From 7cc885e86191d8ae34a850a1d3eb0aed192185d7 Mon Sep 17 00:00:00 2001
From: zyansheep <zyansheep@protonmail.com>
Date: Mon, 11 Jul 2022 22:36:52 -0400
Subject: [PATCH 01/13] fix some rkyv impls

---
 src/base/array_storage.rs | 8 ++++++--
 src/base/matrix.rs        | 8 ++++++--
 src/lib.rs                | 2 +-
 3 files changed, 13 insertions(+), 5 deletions(-)

diff --git a/src/base/array_storage.rs b/src/base/array_storage.rs
index 3bc71e1a..cd534baa 100644
--- a/src/base/array_storage.rs
+++ b/src/base/array_storage.rs
@@ -27,11 +27,15 @@ use std::mem;
 /// A array-based statically sized matrix data storage.
 #[repr(transparent)]
 #[derive(Copy, Clone, PartialEq, Eq, Hash)]
-#[cfg_attr(feature = "rkyv-serialize", derive(bytecheck::CheckBytes))]
 #[cfg_attr(
     feature = "rkyv-serialize-no-std",
-    derive(rkyv::Archive, rkyv::Serialize, rkyv::Deserialize)
+    derive(rkyv::Archive, rkyv::Serialize, rkyv::Deserialize),
+    archive(as = "Self", bound(archive = "
+        T: rkyv::Archive<Archived = T>,
+        [[T; R]; C]: rkyv::Archive<Archived = [[T; R]; C]>
+    "))
 )]
+#[cfg_attr(feature = "rkyv-serialize", derive(bytecheck::CheckBytes))]
 #[cfg_attr(feature = "cuda", derive(cust_core::DeviceCopy))]
 pub struct ArrayStorage<T, const R: usize, const C: usize>(pub [[T; R]; C]);
 
diff --git a/src/base/matrix.rs b/src/base/matrix.rs
index 8f8786c1..5eb58737 100644
--- a/src/base/matrix.rs
+++ b/src/base/matrix.rs
@@ -150,11 +150,15 @@ pub type MatrixCross<T, R1, C1, R2, C2> =
 /// some concrete types for `T` and a compatible data storage type `S`).
 #[repr(C)]
 #[derive(Clone, Copy)]
-#[cfg_attr(feature = "rkyv-serialize", derive(bytecheck::CheckBytes))]
 #[cfg_attr(
     feature = "rkyv-serialize-no-std",
-    derive(rkyv::Archive, rkyv::Serialize, rkyv::Deserialize)
+    derive(rkyv::Archive, rkyv::Serialize, rkyv::Deserialize),
+    archive(as = "Self", bound(archive = "
+        S: rkyv::Archive<Archived = S>,
+        PhantomData<(T, R, C)>: rkyv::Archive<Archived = PhantomData<(T, R, C)>>
+    "))
 )]
+#[cfg_attr(feature = "rkyv-serialize", derive(bytecheck::CheckBytes))]
 #[cfg_attr(feature = "cuda", derive(cust_core::DeviceCopy))]
 pub struct Matrix<T, R, C, S> {
     /// The data storage that contains all the matrix components. Disappointed?
diff --git a/src/lib.rs b/src/lib.rs
index 1ee1a3ba..028dac38 100644
--- a/src/lib.rs
+++ b/src/lib.rs
@@ -77,7 +77,7 @@ an optimized set of tools for computer graphics and physics. Those features incl
     unused_variables,
     unused_mut,
     unused_parens,
-    unused_qualifications,
+    // unused_qualifications,
     rust_2018_idioms,
     rust_2018_compatibility,
     future_incompatible,

From 67f04e39ace523cf092d1abdcaafbd78a7c03b52 Mon Sep 17 00:00:00 2001
From: zyansheep <zyansheep@protonmail.com>
Date: Wed, 13 Jul 2022 09:22:55 -0400
Subject: [PATCH 02/13] add rkyv tests

---
 tests/core/mod.rs  |  1 +
 tests/core/rkyv.rs | 43 +++++++++++++++++++++++++++++++++++++++++++
 2 files changed, 44 insertions(+)
 create mode 100644 tests/core/rkyv.rs

diff --git a/tests/core/mod.rs b/tests/core/mod.rs
index 5fb8c82b..d4504c83 100644
--- a/tests/core/mod.rs
+++ b/tests/core/mod.rs
@@ -8,6 +8,7 @@ mod matrix_slice;
 #[cfg(feature = "mint")]
 mod mint;
 mod serde;
+mod rkyv;
 
 #[cfg(feature = "compare")]
 mod matrixcompare;
diff --git a/tests/core/rkyv.rs b/tests/core/rkyv.rs
new file mode 100644
index 00000000..13522e86
--- /dev/null
+++ b/tests/core/rkyv.rs
@@ -0,0 +1,43 @@
+#![cfg(feature = "rkyv-serialize")]
+
+use na::{
+    DMatrix, Isometry2, Isometry3, IsometryMatrix2, IsometryMatrix3, Matrix2x3, Matrix3x4, Point2,
+    Point3, Quaternion, Rotation2, Rotation3, Similarity2, Similarity3, SimilarityMatrix2,
+    SimilarityMatrix3, Translation2, Translation3, Unit, Vector2,
+};
+use rand;
+use rkyv::{Archive, Serialize, Deserialize};
+
+macro_rules! test_rkyv(
+    ($($test: ident, $ty: ident);* $(;)*) => {$(
+        #[test]
+        fn $test() {
+            let v: $ty<f32> = rand::random();
+			let bytes = rkyv::to_bytes::<_, 256>(&v).unwrap();
+
+			let archived = rkyv::check_archived_root::<$ty<f32>>(&bytes[..]).unwrap();
+			assert_eq!(archived, &value);
+
+			assert_eq!(format!("{:?}", value), format!("{:?}", archive));
+        }
+    )*}
+);
+
+test_rkyv!(
+    rkyv_matrix3x4,          Matrix3x4;
+    rkyv_point3,             Point3;
+    rkyv_translation3,       Translation3;
+    rkyv_rotation3,          Rotation3;
+    rkyv_isometry3,          Isometry3;
+    rkyv_isometry_matrix3,   IsometryMatrix3;
+    rkyv_similarity3,        Similarity3;
+    rkyv_similarity_matrix3, SimilarityMatrix3;
+    rkyv_quaternion,         Quaternion;
+    rkyv_point2,             Point2;
+    rkyv_translation2,       Translation2;
+    rkyv_rotation2,          Rotation2;
+    rkyv_isometry2,          Isometry2;
+    rkyv_isometry_matrix2,   IsometryMatrix2;
+    rkyv_similarity2,        Similarity2;
+    rkyv_similarity_matrix2, SimilarityMatrix2;
+);
\ No newline at end of file

From a725faaf6a44047b4952399dab539c0b31721343 Mon Sep 17 00:00:00 2001
From: zyansheep <zyansheep@protonmail.com>
Date: Wed, 13 Jul 2022 14:32:46 -0400
Subject: [PATCH 03/13] fix matrix impl

---
 Cargo.toml         |  7 ++++---
 src/base/matrix.rs | 15 +++++++++++----
 src/lib.rs         |  5 ++---
 tests/core/rkyv.rs | 12 ++++++------
 4 files changed, 23 insertions(+), 16 deletions(-)

diff --git a/Cargo.toml b/Cargo.toml
index 732676ec..7c70eee1 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -52,8 +52,8 @@ convert-glam020 = [ "glam020" ]
 ## `serde-serialize`.
 serde-serialize-no-std = [ "serde", "num-complex/serde" ]
 serde-serialize        = [ "serde-serialize-no-std", "serde/std" ]
-rkyv-serialize-no-std  = [ "rkyv" ]
-rkyv-serialize         = [ "rkyv-serialize-no-std", "rkyv/std", "bytecheck" ]
+rkyv-serialize-no-std  = [ "rkyv", "rkyv_wrappers" ]
+rkyv-serialize         = [ "rkyv-serialize-no-std", "rkyv/std", "rkyv/validation", "bytecheck" ]
 
 # Randomness
 ## To use rand in a #[no-std] environment, enable the
@@ -79,7 +79,8 @@ alga           = { version = "0.9", default-features = false, optional = true }
 rand_distr     = { version = "0.4", default-features = false, optional = true }
 matrixmultiply = { version = "0.3", optional = true }
 serde          = { version = "1.0", default-features = false, features = [ "derive" ], optional = true }
-rkyv           = { version = "~0.7.1", optional = true }
+rkyv           = { version = "0.7", optional = true }
+rkyv_wrappers   = { git = "https://github.com/rkyv/rkyv_contrib", optional = true }
 bytecheck      = { version = "~0.6.1", optional = true }
 mint           = { version = "0.5", optional = true }
 quickcheck     = { version = "1", optional = true }
diff --git a/src/base/matrix.rs b/src/base/matrix.rs
index 5eb58737..531b0540 100644
--- a/src/base/matrix.rs
+++ b/src/base/matrix.rs
@@ -11,6 +11,11 @@ use std::mem;
 #[cfg(feature = "serde-serialize-no-std")]
 use serde::{Deserialize, Deserializer, Serialize, Serializer};
 
+#[cfg(feature = "rkyv-serialize-no-std")]
+use rkyv::{Archive, Archived, with::With};
+#[cfg(feature = "rkyv-serialize-no-std")]
+use rkyv_wrappers::custom_phantom::CustomPhantom;
+
 use simba::scalar::{ClosedAdd, ClosedMul, ClosedSub, Field, SupersetOf};
 use simba::simd::SimdPartialOrd;
 
@@ -152,10 +157,11 @@ pub type MatrixCross<T, R1, C1, R2, C2> =
 #[derive(Clone, Copy)]
 #[cfg_attr(
     feature = "rkyv-serialize-no-std",
-    derive(rkyv::Archive, rkyv::Serialize, rkyv::Deserialize),
-    archive(as = "Self", bound(archive = "
-        S: rkyv::Archive<Archived = S>,
-        PhantomData<(T, R, C)>: rkyv::Archive<Archived = PhantomData<(T, R, C)>>
+    derive(Archive, rkyv::Serialize, rkyv::Deserialize),
+    archive(as = "Matrix<T::Archived, R, C, S::Archived>", bound(archive = "
+        T: Archive,
+        S: Archive,
+        With<PhantomData<(T, R, C)>, CustomPhantom<(Archived<T>, R, C)>>: Archive<Archived = PhantomData<(Archived<T>, R, C)>>
     "))
 )]
 #[cfg_attr(feature = "rkyv-serialize", derive(bytecheck::CheckBytes))]
@@ -196,6 +202,7 @@ pub struct Matrix<T, R, C, S> {
     //       of the `RawStorage` trait. However, because we don't have
     //       specialization, this is not possible because these `T, R, C`
     //       allows us to desambiguate a lot of configurations.
+    #[cfg_attr(feature = "rkyv-serialize-no-std", with(CustomPhantom<(T::Archived, R, C)>))]
     _phantoms: PhantomData<(T, R, C)>,
 }
 
diff --git a/src/lib.rs b/src/lib.rs
index 028dac38..13557887 100644
--- a/src/lib.rs
+++ b/src/lib.rs
@@ -77,14 +77,13 @@ an optimized set of tools for computer graphics and physics. Those features incl
     unused_variables,
     unused_mut,
     unused_parens,
-    // unused_qualifications,
     rust_2018_idioms,
     rust_2018_compatibility,
     future_incompatible,
     missing_copy_implementations
 )]
-#![cfg_attr(feature = "rkyv-serialize-no-std", warn(unused_results))] // TODO: deny this once bytecheck stops generating warnings.
-#![cfg_attr(not(feature = "rkyv-serialize-no-std"), deny(unused_results))]
+#![cfg_attr(feature = "rkyv-serialize-no-std", allow(unused_results))] // TODO: deny this once bytecheck stops generating warnings.
+#![cfg_attr(not(feature = "rkyv-serialize-no-std"), deny(unused_results), deny(unused_qualifications))] // TODO: deny this globally
 #![doc(
     html_favicon_url = "https://nalgebra.org/img/favicon.ico",
     html_root_url = "https://docs.rs/nalgebra/0.25.0"
diff --git a/tests/core/rkyv.rs b/tests/core/rkyv.rs
index 13522e86..d2b7bfb3 100644
--- a/tests/core/rkyv.rs
+++ b/tests/core/rkyv.rs
@@ -12,21 +12,21 @@ macro_rules! test_rkyv(
     ($($test: ident, $ty: ident);* $(;)*) => {$(
         #[test]
         fn $test() {
-            let v: $ty<f32> = rand::random();
-			let bytes = rkyv::to_bytes::<_, 256>(&v).unwrap();
+            let value: $ty<f32> = rand::random();
+			let bytes = rkyv::to_bytes::<_, 256>(&value).unwrap();
 
 			let archived = rkyv::check_archived_root::<$ty<f32>>(&bytes[..]).unwrap();
 			assert_eq!(archived, &value);
 
-			assert_eq!(format!("{:?}", value), format!("{:?}", archive));
+			assert_eq!(format!("{:?}", value), format!("{:?}", archived));
         }
     )*}
 );
 
 test_rkyv!(
     rkyv_matrix3x4,          Matrix3x4;
-    rkyv_point3,             Point3;
-    rkyv_translation3,       Translation3;
+    // rkyv_point3,             Point3;
+   /*  rkyv_translation3,       Translation3;
     rkyv_rotation3,          Rotation3;
     rkyv_isometry3,          Isometry3;
     rkyv_isometry_matrix3,   IsometryMatrix3;
@@ -39,5 +39,5 @@ test_rkyv!(
     rkyv_isometry2,          Isometry2;
     rkyv_isometry_matrix2,   IsometryMatrix2;
     rkyv_similarity2,        Similarity2;
-    rkyv_similarity_matrix2, SimilarityMatrix2;
+    rkyv_similarity_matrix2, SimilarityMatrix2; */
 );
\ No newline at end of file

From 9a98b0cf24648502cc05d89254b535bb75fd881d Mon Sep 17 00:00:00 2001
From: zyansheep <zyansheep@protonmail.com>
Date: Wed, 13 Jul 2022 23:02:17 -0400
Subject: [PATCH 04/13] various implementations

---
 Cargo.toml                      |  4 ++--
 src/base/array_storage.rs       |  6 +++---
 src/base/unit.rs                |  7 +++++--
 src/geometry/dual_quaternion.rs |  6 +++++-
 src/geometry/isometry.rs        |  7 ++++++-
 src/geometry/orthographic.rs    |  6 +++++-
 src/geometry/perspective.rs     |  6 +++++-
 src/geometry/quaternion.rs      |  6 +++++-
 src/geometry/rotation.rs        |  6 +++++-
 src/geometry/scale.rs           |  6 +++++-
 src/geometry/similarity.rs      |  7 ++++++-
 src/geometry/translation.rs     |  6 +++++-
 tests/core/rkyv.rs              | 32 ++++++++++++++++++++++++--------
 13 files changed, 81 insertions(+), 24 deletions(-)

diff --git a/Cargo.toml b/Cargo.toml
index 7c70eee1..0d17f8ac 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -71,7 +71,7 @@ nalgebra-macros = { version = "0.1", path = "nalgebra-macros", optional = true }
 typenum        = "1.12"
 rand-package   = { package = "rand", version = "0.8", optional = true, default-features = false }
 num-traits     = { version = "0.2", default-features = false }
-num-complex    = { version = "0.4", default-features = false }
+num-complex    = { version = "0.4", default-features = false } # { version = "0.4", default-features = false }
 num-rational   = { version = "0.4", default-features = false }
 approx         = { version = "0.5", default-features = false }
 simba          = { version = "0.7", default-features = false }
@@ -80,7 +80,7 @@ rand_distr     = { version = "0.4", default-features = false, optional = true }
 matrixmultiply = { version = "0.3", optional = true }
 serde          = { version = "1.0", default-features = false, features = [ "derive" ], optional = true }
 rkyv           = { version = "0.7", optional = true }
-rkyv_wrappers   = { git = "https://github.com/rkyv/rkyv_contrib", optional = true }
+rkyv_wrappers  = { git = "https://github.com/rkyv/rkyv_contrib", optional = true }
 bytecheck      = { version = "~0.6.1", optional = true }
 mint           = { version = "0.5", optional = true }
 quickcheck     = { version = "1", optional = true }
diff --git a/src/base/array_storage.rs b/src/base/array_storage.rs
index cd534baa..457fa35e 100644
--- a/src/base/array_storage.rs
+++ b/src/base/array_storage.rs
@@ -30,9 +30,9 @@ use std::mem;
 #[cfg_attr(
     feature = "rkyv-serialize-no-std",
     derive(rkyv::Archive, rkyv::Serialize, rkyv::Deserialize),
-    archive(as = "Self", bound(archive = "
-        T: rkyv::Archive<Archived = T>,
-        [[T; R]; C]: rkyv::Archive<Archived = [[T; R]; C]>
+    archive(as = "ArrayStorage<T::Archived, R, C>", bound(archive = "
+        T: rkyv::Archive,
+        [[T; R]; C]: rkyv::Archive<Archived = [[T::Archived; R]; C]>
     "))
 )]
 #[cfg_attr(feature = "rkyv-serialize", derive(bytecheck::CheckBytes))]
diff --git a/src/base/unit.rs b/src/base/unit.rs
index 6fc00092..27588af0 100644
--- a/src/base/unit.rs
+++ b/src/base/unit.rs
@@ -21,11 +21,14 @@ use crate::{Dim, Matrix, OMatrix, RealField, Scalar, SimdComplexField, SimdRealF
 /// in their documentation, read their dedicated pages directly.
 #[repr(transparent)]
 #[derive(Clone, Hash, Copy)]
-#[cfg_attr(feature = "rkyv-serialize", derive(bytecheck::CheckBytes))]
 #[cfg_attr(
     feature = "rkyv-serialize-no-std",
-    derive(rkyv::Archive, rkyv::Serialize, rkyv::Deserialize)
+    derive(rkyv::Archive, rkyv::Serialize, rkyv::Deserialize),
+    archive(as = "Unit<T::Archived>", bound(archive = "
+        T: rkyv::Archive,
+    "))
 )]
+#[cfg_attr(feature = "rkyv-serialize", derive(bytecheck::CheckBytes))]
 // #[cfg_attr(feature = "cuda", derive(cust_core::DeviceCopy))]
 pub struct Unit<T> {
     pub(crate) value: T,
diff --git a/src/geometry/dual_quaternion.rs b/src/geometry/dual_quaternion.rs
index 6f1b7053..1d488d83 100644
--- a/src/geometry/dual_quaternion.rs
+++ b/src/geometry/dual_quaternion.rs
@@ -43,7 +43,11 @@ use simba::scalar::{ClosedNeg, RealField};
 #[cfg_attr(feature = "rkyv-serialize", derive(bytecheck::CheckBytes))]
 #[cfg_attr(
     feature = "rkyv-serialize-no-std",
-    derive(rkyv::Archive, rkyv::Serialize, rkyv::Deserialize)
+    derive(rkyv::Archive, rkyv::Serialize, rkyv::Deserialize),
+    archive(as = "DualQuaternion<T::Archived>", bound(archive = "
+        T: rkyv::Archive,
+        Quaternion<T>: rkyv::Archive<Archived = Quaternion<T::Archived>>
+    "))
 )]
 #[cfg_attr(feature = "cuda", derive(cust_core::DeviceCopy))]
 pub struct DualQuaternion<T> {
diff --git a/src/geometry/isometry.rs b/src/geometry/isometry.rs
index 92169742..214f9e90 100755
--- a/src/geometry/isometry.rs
+++ b/src/geometry/isometry.rs
@@ -68,7 +68,12 @@ use crate::geometry::{AbstractRotation, Point, Translation};
 )]
 #[cfg_attr(
     feature = "rkyv-serialize-no-std",
-    derive(rkyv::Archive, rkyv::Serialize, rkyv::Deserialize)
+    derive(rkyv::Archive, rkyv::Serialize, rkyv::Deserialize),
+    archive(as = "Isometry<T::Archived, R::Archived, D>", bound(archive = "
+        T: rkyv::Archive,
+        R: rkyv::Archive,
+        Translation<T, D>: rkyv::Archive<Archived = Translation<T::Archived, D>>
+    "))
 )]
 #[cfg_attr(feature = "rkyv-serialize", derive(bytecheck::CheckBytes))]
 pub struct Isometry<T, R, const D: usize> {
diff --git a/src/geometry/orthographic.rs b/src/geometry/orthographic.rs
index 7348f676..acd2d02c 100644
--- a/src/geometry/orthographic.rs
+++ b/src/geometry/orthographic.rs
@@ -22,7 +22,11 @@ use crate::geometry::{Point3, Projective3};
 #[cfg_attr(feature = "rkyv-serialize", derive(bytecheck::CheckBytes))]
 #[cfg_attr(
     feature = "rkyv-serialize-no-std",
-    derive(rkyv::Archive, rkyv::Serialize, rkyv::Deserialize)
+    derive(rkyv::Archive, rkyv::Serialize, rkyv::Deserialize),
+    archive(as = "Orthographic3<T::Archived>", bound(archive = "
+        T: rkyv::Archive,
+        Matrix4<T>: rkyv::Archive<Archived = Matrix4<T::Archived>>
+    "))
 )]
 #[cfg_attr(feature = "cuda", derive(cust_core::DeviceCopy))]
 #[derive(Copy, Clone)]
diff --git a/src/geometry/perspective.rs b/src/geometry/perspective.rs
index 351960bb..1c5e2ec9 100644
--- a/src/geometry/perspective.rs
+++ b/src/geometry/perspective.rs
@@ -23,7 +23,11 @@ use crate::geometry::{Point3, Projective3};
 #[cfg_attr(feature = "rkyv-serialize", derive(bytecheck::CheckBytes))]
 #[cfg_attr(
     feature = "rkyv-serialize-no-std",
-    derive(rkyv::Archive, rkyv::Serialize, rkyv::Deserialize)
+    derive(rkyv::Archive, rkyv::Serialize, rkyv::Deserialize),
+    archive(as = "Perspective3<T::Archived>", bound(archive = "
+        T: rkyv::Archive,
+        Matrix4<T>: rkyv::Archive<Archived = Matrix4<T::Archived>>
+    "))
 )]
 #[cfg_attr(feature = "cuda", derive(cust_core::DeviceCopy))]
 #[derive(Copy, Clone)]
diff --git a/src/geometry/quaternion.rs b/src/geometry/quaternion.rs
index f38dca6f..ece0346e 100755
--- a/src/geometry/quaternion.rs
+++ b/src/geometry/quaternion.rs
@@ -26,7 +26,11 @@ use crate::geometry::{Point3, Rotation};
 #[cfg_attr(feature = "rkyv-serialize", derive(bytecheck::CheckBytes))]
 #[cfg_attr(
     feature = "rkyv-serialize-no-std",
-    derive(rkyv::Archive, rkyv::Serialize, rkyv::Deserialize)
+    derive(rkyv::Archive, rkyv::Serialize, rkyv::Deserialize),
+    archive(as = "Quaternion<T::Archived>", bound(archive = "
+        T: rkyv::Archive,
+        Vector4<T>: rkyv::Archive<Archived = Vector4<T::Archived>>
+    "))
 )]
 #[cfg_attr(feature = "cuda", derive(cust_core::DeviceCopy))]
 pub struct Quaternion<T> {
diff --git a/src/geometry/rotation.rs b/src/geometry/rotation.rs
index 2a8bf427..a923af8b 100755
--- a/src/geometry/rotation.rs
+++ b/src/geometry/rotation.rs
@@ -52,7 +52,11 @@ use crate::geometry::Point;
 #[cfg_attr(feature = "rkyv-serialize", derive(bytecheck::CheckBytes))]
 #[cfg_attr(
     feature = "rkyv-serialize-no-std",
-    derive(rkyv::Archive, rkyv::Serialize, rkyv::Deserialize)
+    derive(rkyv::Archive, rkyv::Serialize, rkyv::Deserialize),
+    archive(as = "Rotation<T::Archived, D>", bound(archive = "
+        T: rkyv::Archive,
+        SMatrix<T, D, D>: rkyv::Archive<Archived = SMatrix<T::Archived, D, D>>
+    "))
 )]
 #[cfg_attr(feature = "cuda", derive(cust_core::DeviceCopy))]
 #[derive(Copy, Clone)]
diff --git a/src/geometry/scale.rs b/src/geometry/scale.rs
index 37da1ef0..6dd0ce39 100755
--- a/src/geometry/scale.rs
+++ b/src/geometry/scale.rs
@@ -20,7 +20,11 @@ use crate::geometry::Point;
 #[cfg_attr(feature = "rkyv-serialize", derive(bytecheck::CheckBytes))]
 #[cfg_attr(
     feature = "rkyv-serialize-no-std",
-    derive(rkyv::Archive, rkyv::Serialize, rkyv::Deserialize)
+    derive(rkyv::Archive, rkyv::Serialize, rkyv::Deserialize),
+    archive(as = "Scale<T::Archived, D>", bound(archive = "
+        T: rkyv::Archive,
+        SVector<T, D>: rkyv::Archive<Archived = SVector<T::Archived, D>>
+    "))
 )]
 #[cfg_attr(feature = "cuda", derive(cust_core::DeviceCopy))]
 #[derive(Copy, Clone)]
diff --git a/src/geometry/similarity.rs b/src/geometry/similarity.rs
index 8c38ff1e..6c7d5418 100755
--- a/src/geometry/similarity.rs
+++ b/src/geometry/similarity.rs
@@ -36,7 +36,12 @@ use crate::geometry::{AbstractRotation, Isometry, Point, Translation};
 )]
 #[cfg_attr(
     feature = "rkyv-serialize-no-std",
-    derive(rkyv::Archive, rkyv::Serialize, rkyv::Deserialize)
+    derive(rkyv::Archive, rkyv::Serialize, rkyv::Deserialize),
+    archive(as = "Similarity<T::Archived, R::Archived, D>", bound(archive = "
+        T: rkyv::Archive,
+        R: rkyv::Archive,
+        Isometry<T, R, D>: rkyv::Archive<Archived = Isometry<T::Archived, R::Archived, D>>
+    "))
 )]
 #[cfg_attr(feature = "rkyv-serialize", derive(bytecheck::CheckBytes))]
 pub struct Similarity<T, R, const D: usize> {
diff --git a/src/geometry/translation.rs b/src/geometry/translation.rs
index bef66f68..980b885f 100755
--- a/src/geometry/translation.rs
+++ b/src/geometry/translation.rs
@@ -20,7 +20,11 @@ use crate::geometry::Point;
 #[cfg_attr(feature = "rkyv-serialize", derive(bytecheck::CheckBytes))]
 #[cfg_attr(
     feature = "rkyv-serialize-no-std",
-    derive(rkyv::Archive, rkyv::Serialize, rkyv::Deserialize)
+    derive(rkyv::Archive, rkyv::Serialize, rkyv::Deserialize),
+    archive(as = "Translation<T::Archived, D>", bound(archive = "
+        T: rkyv::Archive,
+        SVector<T, D>: rkyv::Archive<Archived = SVector<T::Archived, D>>
+    "))
 )]
 #[cfg_attr(feature = "cuda", derive(cust_core::DeviceCopy))]
 #[derive(Copy, Clone)]
diff --git a/tests/core/rkyv.rs b/tests/core/rkyv.rs
index d2b7bfb3..7e2da7aa 100644
--- a/tests/core/rkyv.rs
+++ b/tests/core/rkyv.rs
@@ -6,9 +6,9 @@ use na::{
     SimilarityMatrix3, Translation2, Translation3, Unit, Vector2,
 };
 use rand;
-use rkyv::{Archive, Serialize, Deserialize};
+use rkyv::{Archive, Serialize, Deserialize, Infallible};
 
-macro_rules! test_rkyv(
+macro_rules! test_rkyv_archived_impls(
     ($($test: ident, $ty: ident);* $(;)*) => {$(
         #[test]
         fn $test() {
@@ -22,20 +22,36 @@ macro_rules! test_rkyv(
         }
     )*}
 );
+macro_rules! test_rkyv(
+    ($($test: ident, $ty: ident);* $(;)*) => {$(
+        #[test]
+        fn $test() {
+            let value: $ty<f32> = rand::random();
+			let bytes = rkyv::to_bytes::<_, 256>(&value).unwrap();
+
+			let archived = rkyv::check_archived_root::<$ty<f32>>(&bytes[..]).unwrap();
+            let deserialized: $ty<f32> = archived.deserialize(&mut Infallible).unwrap();
+			assert_eq!(deserialized, value);
+        }
+    )*}
+);
+
+test_rkyv_archived_impls!(
+    rkyv_matrix3x4,         Matrix3x4;
+);
 
 test_rkyv!(
-    rkyv_matrix3x4,          Matrix3x4;
     // rkyv_point3,             Point3;
-   /*  rkyv_translation3,       Translation3;
-    rkyv_rotation3,          Rotation3;
+    rkyv_translation3,       Translation3;
+    /* rkyv_rotation3,          Rotation3;
     rkyv_isometry3,          Isometry3;
     rkyv_isometry_matrix3,   IsometryMatrix3;
     rkyv_similarity3,        Similarity3;
     rkyv_similarity_matrix3, SimilarityMatrix3;
-    rkyv_quaternion,         Quaternion;
-    rkyv_point2,             Point2;
+    rkyv_quaternion,         Quaternion; */
+    // rkyv_point2,             Point2;
     rkyv_translation2,       Translation2;
-    rkyv_rotation2,          Rotation2;
+    /* rkyv_rotation2,          Rotation2;
     rkyv_isometry2,          Isometry2;
     rkyv_isometry_matrix2,   IsometryMatrix2;
     rkyv_similarity2,        Similarity2;

From 71379c074853d0d24667fe201a56319f35eedb14 Mon Sep 17 00:00:00 2001
From: zyansheep <zyansheep@protonmail.com>
Date: Wed, 13 Jul 2022 23:05:44 -0400
Subject: [PATCH 05/13] cargo fmt

---
 src/base/array_storage.rs       | 7 +++++--
 src/base/matrix.rs              | 9 ++++++---
 src/base/unit.rs                | 7 +++++--
 src/geometry/dual_quaternion.rs | 7 +++++--
 src/geometry/isometry.rs        | 7 +++++--
 src/geometry/orthographic.rs    | 7 +++++--
 src/geometry/perspective.rs     | 7 +++++--
 src/geometry/quaternion.rs      | 7 +++++--
 src/geometry/rotation.rs        | 7 +++++--
 src/geometry/scale.rs           | 7 +++++--
 src/geometry/similarity.rs      | 7 +++++--
 src/geometry/translation.rs     | 7 +++++--
 src/lib.rs                      | 6 +++++-
 tests/core/mod.rs               | 2 +-
 tests/core/rkyv.rs              | 4 ++--
 15 files changed, 69 insertions(+), 29 deletions(-)

diff --git a/src/base/array_storage.rs b/src/base/array_storage.rs
index 457fa35e..5c165399 100644
--- a/src/base/array_storage.rs
+++ b/src/base/array_storage.rs
@@ -30,10 +30,13 @@ use std::mem;
 #[cfg_attr(
     feature = "rkyv-serialize-no-std",
     derive(rkyv::Archive, rkyv::Serialize, rkyv::Deserialize),
-    archive(as = "ArrayStorage<T::Archived, R, C>", bound(archive = "
+    archive(
+        as = "ArrayStorage<T::Archived, R, C>",
+        bound(archive = "
         T: rkyv::Archive,
         [[T; R]; C]: rkyv::Archive<Archived = [[T::Archived; R]; C]>
-    "))
+    ")
+    )
 )]
 #[cfg_attr(feature = "rkyv-serialize", derive(bytecheck::CheckBytes))]
 #[cfg_attr(feature = "cuda", derive(cust_core::DeviceCopy))]
diff --git a/src/base/matrix.rs b/src/base/matrix.rs
index 531b0540..fac84963 100644
--- a/src/base/matrix.rs
+++ b/src/base/matrix.rs
@@ -12,7 +12,7 @@ use std::mem;
 use serde::{Deserialize, Deserializer, Serialize, Serializer};
 
 #[cfg(feature = "rkyv-serialize-no-std")]
-use rkyv::{Archive, Archived, with::With};
+use rkyv::{with::With, Archive, Archived};
 #[cfg(feature = "rkyv-serialize-no-std")]
 use rkyv_wrappers::custom_phantom::CustomPhantom;
 
@@ -158,11 +158,14 @@ pub type MatrixCross<T, R1, C1, R2, C2> =
 #[cfg_attr(
     feature = "rkyv-serialize-no-std",
     derive(Archive, rkyv::Serialize, rkyv::Deserialize),
-    archive(as = "Matrix<T::Archived, R, C, S::Archived>", bound(archive = "
+    archive(
+        as = "Matrix<T::Archived, R, C, S::Archived>",
+        bound(archive = "
         T: Archive,
         S: Archive,
         With<PhantomData<(T, R, C)>, CustomPhantom<(Archived<T>, R, C)>>: Archive<Archived = PhantomData<(Archived<T>, R, C)>>
-    "))
+    ")
+    )
 )]
 #[cfg_attr(feature = "rkyv-serialize", derive(bytecheck::CheckBytes))]
 #[cfg_attr(feature = "cuda", derive(cust_core::DeviceCopy))]
diff --git a/src/base/unit.rs b/src/base/unit.rs
index 27588af0..2fc51107 100644
--- a/src/base/unit.rs
+++ b/src/base/unit.rs
@@ -24,9 +24,12 @@ use crate::{Dim, Matrix, OMatrix, RealField, Scalar, SimdComplexField, SimdRealF
 #[cfg_attr(
     feature = "rkyv-serialize-no-std",
     derive(rkyv::Archive, rkyv::Serialize, rkyv::Deserialize),
-    archive(as = "Unit<T::Archived>", bound(archive = "
+    archive(
+        as = "Unit<T::Archived>",
+        bound(archive = "
         T: rkyv::Archive,
-    "))
+    ")
+    )
 )]
 #[cfg_attr(feature = "rkyv-serialize", derive(bytecheck::CheckBytes))]
 // #[cfg_attr(feature = "cuda", derive(cust_core::DeviceCopy))]
diff --git a/src/geometry/dual_quaternion.rs b/src/geometry/dual_quaternion.rs
index 1d488d83..3219ad7c 100644
--- a/src/geometry/dual_quaternion.rs
+++ b/src/geometry/dual_quaternion.rs
@@ -44,10 +44,13 @@ use simba::scalar::{ClosedNeg, RealField};
 #[cfg_attr(
     feature = "rkyv-serialize-no-std",
     derive(rkyv::Archive, rkyv::Serialize, rkyv::Deserialize),
-    archive(as = "DualQuaternion<T::Archived>", bound(archive = "
+    archive(
+        as = "DualQuaternion<T::Archived>",
+        bound(archive = "
         T: rkyv::Archive,
         Quaternion<T>: rkyv::Archive<Archived = Quaternion<T::Archived>>
-    "))
+    ")
+    )
 )]
 #[cfg_attr(feature = "cuda", derive(cust_core::DeviceCopy))]
 pub struct DualQuaternion<T> {
diff --git a/src/geometry/isometry.rs b/src/geometry/isometry.rs
index 214f9e90..ca2aeb6d 100755
--- a/src/geometry/isometry.rs
+++ b/src/geometry/isometry.rs
@@ -69,11 +69,14 @@ use crate::geometry::{AbstractRotation, Point, Translation};
 #[cfg_attr(
     feature = "rkyv-serialize-no-std",
     derive(rkyv::Archive, rkyv::Serialize, rkyv::Deserialize),
-    archive(as = "Isometry<T::Archived, R::Archived, D>", bound(archive = "
+    archive(
+        as = "Isometry<T::Archived, R::Archived, D>",
+        bound(archive = "
         T: rkyv::Archive,
         R: rkyv::Archive,
         Translation<T, D>: rkyv::Archive<Archived = Translation<T::Archived, D>>
-    "))
+    ")
+    )
 )]
 #[cfg_attr(feature = "rkyv-serialize", derive(bytecheck::CheckBytes))]
 pub struct Isometry<T, R, const D: usize> {
diff --git a/src/geometry/orthographic.rs b/src/geometry/orthographic.rs
index acd2d02c..dc45564c 100644
--- a/src/geometry/orthographic.rs
+++ b/src/geometry/orthographic.rs
@@ -23,10 +23,13 @@ use crate::geometry::{Point3, Projective3};
 #[cfg_attr(
     feature = "rkyv-serialize-no-std",
     derive(rkyv::Archive, rkyv::Serialize, rkyv::Deserialize),
-    archive(as = "Orthographic3<T::Archived>", bound(archive = "
+    archive(
+        as = "Orthographic3<T::Archived>",
+        bound(archive = "
         T: rkyv::Archive,
         Matrix4<T>: rkyv::Archive<Archived = Matrix4<T::Archived>>
-    "))
+    ")
+    )
 )]
 #[cfg_attr(feature = "cuda", derive(cust_core::DeviceCopy))]
 #[derive(Copy, Clone)]
diff --git a/src/geometry/perspective.rs b/src/geometry/perspective.rs
index 1c5e2ec9..9b88c0c3 100644
--- a/src/geometry/perspective.rs
+++ b/src/geometry/perspective.rs
@@ -24,10 +24,13 @@ use crate::geometry::{Point3, Projective3};
 #[cfg_attr(
     feature = "rkyv-serialize-no-std",
     derive(rkyv::Archive, rkyv::Serialize, rkyv::Deserialize),
-    archive(as = "Perspective3<T::Archived>", bound(archive = "
+    archive(
+        as = "Perspective3<T::Archived>",
+        bound(archive = "
         T: rkyv::Archive,
         Matrix4<T>: rkyv::Archive<Archived = Matrix4<T::Archived>>
-    "))
+    ")
+    )
 )]
 #[cfg_attr(feature = "cuda", derive(cust_core::DeviceCopy))]
 #[derive(Copy, Clone)]
diff --git a/src/geometry/quaternion.rs b/src/geometry/quaternion.rs
index ece0346e..49764802 100755
--- a/src/geometry/quaternion.rs
+++ b/src/geometry/quaternion.rs
@@ -27,10 +27,13 @@ use crate::geometry::{Point3, Rotation};
 #[cfg_attr(
     feature = "rkyv-serialize-no-std",
     derive(rkyv::Archive, rkyv::Serialize, rkyv::Deserialize),
-    archive(as = "Quaternion<T::Archived>", bound(archive = "
+    archive(
+        as = "Quaternion<T::Archived>",
+        bound(archive = "
         T: rkyv::Archive,
         Vector4<T>: rkyv::Archive<Archived = Vector4<T::Archived>>
-    "))
+    ")
+    )
 )]
 #[cfg_attr(feature = "cuda", derive(cust_core::DeviceCopy))]
 pub struct Quaternion<T> {
diff --git a/src/geometry/rotation.rs b/src/geometry/rotation.rs
index a923af8b..d02e2259 100755
--- a/src/geometry/rotation.rs
+++ b/src/geometry/rotation.rs
@@ -53,10 +53,13 @@ use crate::geometry::Point;
 #[cfg_attr(
     feature = "rkyv-serialize-no-std",
     derive(rkyv::Archive, rkyv::Serialize, rkyv::Deserialize),
-    archive(as = "Rotation<T::Archived, D>", bound(archive = "
+    archive(
+        as = "Rotation<T::Archived, D>",
+        bound(archive = "
         T: rkyv::Archive,
         SMatrix<T, D, D>: rkyv::Archive<Archived = SMatrix<T::Archived, D, D>>
-    "))
+    ")
+    )
 )]
 #[cfg_attr(feature = "cuda", derive(cust_core::DeviceCopy))]
 #[derive(Copy, Clone)]
diff --git a/src/geometry/scale.rs b/src/geometry/scale.rs
index 6dd0ce39..be3c6f70 100755
--- a/src/geometry/scale.rs
+++ b/src/geometry/scale.rs
@@ -21,10 +21,13 @@ use crate::geometry::Point;
 #[cfg_attr(
     feature = "rkyv-serialize-no-std",
     derive(rkyv::Archive, rkyv::Serialize, rkyv::Deserialize),
-    archive(as = "Scale<T::Archived, D>", bound(archive = "
+    archive(
+        as = "Scale<T::Archived, D>",
+        bound(archive = "
         T: rkyv::Archive,
         SVector<T, D>: rkyv::Archive<Archived = SVector<T::Archived, D>>
-    "))
+    ")
+    )
 )]
 #[cfg_attr(feature = "cuda", derive(cust_core::DeviceCopy))]
 #[derive(Copy, Clone)]
diff --git a/src/geometry/similarity.rs b/src/geometry/similarity.rs
index 6c7d5418..b2ce1e1c 100755
--- a/src/geometry/similarity.rs
+++ b/src/geometry/similarity.rs
@@ -37,11 +37,14 @@ use crate::geometry::{AbstractRotation, Isometry, Point, Translation};
 #[cfg_attr(
     feature = "rkyv-serialize-no-std",
     derive(rkyv::Archive, rkyv::Serialize, rkyv::Deserialize),
-    archive(as = "Similarity<T::Archived, R::Archived, D>", bound(archive = "
+    archive(
+        as = "Similarity<T::Archived, R::Archived, D>",
+        bound(archive = "
         T: rkyv::Archive,
         R: rkyv::Archive,
         Isometry<T, R, D>: rkyv::Archive<Archived = Isometry<T::Archived, R::Archived, D>>
-    "))
+    ")
+    )
 )]
 #[cfg_attr(feature = "rkyv-serialize", derive(bytecheck::CheckBytes))]
 pub struct Similarity<T, R, const D: usize> {
diff --git a/src/geometry/translation.rs b/src/geometry/translation.rs
index 980b885f..403a9a6a 100755
--- a/src/geometry/translation.rs
+++ b/src/geometry/translation.rs
@@ -21,10 +21,13 @@ use crate::geometry::Point;
 #[cfg_attr(
     feature = "rkyv-serialize-no-std",
     derive(rkyv::Archive, rkyv::Serialize, rkyv::Deserialize),
-    archive(as = "Translation<T::Archived, D>", bound(archive = "
+    archive(
+        as = "Translation<T::Archived, D>",
+        bound(archive = "
         T: rkyv::Archive,
         SVector<T, D>: rkyv::Archive<Archived = SVector<T::Archived, D>>
-    "))
+    ")
+    )
 )]
 #[cfg_attr(feature = "cuda", derive(cust_core::DeviceCopy))]
 #[derive(Copy, Clone)]
diff --git a/src/lib.rs b/src/lib.rs
index 13557887..780b03e8 100644
--- a/src/lib.rs
+++ b/src/lib.rs
@@ -83,7 +83,11 @@ an optimized set of tools for computer graphics and physics. Those features incl
     missing_copy_implementations
 )]
 #![cfg_attr(feature = "rkyv-serialize-no-std", allow(unused_results))] // TODO: deny this once bytecheck stops generating warnings.
-#![cfg_attr(not(feature = "rkyv-serialize-no-std"), deny(unused_results), deny(unused_qualifications))] // TODO: deny this globally
+#![cfg_attr(
+    not(feature = "rkyv-serialize-no-std"),
+    deny(unused_results),
+    deny(unused_qualifications)
+)] // TODO: deny this globally
 #![doc(
     html_favicon_url = "https://nalgebra.org/img/favicon.ico",
     html_root_url = "https://docs.rs/nalgebra/0.25.0"
diff --git a/tests/core/mod.rs b/tests/core/mod.rs
index d4504c83..01cc34e3 100644
--- a/tests/core/mod.rs
+++ b/tests/core/mod.rs
@@ -7,8 +7,8 @@ mod matrix;
 mod matrix_slice;
 #[cfg(feature = "mint")]
 mod mint;
-mod serde;
 mod rkyv;
+mod serde;
 
 #[cfg(feature = "compare")]
 mod matrixcompare;
diff --git a/tests/core/rkyv.rs b/tests/core/rkyv.rs
index 7e2da7aa..12d85f56 100644
--- a/tests/core/rkyv.rs
+++ b/tests/core/rkyv.rs
@@ -6,7 +6,7 @@ use na::{
     SimilarityMatrix3, Translation2, Translation3, Unit, Vector2,
 };
 use rand;
-use rkyv::{Archive, Serialize, Deserialize, Infallible};
+use rkyv::{Archive, Deserialize, Infallible, Serialize};
 
 macro_rules! test_rkyv_archived_impls(
     ($($test: ident, $ty: ident);* $(;)*) => {$(
@@ -56,4 +56,4 @@ test_rkyv!(
     rkyv_isometry_matrix2,   IsometryMatrix2;
     rkyv_similarity2,        Similarity2;
     rkyv_similarity_matrix2, SimilarityMatrix2; */
-);
\ No newline at end of file
+);

From f66b690fe8a769783eb528ddd2fbaf81595bf865 Mon Sep 17 00:00:00 2001
From: zyansheep <zyansheep@protonmail.com>
Date: Thu, 14 Jul 2022 08:04:03 -0400
Subject: [PATCH 06/13] num-complex conflicting with simba why

---
 Cargo.toml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/Cargo.toml b/Cargo.toml
index 0d17f8ac..e27d862b 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -71,10 +71,10 @@ nalgebra-macros = { version = "0.1", path = "nalgebra-macros", optional = true }
 typenum        = "1.12"
 rand-package   = { package = "rand", version = "0.8", optional = true, default-features = false }
 num-traits     = { version = "0.2", default-features = false }
-num-complex    = { version = "0.4", default-features = false } # { version = "0.4", default-features = false }
+num-complex    = { version = "0.4", git = "https://github.com/zyansheep/num-complex", default-features = false } # { version = "0.4", default-features = false }
 num-rational   = { version = "0.4", default-features = false }
 approx         = { version = "0.5", default-features = false }
-simba          = { version = "0.7", default-features = false }
+simba          = { version = "0.7.0", default-features = false }
 alga           = { version = "0.9", default-features = false, optional = true }
 rand_distr     = { version = "0.4", default-features = false, optional = true }
 matrixmultiply = { version = "0.3", optional = true }

From 525bc63de286713d98b22a9e78aad6a96365bfac Mon Sep 17 00:00:00 2001
From: zyansheep <zyansheep@protonmail.com>
Date: Sun, 17 Jul 2022 16:51:20 -0400
Subject: [PATCH 07/13] use patch for num-complex & refactor

---
 Cargo.toml                 | 12 +++++----
 src/base/array_storage.rs  |  2 +-
 src/base/dimension.rs      | 10 --------
 src/base/matrix.rs         |  2 +-
 src/base/unit.rs           |  2 +-
 src/geometry/isometry.rs   |  2 +-
 src/geometry/point.rs      | 13 ++++++++--
 src/geometry/similarity.rs |  2 +-
 tests/core/rkyv.rs         | 52 ++++++++++++++++++++------------------
 9 files changed, 51 insertions(+), 46 deletions(-)

diff --git a/Cargo.toml b/Cargo.toml
index e27d862b..0d1795a0 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -52,8 +52,8 @@ convert-glam020 = [ "glam020" ]
 ## `serde-serialize`.
 serde-serialize-no-std = [ "serde", "num-complex/serde" ]
 serde-serialize        = [ "serde-serialize-no-std", "serde/std" ]
-rkyv-serialize-no-std  = [ "rkyv", "rkyv_wrappers" ]
-rkyv-serialize         = [ "rkyv-serialize-no-std", "rkyv/std", "rkyv/validation", "bytecheck" ]
+rkyv-serialize-no-std  = [ "rkyv", "rkyv_wrappers", "num-complex/rkyv" ]
+rkyv-serialize         = [ "rkyv-serialize-no-std", "rkyv/std", "rkyv/validation", "bytecheck", "num-complex/bytecheck" ]
 
 # Randomness
 ## To use rand in a #[no-std] environment, enable the
@@ -71,15 +71,15 @@ nalgebra-macros = { version = "0.1", path = "nalgebra-macros", optional = true }
 typenum        = "1.12"
 rand-package   = { package = "rand", version = "0.8", optional = true, default-features = false }
 num-traits     = { version = "0.2", default-features = false }
-num-complex    = { version = "0.4", git = "https://github.com/zyansheep/num-complex", default-features = false } # { version = "0.4", default-features = false }
+num-complex    = { version = "0.4", default-features = false }
 num-rational   = { version = "0.4", default-features = false }
 approx         = { version = "0.5", default-features = false }
-simba          = { version = "0.7.0", default-features = false }
+simba          = { version = "0.7", default-features = false }
 alga           = { version = "0.9", default-features = false, optional = true }
 rand_distr     = { version = "0.4", default-features = false, optional = true }
 matrixmultiply = { version = "0.3", optional = true }
 serde          = { version = "1.0", default-features = false, features = [ "derive" ], optional = true }
-rkyv           = { version = "0.7", optional = true }
+rkyv           = { version = "0.7", default-features = false, optional = true }
 rkyv_wrappers  = { git = "https://github.com/rkyv/rkyv_contrib", optional = true }
 bytecheck      = { version = "~0.6.1", optional = true }
 mint           = { version = "0.5", optional = true }
@@ -134,3 +134,5 @@ lto = true
 # Enable certain features when building docs for docs.rs
 features = [ "proptest-support", "compare", "macros", "rand" ]
 
+[patch.crates-io]
+num-complex = { git = "https://github.com/zyansheep/num-complex" }
\ No newline at end of file
diff --git a/src/base/array_storage.rs b/src/base/array_storage.rs
index 5c165399..1104bf2e 100644
--- a/src/base/array_storage.rs
+++ b/src/base/array_storage.rs
@@ -27,6 +27,7 @@ use std::mem;
 /// A array-based statically sized matrix data storage.
 #[repr(transparent)]
 #[derive(Copy, Clone, PartialEq, Eq, Hash)]
+#[cfg_attr(feature = "rkyv-serialize", derive(bytecheck::CheckBytes))]
 #[cfg_attr(
     feature = "rkyv-serialize-no-std",
     derive(rkyv::Archive, rkyv::Serialize, rkyv::Deserialize),
@@ -38,7 +39,6 @@ use std::mem;
     ")
     )
 )]
-#[cfg_attr(feature = "rkyv-serialize", derive(bytecheck::CheckBytes))]
 #[cfg_attr(feature = "cuda", derive(cust_core::DeviceCopy))]
 pub struct ArrayStorage<T, const R: usize, const C: usize>(pub [[T; R]; C]);
 
diff --git a/src/base/dimension.rs b/src/base/dimension.rs
index 4be97586..25ed637e 100644
--- a/src/base/dimension.rs
+++ b/src/base/dimension.rs
@@ -13,11 +13,6 @@ use serde::{Deserialize, Deserializer, Serialize, Serializer};
 
 /// Dim of dynamically-sized algebraic entities.
 #[derive(Clone, Copy, Eq, PartialEq, Debug)]
-#[cfg_attr(feature = "rkyv-serialize", derive(bytecheck::CheckBytes))]
-#[cfg_attr(
-    feature = "rkyv-serialize-no-std",
-    derive(rkyv::Archive, rkyv::Serialize, rkyv::Deserialize)
-)]
 #[cfg_attr(feature = "cuda", derive(cust_core::DeviceCopy))]
 pub struct Dynamic {
     value: usize,
@@ -203,11 +198,6 @@ dim_ops!(
 );
 
 #[derive(Debug, Copy, Clone, PartialEq, Eq, Hash)]
-#[cfg_attr(
-    feature = "rkyv-serialize-no-std",
-    derive(rkyv::Archive, rkyv::Serialize, rkyv::Deserialize)
-)]
-#[cfg_attr(feature = "rkyv-serialize", derive(bytecheck::CheckBytes))]
 #[cfg_attr(feature = "cuda", derive(cust_core::DeviceCopy))]
 pub struct Const<const R: usize>;
 
diff --git a/src/base/matrix.rs b/src/base/matrix.rs
index fac84963..23d684f2 100644
--- a/src/base/matrix.rs
+++ b/src/base/matrix.rs
@@ -155,6 +155,7 @@ pub type MatrixCross<T, R1, C1, R2, C2> =
 /// some concrete types for `T` and a compatible data storage type `S`).
 #[repr(C)]
 #[derive(Clone, Copy)]
+#[cfg_attr(feature = "rkyv-serialize", derive(bytecheck::CheckBytes))]
 #[cfg_attr(
     feature = "rkyv-serialize-no-std",
     derive(Archive, rkyv::Serialize, rkyv::Deserialize),
@@ -167,7 +168,6 @@ pub type MatrixCross<T, R1, C1, R2, C2> =
     ")
     )
 )]
-#[cfg_attr(feature = "rkyv-serialize", derive(bytecheck::CheckBytes))]
 #[cfg_attr(feature = "cuda", derive(cust_core::DeviceCopy))]
 pub struct Matrix<T, R, C, S> {
     /// The data storage that contains all the matrix components. Disappointed?
diff --git a/src/base/unit.rs b/src/base/unit.rs
index 2fc51107..5381caaf 100644
--- a/src/base/unit.rs
+++ b/src/base/unit.rs
@@ -21,6 +21,7 @@ use crate::{Dim, Matrix, OMatrix, RealField, Scalar, SimdComplexField, SimdRealF
 /// in their documentation, read their dedicated pages directly.
 #[repr(transparent)]
 #[derive(Clone, Hash, Copy)]
+#[cfg_attr(feature = "rkyv-serialize", derive(bytecheck::CheckBytes))]
 #[cfg_attr(
     feature = "rkyv-serialize-no-std",
     derive(rkyv::Archive, rkyv::Serialize, rkyv::Deserialize),
@@ -31,7 +32,6 @@ use crate::{Dim, Matrix, OMatrix, RealField, Scalar, SimdComplexField, SimdRealF
     ")
     )
 )]
-#[cfg_attr(feature = "rkyv-serialize", derive(bytecheck::CheckBytes))]
 // #[cfg_attr(feature = "cuda", derive(cust_core::DeviceCopy))]
 pub struct Unit<T> {
     pub(crate) value: T,
diff --git a/src/geometry/isometry.rs b/src/geometry/isometry.rs
index ca2aeb6d..66a3031b 100755
--- a/src/geometry/isometry.rs
+++ b/src/geometry/isometry.rs
@@ -66,6 +66,7 @@ use crate::geometry::{AbstractRotation, Point, Translation};
                        Owned<T, Const<D>>: Deserialize<'de>,
                        T: Scalar"))
 )]
+#[cfg_attr(feature = "rkyv-serialize", derive(bytecheck::CheckBytes))]
 #[cfg_attr(
     feature = "rkyv-serialize-no-std",
     derive(rkyv::Archive, rkyv::Serialize, rkyv::Deserialize),
@@ -78,7 +79,6 @@ use crate::geometry::{AbstractRotation, Point, Translation};
     ")
     )
 )]
-#[cfg_attr(feature = "rkyv-serialize", derive(bytecheck::CheckBytes))]
 pub struct Isometry<T, R, const D: usize> {
     /// The pure rotational part of this isometry.
     pub rotation: R,
diff --git a/src/geometry/point.rs b/src/geometry/point.rs
index 306c18e5..28bd251c 100644
--- a/src/geometry/point.rs
+++ b/src/geometry/point.rs
@@ -36,11 +36,20 @@ use std::mem::MaybeUninit;
 /// of said transformations for details.
 #[repr(C)]
 #[derive(Clone)]
+#[cfg_attr(feature = "rkyv-serialize", derive(bytecheck::CheckBytes))]
 #[cfg_attr(
     feature = "rkyv-serialize-no-std",
-    derive(rkyv::Archive, rkyv::Serialize, rkyv::Deserialize)
+    derive(rkyv::Archive, rkyv::Serialize, rkyv::Deserialize),
+    archive(
+        as = "OPoint<T::Archived, D>",
+        bound(archive = "
+        T: rkyv::Archive,
+        T::Archived: Scalar,
+        OVector<T, D>: rkyv::Archive<Archived = OVector<T::Archived, D>>,
+        DefaultAllocator: Allocator<T::Archived, D>,
+    ")
+    )
 )]
-#[cfg_attr(feature = "rkyv-serialize", derive(bytecheck::CheckBytes))]
 pub struct OPoint<T: Scalar, D: DimName>
 where
     DefaultAllocator: Allocator<T, D>,
diff --git a/src/geometry/similarity.rs b/src/geometry/similarity.rs
index b2ce1e1c..0d404c1f 100755
--- a/src/geometry/similarity.rs
+++ b/src/geometry/similarity.rs
@@ -34,6 +34,7 @@ use crate::geometry::{AbstractRotation, Isometry, Point, Translation};
                        DefaultAllocator: Allocator<T, Const<D>>,
                        Owned<T, Const<D>>: Deserialize<'de>"))
 )]
+#[cfg_attr(feature = "rkyv-serialize", derive(bytecheck::CheckBytes))]
 #[cfg_attr(
     feature = "rkyv-serialize-no-std",
     derive(rkyv::Archive, rkyv::Serialize, rkyv::Deserialize),
@@ -46,7 +47,6 @@ use crate::geometry::{AbstractRotation, Isometry, Point, Translation};
     ")
     )
 )]
-#[cfg_attr(feature = "rkyv-serialize", derive(bytecheck::CheckBytes))]
 pub struct Similarity<T, R, const D: usize> {
     /// The part of this similarity that does not include the scaling factor.
     pub isometry: Isometry<T, R, D>,
diff --git a/tests/core/rkyv.rs b/tests/core/rkyv.rs
index 12d85f56..678e06d1 100644
--- a/tests/core/rkyv.rs
+++ b/tests/core/rkyv.rs
@@ -8,7 +8,7 @@ use na::{
 use rand;
 use rkyv::{Archive, Deserialize, Infallible, Serialize};
 
-macro_rules! test_rkyv_archived_impls(
+macro_rules! test_rkyv_same_type(
     ($($test: ident, $ty: ident);* $(;)*) => {$(
         #[test]
         fn $test() {
@@ -16,44 +16,48 @@ macro_rules! test_rkyv_archived_impls(
 			let bytes = rkyv::to_bytes::<_, 256>(&value).unwrap();
 
 			let archived = rkyv::check_archived_root::<$ty<f32>>(&bytes[..]).unwrap();
+            // Compare archived and non-archived
 			assert_eq!(archived, &value);
 
+            // Make sure Debug implementations are the same for Archived and non-Archived versions.
 			assert_eq!(format!("{:?}", value), format!("{:?}", archived));
         }
     )*}
 );
-macro_rules! test_rkyv(
+macro_rules! test_rkyv_diff_type(
     ($($test: ident, $ty: ident);* $(;)*) => {$(
         #[test]
         fn $test() {
-            let value: $ty<f32> = rand::random();
+            let value: $ty<String> = Default::default();
 			let bytes = rkyv::to_bytes::<_, 256>(&value).unwrap();
 
-			let archived = rkyv::check_archived_root::<$ty<f32>>(&bytes[..]).unwrap();
-            let deserialized: $ty<f32> = archived.deserialize(&mut Infallible).unwrap();
+			let archived = rkyv::check_archived_root::<$ty<String>>(&bytes[..]).unwrap();
+            let deserialized: $ty<String> = archived.deserialize(&mut Infallible).unwrap();
 			assert_eq!(deserialized, value);
         }
     )*}
 );
 
-test_rkyv_archived_impls!(
-    rkyv_matrix3x4,         Matrix3x4;
+// Tests to make sure
+test_rkyv_same_type!(
+    rkyv_same_type_matrix3x4,          Matrix3x4;
+    rkyv_same_type_point3,             Point3;
+    rkyv_same_type_translation3,       Translation3;
+    rkyv_same_type_rotation3,          Rotation3;
+    rkyv_same_type_isometry3,          Isometry3;
+    rkyv_same_type_isometry_matrix3,   IsometryMatrix3;
+    rkyv_same_type_similarity3,        Similarity3;
+    rkyv_same_type_similarity_matrix3, SimilarityMatrix3;
+    rkyv_same_type_quaternion,         Quaternion;
+    rkyv_same_type_point2,             Point2;
+    rkyv_same_type_translation2,       Translation2;
+    rkyv_same_type_rotation2,          Rotation2;
+    rkyv_same_type_isometry2,          Isometry2;
+    rkyv_same_type_isometry_matrix2,   IsometryMatrix2;
+    rkyv_same_type_similarity2,        Similarity2;
+    rkyv_same_type_similarity_matrix2, SimilarityMatrix2;
 );
 
-test_rkyv!(
-    // rkyv_point3,             Point3;
-    rkyv_translation3,       Translation3;
-    /* rkyv_rotation3,          Rotation3;
-    rkyv_isometry3,          Isometry3;
-    rkyv_isometry_matrix3,   IsometryMatrix3;
-    rkyv_similarity3,        Similarity3;
-    rkyv_similarity_matrix3, SimilarityMatrix3;
-    rkyv_quaternion,         Quaternion; */
-    // rkyv_point2,             Point2;
-    rkyv_translation2,       Translation2;
-    /* rkyv_rotation2,          Rotation2;
-    rkyv_isometry2,          Isometry2;
-    rkyv_isometry_matrix2,   IsometryMatrix2;
-    rkyv_similarity2,        Similarity2;
-    rkyv_similarity_matrix2, SimilarityMatrix2; */
-);
+test_rkyv_diff_type! {
+    rkyv_diff_type_matrix3x4,          Matrix3x4;
+}

From e959f2eb9cec6bd771eebf74cee425c0edc934cb Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?S=C3=A9bastien=20Crozet?= <developer@crozet.re>
Date: Fri, 13 Jan 2023 09:58:41 +0100
Subject: [PATCH 08/13] Fix CheckBytes derives + drop Complex rkyv support for
 now

---
 Cargo.toml                      |  8 +---
 src/base/array_storage.rs       |  5 +--
 src/base/dimension.rs           |  8 ++--
 src/base/matrix.rs              |  9 ++---
 src/base/mod.rs                 |  3 ++
 src/base/rkyv_wrappers.rs       | 72 +++++++++++++++++++++++++++++++++
 src/base/unit.rs                |  5 +--
 src/geometry/dual_quaternion.rs |  5 +--
 src/geometry/orthographic.rs    |  5 +--
 src/geometry/perspective.rs     |  5 +--
 src/geometry/quaternion.rs      | 11 ++---
 src/geometry/rotation.rs        |  5 +--
 src/geometry/scale.rs           |  5 +--
 src/geometry/translation.rs     |  5 +--
 tests/core/rkyv.rs              | 11 +++--
 15 files changed, 100 insertions(+), 62 deletions(-)
 create mode 100644 src/base/rkyv_wrappers.rs

diff --git a/Cargo.toml b/Cargo.toml
index b657e6a2..9d0b1a7c 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -54,8 +54,8 @@ convert-glam022 = [ "glam022" ]
 ## `serde-serialize`.
 serde-serialize-no-std = [ "serde", "num-complex/serde" ]
 serde-serialize        = [ "serde-serialize-no-std", "serde/std" ]
-rkyv-serialize-no-std  = [ "rkyv", "rkyv_wrappers", "num-complex/rkyv" ]
-rkyv-serialize         = [ "rkyv-serialize-no-std", "rkyv/std", "rkyv/validation", "bytecheck", "num-complex/bytecheck" ]
+rkyv-serialize-no-std  = [ "rkyv/size_32" ]
+rkyv-serialize         = [ "rkyv-serialize-no-std", "rkyv/std", "rkyv/validation", "bytecheck" ]
 
 # Randomness
 ## To use rand in a #[no-std] environment, enable the
@@ -83,7 +83,6 @@ rand_distr     = { version = "0.4", default-features = false, optional = true }
 matrixmultiply = { version = "0.3", optional = true }
 serde          = { version = "1.0", default-features = false, features = [ "derive" ], optional = true }
 rkyv           = { version = "0.7", default-features = false, optional = true }
-rkyv_wrappers  = { git = "https://github.com/rkyv/rkyv_contrib", optional = true }
 bytecheck      = { version = "~0.6.1", optional = true }
 mint           = { version = "0.5", optional = true }
 quickcheck     = { version = "1", optional = true }
@@ -138,6 +137,3 @@ lto = true
 [package.metadata.docs.rs]
 # Enable all the features when building the docs on docs.rs
 all-features = true
-
-[patch.crates-io]
-num-complex = { git = "https://github.com/zyansheep/num-complex" }
\ No newline at end of file
diff --git a/src/base/array_storage.rs b/src/base/array_storage.rs
index 94ed8bb0..5c165399 100644
--- a/src/base/array_storage.rs
+++ b/src/base/array_storage.rs
@@ -38,10 +38,7 @@ use std::mem;
     ")
     )
 )]
-#[cfg_attr(
-    feature = "rkyv-serialize",
-    archive_attr(derive(bytecheck::CheckBytes))
-)]
+#[cfg_attr(feature = "rkyv-serialize", derive(bytecheck::CheckBytes))]
 #[cfg_attr(feature = "cuda", derive(cust_core::DeviceCopy))]
 pub struct ArrayStorage<T, const R: usize, const C: usize>(pub [[T; R]; C]);
 
diff --git a/src/base/dimension.rs b/src/base/dimension.rs
index 06697618..3d1de1ff 100644
--- a/src/base/dimension.rs
+++ b/src/base/dimension.rs
@@ -208,12 +208,10 @@ dim_ops!(
 #[derive(Debug, Copy, Clone, PartialEq, Eq, Hash)]
 #[cfg_attr(
     feature = "rkyv-serialize-no-std",
-    derive(rkyv::Archive, rkyv::Serialize, rkyv::Deserialize)
-)]
-#[cfg_attr(
-    feature = "rkyv-serialize",
-    archive_attr(derive(bytecheck::CheckBytes))
+    derive(rkyv::Archive, rkyv::Serialize, rkyv::Deserialize),
+    archive(as = "Self")
 )]
+#[cfg_attr(feature = "rkyv-serialize", derive(bytecheck::CheckBytes))]
 #[cfg_attr(feature = "cuda", derive(cust_core::DeviceCopy))]
 pub struct Const<const R: usize>;
 
diff --git a/src/base/matrix.rs b/src/base/matrix.rs
index 8f664dd4..700e2f02 100644
--- a/src/base/matrix.rs
+++ b/src/base/matrix.rs
@@ -12,9 +12,9 @@ use std::mem;
 use serde::{Deserialize, Deserializer, Serialize, Serializer};
 
 #[cfg(feature = "rkyv-serialize-no-std")]
-use rkyv::{with::With, Archive, Archived};
+use super::rkyv_wrappers::CustomPhantom;
 #[cfg(feature = "rkyv-serialize-no-std")]
-use rkyv_wrappers::custom_phantom::CustomPhantom;
+use rkyv::{with::With, Archive, Archived};
 
 use simba::scalar::{ClosedAdd, ClosedMul, ClosedSub, Field, SupersetOf};
 use simba::simd::SimdPartialOrd;
@@ -167,10 +167,7 @@ pub type MatrixCross<T, R1, C1, R2, C2> =
     ")
     )
 )]
-#[cfg_attr(
-    feature = "rkyv-serialize",
-    archive_attr(derive(bytecheck::CheckBytes))
-)]
+#[cfg_attr(feature = "rkyv-serialize", derive(bytecheck::CheckBytes))]
 #[cfg_attr(feature = "cuda", derive(cust_core::DeviceCopy))]
 pub struct Matrix<T, R, C, S> {
     /// The data storage that contains all the matrix components. Disappointed?
diff --git a/src/base/mod.rs b/src/base/mod.rs
index dfe7cc8d..4cbcff93 100644
--- a/src/base/mod.rs
+++ b/src/base/mod.rs
@@ -42,6 +42,9 @@ mod min_max;
 /// Mechanisms for working with values that may not be initialized.
 pub mod uninit;
 
+#[cfg(feature = "rkyv-serialize-no-std")]
+mod rkyv_wrappers;
+
 pub use self::matrix::*;
 pub use self::norm::*;
 pub use self::scalar::*;
diff --git a/src/base/rkyv_wrappers.rs b/src/base/rkyv_wrappers.rs
new file mode 100644
index 00000000..b11c618a
--- /dev/null
+++ b/src/base/rkyv_wrappers.rs
@@ -0,0 +1,72 @@
+//! Wrapper that allows changing the generic type of a PhantomData<T>
+//!
+//! Copied from https://github.com/rkyv/rkyv_contrib (MIT-Apache2 licences) which isn’t published yet.
+
+use rkyv::{
+    with::{ArchiveWith, DeserializeWith, SerializeWith},
+    Fallible,
+};
+use std::marker::PhantomData;
+
+/// A wrapper that allows for changing the generic type of a PhantomData<T>.
+///
+/// Example:
+///
+/// ```rust
+/// use std::marker::PhantomData;
+/// use rkyv::{
+///     Archive, Serialize, Deserialize, Infallible, vec::ArchivedVec, Archived, with::With,
+/// };
+/// use rkyv_wrappers::custom_phantom::CustomPhantom;
+/// #[derive(Archive, Serialize, Deserialize, Debug, PartialEq, Eq, Default)]
+/// #[archive(as = "StructWithPhantom<T::Archived>", bound(archive = "
+/// 	T: Archive,
+/// 	With<PhantomData<T>, CustomPhantom<Archived<T>>>: Archive<Archived = PhantomData<Archived<T>>>
+/// "))]
+/// struct StructWithPhantom<T> {
+/// 	pub num: i32,
+///     #[with(CustomPhantom<T::Archived>)]
+///     pub phantom: PhantomData<T>,
+/// }
+/// let value = StructWithPhantom::<Vec<i32>>::default();
+/// let bytes = rkyv::to_bytes::<_, 1024>(&value).unwrap();
+/// let archived: &StructWithPhantom<ArchivedVec<i32>> = unsafe { rkyv::archived_root::<StructWithPhantom<Vec<i32>>>(&bytes) };
+///
+/// let deserialized: StructWithPhantom<Vec<i32>> = archived.deserialize(&mut Infallible).unwrap();
+/// assert_eq!(deserialized, value);
+/// ```
+pub struct CustomPhantom<NT: ?Sized> {
+    _data: PhantomData<*const NT>,
+}
+
+impl<OT: ?Sized, NT: ?Sized> ArchiveWith<PhantomData<OT>> for CustomPhantom<NT> {
+    type Archived = PhantomData<NT>;
+    type Resolver = ();
+
+    #[inline]
+    unsafe fn resolve_with(
+        _: &PhantomData<OT>,
+        _: usize,
+        _: Self::Resolver,
+        _: *mut Self::Archived,
+    ) {
+    }
+}
+
+impl<OT: ?Sized, NT: ?Sized, S: Fallible + ?Sized> SerializeWith<PhantomData<OT>, S>
+    for CustomPhantom<NT>
+{
+    #[inline]
+    fn serialize_with(_: &PhantomData<OT>, _: &mut S) -> Result<Self::Resolver, S::Error> {
+        Ok(())
+    }
+}
+
+impl<OT: ?Sized, NT: ?Sized, D: Fallible + ?Sized>
+    DeserializeWith<PhantomData<NT>, PhantomData<OT>, D> for CustomPhantom<NT>
+{
+    #[inline]
+    fn deserialize_with(_: &PhantomData<NT>, _: &mut D) -> Result<PhantomData<OT>, D::Error> {
+        Ok(PhantomData)
+    }
+}
diff --git a/src/base/unit.rs b/src/base/unit.rs
index 3d6f677f..2fc51107 100644
--- a/src/base/unit.rs
+++ b/src/base/unit.rs
@@ -31,10 +31,7 @@ use crate::{Dim, Matrix, OMatrix, RealField, Scalar, SimdComplexField, SimdRealF
     ")
     )
 )]
-#[cfg_attr(
-    feature = "rkyv-serialize",
-    archive_attr(derive(bytecheck::CheckBytes))
-)]
+#[cfg_attr(feature = "rkyv-serialize", derive(bytecheck::CheckBytes))]
 // #[cfg_attr(feature = "cuda", derive(cust_core::DeviceCopy))]
 pub struct Unit<T> {
     pub(crate) value: T,
diff --git a/src/geometry/dual_quaternion.rs b/src/geometry/dual_quaternion.rs
index 828f7116..bae04f46 100644
--- a/src/geometry/dual_quaternion.rs
+++ b/src/geometry/dual_quaternion.rs
@@ -51,10 +51,7 @@ use simba::scalar::{ClosedNeg, RealField};
     ")
     )
 )]
-#[cfg_attr(
-    feature = "rkyv-serialize",
-    archive_attr(derive(bytecheck::CheckBytes))
-)]
+#[cfg_attr(feature = "rkyv-serialize", derive(bytecheck::CheckBytes))]
 #[cfg_attr(feature = "cuda", derive(cust_core::DeviceCopy))]
 pub struct DualQuaternion<T> {
     /// The real component of the quaternion
diff --git a/src/geometry/orthographic.rs b/src/geometry/orthographic.rs
index 0368ee6f..06d0b471 100644
--- a/src/geometry/orthographic.rs
+++ b/src/geometry/orthographic.rs
@@ -30,10 +30,7 @@ use crate::geometry::{Point3, Projective3};
     ")
     )
 )]
-#[cfg_attr(
-    feature = "rkyv-serialize",
-    archive_attr(derive(bytecheck::CheckBytes))
-)]
+#[cfg_attr(feature = "rkyv-serialize", derive(bytecheck::CheckBytes))]
 #[cfg_attr(feature = "cuda", derive(cust_core::DeviceCopy))]
 #[derive(Copy, Clone)]
 pub struct Orthographic3<T> {
diff --git a/src/geometry/perspective.rs b/src/geometry/perspective.rs
index 91e97efe..a5fc19a8 100644
--- a/src/geometry/perspective.rs
+++ b/src/geometry/perspective.rs
@@ -31,10 +31,7 @@ use crate::geometry::{Point3, Projective3};
     ")
     )
 )]
-#[cfg_attr(
-    feature = "rkyv-serialize",
-    archive_attr(derive(bytecheck::CheckBytes))
-)]
+#[cfg_attr(feature = "rkyv-serialize", derive(bytecheck::CheckBytes))]
 #[cfg_attr(feature = "cuda", derive(cust_core::DeviceCopy))]
 #[derive(Copy, Clone)]
 pub struct Perspective3<T> {
diff --git a/src/geometry/quaternion.rs b/src/geometry/quaternion.rs
index 9dfc3ec3..1b251b29 100755
--- a/src/geometry/quaternion.rs
+++ b/src/geometry/quaternion.rs
@@ -29,15 +29,12 @@ use crate::geometry::{Point3, Rotation};
     archive(
         as = "Quaternion<T::Archived>",
         bound(archive = "
-        T: rkyv::Archive,
-        Vector4<T>: rkyv::Archive<Archived = Vector4<T::Archived>>
-    ")
+            T: rkyv::Archive,
+            Vector4<T>: rkyv::Archive<Archived = Vector4<T::Archived>>
+        ")
     )
 )]
-#[cfg_attr(
-    feature = "rkyv-serialize",
-    archive_attr(derive(bytecheck::CheckBytes))
-)]
+#[cfg_attr(feature = "rkyv-serialize", derive(bytecheck::CheckBytes))]
 #[cfg_attr(feature = "cuda", derive(cust_core::DeviceCopy))]
 pub struct Quaternion<T> {
     /// This quaternion as a 4D vector of coordinates in the `[ x, y, z, w ]` storage order.
diff --git a/src/geometry/rotation.rs b/src/geometry/rotation.rs
index 2774cb14..5eceec21 100755
--- a/src/geometry/rotation.rs
+++ b/src/geometry/rotation.rs
@@ -60,10 +60,7 @@ use crate::geometry::Point;
     ")
     )
 )]
-#[cfg_attr(
-    feature = "rkyv-serialize",
-    archive_attr(derive(bytecheck::CheckBytes))
-)]
+#[cfg_attr(feature = "rkyv-serialize", derive(bytecheck::CheckBytes))]
 #[cfg_attr(feature = "cuda", derive(cust_core::DeviceCopy))]
 #[derive(Copy, Clone)]
 pub struct Rotation<T, const D: usize> {
diff --git a/src/geometry/scale.rs b/src/geometry/scale.rs
index 93b2258f..36a68066 100755
--- a/src/geometry/scale.rs
+++ b/src/geometry/scale.rs
@@ -28,10 +28,7 @@ use crate::geometry::Point;
     ")
     )
 )]
-#[cfg_attr(
-    feature = "rkyv-serialize",
-    archive_attr(derive(bytecheck::CheckBytes))
-)]
+#[cfg_attr(feature = "rkyv-serialize", derive(bytecheck::CheckBytes))]
 #[cfg_attr(feature = "cuda", derive(cust_core::DeviceCopy))]
 #[derive(Copy, Clone)]
 pub struct Scale<T, const D: usize> {
diff --git a/src/geometry/translation.rs b/src/geometry/translation.rs
index d44e891b..39fae3b6 100755
--- a/src/geometry/translation.rs
+++ b/src/geometry/translation.rs
@@ -28,10 +28,7 @@ use crate::geometry::Point;
     ")
     )
 )]
-#[cfg_attr(
-    feature = "rkyv-serialize",
-    archive_attr(derive(bytecheck::CheckBytes))
-)]
+#[cfg_attr(feature = "rkyv-serialize", derive(bytecheck::CheckBytes))]
 #[cfg_attr(feature = "cuda", derive(cust_core::DeviceCopy))]
 #[derive(Copy, Clone)]
 pub struct Translation<T, const D: usize> {
diff --git a/tests/core/rkyv.rs b/tests/core/rkyv.rs
index 678e06d1..ffe9ed30 100644
--- a/tests/core/rkyv.rs
+++ b/tests/core/rkyv.rs
@@ -1,12 +1,11 @@
 #![cfg(feature = "rkyv-serialize")]
 
 use na::{
-    DMatrix, Isometry2, Isometry3, IsometryMatrix2, IsometryMatrix3, Matrix2x3, Matrix3x4, Point2,
-    Point3, Quaternion, Rotation2, Rotation3, Similarity2, Similarity3, SimilarityMatrix2,
-    SimilarityMatrix3, Translation2, Translation3, Unit, Vector2,
+    Isometry3, IsometryMatrix2, IsometryMatrix3, Matrix3x4, Point2, Point3, Quaternion, Rotation2,
+    Rotation3, Similarity3, SimilarityMatrix2, SimilarityMatrix3, Translation2, Translation3,
 };
 use rand;
-use rkyv::{Archive, Deserialize, Infallible, Serialize};
+use rkyv::{Deserialize, Infallible};
 
 macro_rules! test_rkyv_same_type(
     ($($test: ident, $ty: ident);* $(;)*) => {$(
@@ -52,9 +51,9 @@ test_rkyv_same_type!(
     rkyv_same_type_point2,             Point2;
     rkyv_same_type_translation2,       Translation2;
     rkyv_same_type_rotation2,          Rotation2;
-    rkyv_same_type_isometry2,          Isometry2;
+    // rkyv_same_type_isometry2,          Isometry2;
     rkyv_same_type_isometry_matrix2,   IsometryMatrix2;
-    rkyv_same_type_similarity2,        Similarity2;
+    // rkyv_same_type_similarity2,        Similarity2;
     rkyv_same_type_similarity_matrix2, SimilarityMatrix2;
 );
 

From e24acba5f952f47cb8eec86b6a8233c56cd4be5d Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?S=C3=A9bastien=20Crozet?= <developer@crozet.re>
Date: Fri, 13 Jan 2023 10:05:52 +0100
Subject: [PATCH 09/13] cargo fmt

---
 src/geometry/isometry.rs | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/geometry/isometry.rs b/src/geometry/isometry.rs
index 04f7fca8..e3f44075 100755
--- a/src/geometry/isometry.rs
+++ b/src/geometry/isometry.rs
@@ -21,7 +21,7 @@ use crate::geometry::{AbstractRotation, Point, Translation};
 /// A 2D isometry is composed of:
 /// - A translation part of type [`Translation2`](crate::Translation2)
 /// - A rotation part which can either be a [`UnitComplex`](crate::UnitComplex) or a [`Rotation2`](crate::Rotation2).
-/// 
+///
 /// A 3D isometry is composed of:
 /// - A translation part of type [`Translation3`](crate::Translation3)
 /// - A rotation part which can either be a [`UnitQuaternion`](crate::UnitQuaternion) or a [`Rotation3`](crate::Rotation3).

From 7cacb2bf4a77db2e523e1752b99fecce696a6b2b Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?S=C3=A9bastien=20Crozet?= <developer@crozet.re>
Date: Fri, 13 Jan 2023 10:06:49 +0100
Subject: [PATCH 10/13] Fix CI for Cuda

---
 .github/workflows/nalgebra-ci-build.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/nalgebra-ci-build.yml b/.github/workflows/nalgebra-ci-build.yml
index 8b96d264..d4f061d8 100644
--- a/.github/workflows/nalgebra-ci-build.yml
+++ b/.github/workflows/nalgebra-ci-build.yml
@@ -125,7 +125,7 @@ jobs:
     steps:
       - uses: Jimver/cuda-toolkit@v0.2.4
         with:
-          cuda: '11.2.2'
+          cuda: '11.5.0'
       - name: Install nightly-2021-12-04
         uses: actions-rs/toolchain@v1
         with:

From ed573d054cccb5a893b9a7ef0b09386d71141f50 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?S=C3=A9bastien=20Crozet?= <developer@crozet.re>
Date: Fri, 13 Jan 2023 10:10:53 +0100
Subject: [PATCH 11/13] Fix tests

---
 src/base/rkyv_wrappers.rs | 26 --------------------------
 1 file changed, 26 deletions(-)

diff --git a/src/base/rkyv_wrappers.rs b/src/base/rkyv_wrappers.rs
index b11c618a..ce178674 100644
--- a/src/base/rkyv_wrappers.rs
+++ b/src/base/rkyv_wrappers.rs
@@ -9,32 +9,6 @@ use rkyv::{
 use std::marker::PhantomData;
 
 /// A wrapper that allows for changing the generic type of a PhantomData<T>.
-///
-/// Example:
-///
-/// ```rust
-/// use std::marker::PhantomData;
-/// use rkyv::{
-///     Archive, Serialize, Deserialize, Infallible, vec::ArchivedVec, Archived, with::With,
-/// };
-/// use rkyv_wrappers::custom_phantom::CustomPhantom;
-/// #[derive(Archive, Serialize, Deserialize, Debug, PartialEq, Eq, Default)]
-/// #[archive(as = "StructWithPhantom<T::Archived>", bound(archive = "
-/// 	T: Archive,
-/// 	With<PhantomData<T>, CustomPhantom<Archived<T>>>: Archive<Archived = PhantomData<Archived<T>>>
-/// "))]
-/// struct StructWithPhantom<T> {
-/// 	pub num: i32,
-///     #[with(CustomPhantom<T::Archived>)]
-///     pub phantom: PhantomData<T>,
-/// }
-/// let value = StructWithPhantom::<Vec<i32>>::default();
-/// let bytes = rkyv::to_bytes::<_, 1024>(&value).unwrap();
-/// let archived: &StructWithPhantom<ArchivedVec<i32>> = unsafe { rkyv::archived_root::<StructWithPhantom<Vec<i32>>>(&bytes) };
-///
-/// let deserialized: StructWithPhantom<Vec<i32>> = archived.deserialize(&mut Infallible).unwrap();
-/// assert_eq!(deserialized, value);
-/// ```
 pub struct CustomPhantom<NT: ?Sized> {
     _data: PhantomData<*const NT>,
 }

From 924795be45d9478b42e39ca90442ec77fb0708ad Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?S=C3=A9bastien=20Crozet?= <developer@crozet.re>
Date: Fri, 13 Jan 2023 10:12:47 +0100
Subject: [PATCH 12/13] CI: use the newer version of Jimver/cuda-toolkit

---
 .github/workflows/nalgebra-ci-build.yml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/nalgebra-ci-build.yml b/.github/workflows/nalgebra-ci-build.yml
index d4f061d8..9e500084 100644
--- a/.github/workflows/nalgebra-ci-build.yml
+++ b/.github/workflows/nalgebra-ci-build.yml
@@ -50,7 +50,7 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       # Needed because the --all-features build which enables cuda support.
-      - uses: Jimver/cuda-toolkit@v0.2.4
+      - uses: Jimver/cuda-toolkit@v0.2.8
       - uses: actions/checkout@v2
       - run: cargo build --all-features;
       - run: cargo build -p nalgebra-glm --all-features;
@@ -123,7 +123,7 @@ jobs:
   build-cuda:
     runs-on: ubuntu-latest
     steps:
-      - uses: Jimver/cuda-toolkit@v0.2.4
+      - uses: Jimver/cuda-toolkit@v0.2.8
         with:
           cuda: '11.5.0'
       - name: Install nightly-2021-12-04

From 00f1f11ca5c1603117b22e6f890d7485302a3127 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?S=C3=A9bastien=20Crozet?= <developer@crozet.re>
Date: Fri, 13 Jan 2023 10:28:22 +0100
Subject: [PATCH 13/13] Deny unused_qualifications

---
 src/lib.rs | 7 +------
 1 file changed, 1 insertion(+), 6 deletions(-)

diff --git a/src/lib.rs b/src/lib.rs
index d12e991f..93f05ff5 100644
--- a/src/lib.rs
+++ b/src/lib.rs
@@ -88,12 +88,7 @@ an optimized set of tools for computer graphics and physics. Those features incl
     future_incompatible,
     missing_copy_implementations
 )]
-#![cfg_attr(feature = "rkyv-serialize-no-std", allow(unused_results))] // TODO: deny this once bytecheck stops generating warnings.
-#![cfg_attr(
-    not(feature = "rkyv-serialize-no-std"),
-    deny(unused_results),
-    deny(unused_qualifications)
-)] // TODO: deny this globally
+#![cfg_attr(not(feature = "rkyv-serialize-no-std"), deny(unused_results))] // TODO: deny this globally once bytecheck stops generating unused results.
 #![doc(
     html_favicon_url = "https://nalgebra.org/img/favicon.ico",
     html_root_url = "https://docs.rs/nalgebra/0.25.0"