → src/impls/third_party/nalgebra030.rs

@@ -1,7 +1,7 @@
 use bevy_egui::egui;
-use nalgebra::{
-    storage::StorageMut, Complex, Dim, Isometry, Matrix, Quaternion, SVector, Scalar, Translation,
-    Unit,
+use nalgebra030::{
+    allocator::Allocator, storage::StorageMut, Complex, DefaultAllocator, Dim, DimName, Isometry,
+    Matrix, OPoint, Quaternion, SVector, Scalar, Translation, Unit,
 };
 
 use crate::Inspectable;
@@ -47,6 +47,22 @@ impl<T: Scalar + Inspectable, R: Dim, C: Dim, S: StorageMut<T, R, C>> Inspectabl
     }
 }
 
+impl<T: Scalar + Inspectable, D: DimName> Inspectable for OPoint<T, D>
+where
+    DefaultAllocator: Allocator<T, D>,
+{
+    type Attributes = ();
+
+    fn ui(
+        &mut self,
+        ui: &mut egui::Ui,
+        options: Self::Attributes,
+        context: &mut crate::Context,
+    ) -> bool {
+        self.coords.ui(ui, options, context)
+    }
+}
+
 impl<T: Scalar + Inspectable, const D: usize> Inspectable for Translation<T, D> {
     type Attributes = <SVector<T, D> as Inspectable>::Attributes;
 
@@ -69,12 +85,11 @@ impl Inspectable for Unit<Quaternion<f32>> {
         _: Self::Attributes,
         context: &mut crate::Context,
     ) -> bool {
-        let vec: bevy::math::Vec4 = (*self.as_vector()).into();
-        let mut quat = bevy::math::Quat::from(vec);
+        let mut quat = bevy::math::Quat::from_slice(self.as_vector().as_slice());
         let changed = quat.ui(ui, Default::default(), context);
         if changed {
-            let vec: bevy::math::Vec4 = quat.into();
-            let quat = Quaternion::<f32>::from_vector(vec.into());
+            let values: [f32; 4] = quat.into();
+            let quat = Quaternion::<f32>::from_vector(values.into());
             let quat = Unit::<Quaternion<f32>>::new_normalize(quat);
             *self = quat;
         }
@@ -109,16 +124,16 @@ impl<T: Inspectable + Scalar, R: Inspectable, const D: usize> Inspectable for Is
 
         ui.vertical_centered(|ui| {
             crate::egui::Grid::new(context.id()).show(ui, |ui| {
-                ui.label("Rotation");
-                changed |= self
-                    .rotation
-                    .ui(ui, Default::default(), &mut context.with_id(0));
-                ui.end_row();
                 ui.label("Translation");
                 changed |= self
                     .translation
                     .ui(ui, Default::default(), &mut context.with_id(1));
                 ui.end_row();
+                ui.label("Rotation");
+                changed |= self
+                    .rotation
+                    .ui(ui, Default::default(), &mut context.with_id(0));
+                ui.end_row();
             });
         });
 

src/world_inspector/inspectable_registry.rs

@@ -55,7 +55,7 @@ impl InspectableRegistry {
     /// Registers a type that doesn't need to implement [`Inspectable`](crate::Inspectable)
     pub fn register_raw<T: 'static, F>(&mut self, f: F)
     where
-        F: Fn(&mut T, &mut egui::Ui, &mut Context) -> bool + Send + Sync + 'static,
+        F: Fn(&mut T, &mut egui::Ui, &mut Context<'_>) -> bool + Send + Sync + 'static,
     {
         let type_id = TypeId::of::<T>();
         let callback = Box::new(