[package]
name = "k"
version = "0.32.0"
authors = ["Takashi Ogura <t.ogura@gmail.com>"]
edition = "2021"
description = "k is for kinematics"
license = "Apache-2.0"
keywords = ["kinematics", "robotics", "ik"]
categories = ["algorithms"]
repository = "https://github.com/openrr/k"

[features]
default = []
serde = ["nalgebra/serde-serialize", "dep:serde"]

# Note: nalgebra, simba, urdf-rs, and serde are public dependencies.
[dependencies]
nalgebra = "0.30"
simba = "0.7"
thiserror = "1.0"
tracing = "0.1"
urdf-rs = "0.9"

serde = { version = "1.0", features = ["derive"], optional = true }

[target.'cfg(not(target_family = "wasm"))'.dev-dependencies]
clap = { version = "4", features = ["derive"] }
criterion = "0.5"
kiss3d = "0.35"
rand = "0.8"

[target.'cfg(target_family = "wasm")'.dev-dependencies]
wasm-bindgen-test = "0.3"

[[bench]]
name = "fk"
harness = false

[[bench]]
name = "ik"
harness = false

#[profile.release]
#debug = true

#[profile.bench]
#debug = true

[lints]
workspace = true

[workspace.lints.rust]
missing_debug_implementations = "warn"
# missing_docs = "warn" # TODO
rust_2018_idioms = "warn"
single_use_lifetimes = "warn"
unreachable_pub = "warn"
[workspace.lints.clippy]
lint_groups_priority = { level = "allow", priority = 1 } # https://github.com/rust-lang/rust-clippy/issues/12920