feat: start experimenting with a glam/bevy versionbevy-glam

103 files changed, 4350 insertions, 3131 deletions

diff --git a/Cargo.toml b/Cargo.toml
index 023432e..195f5e4 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -1,6 +1,6 @@
 [workspace]
-members = [ "crates/rapier2d", "crates/rapier2d-f64", "crates/rapier_testbed2d", "crates/rapier_testbed2d-f64", "examples2d", "benchmarks2d",
-            "crates/rapier3d", "crates/rapier3d-f64", "crates/rapier_testbed3d", "crates/rapier_testbed3d-f64", "examples3d", "examples3d-f64", "benchmarks3d" ]
+members = ["crates/rapier2d", "crates/rapier2d-f64", "crates/rapier_testbed2d", "crates/rapier_testbed2d-f64", "examples2d", "benchmarks2d",
+    "crates/rapier3d", "crates/rapier3d-f64", "crates/rapier_testbed3d", "crates/rapier_testbed3d-f64", "examples3d", "examples3d-f64", "benchmarks3d"]
 resolver = "2"
 
 [patch.crates-io]
@@ -12,15 +12,14 @@ resolver = "2"
 #parry3d = { path = "../parry/crates/parry3d" }
 #parry2d-f64 = { path = "../parry/crates/parry2d-f64" }
 #parry3d-f64 = { path = "../parry/crates/parry3d-f64" }
-# nalgebra = { path = "../nalgebra" }
-
-
-#kiss3d = { git = "https://github.com/sebcrozet/kiss3d" }
-#nalgebra = { git = "https://github.com/dimforge/nalgebra", branch = "dev" }
-#parry2d = { git = "https://github.com/dimforge/parry", branch = "master" }
-#parry3d = { git = "https://github.com/dimforge/parry", branch = "master" }
-#parry2d-f64 = { git = "https://github.com/dimforge/parry", branch = "master" }
-#parry3d-f64 = { git = "https://github.com/dimforge/parry", branch = "master" }
+#nalgebra = { path = "../nalgebra" }
+
+simba = { git = "https://github.com/dimforge/simba", rev = "7b50b3eb568e9c551431286a95c913a7057de58f" }
+nalgebra = { git = "https://github.com/dimforge/nalgebra", rev = "25032f089bb2e8a8bd2c1d419f1613911a042895" }
+parry2d = { git = "https://github.com/dimforge/parry", rev = "c0e6f8032396396f93b5ad687504bed9d676aaee" }
+parry3d = { git = "https://github.com/dimforge/parry", rev = "c0e6f8032396396f93b5ad687504bed9d676aaee" }
+parry2d-f64 = { git = "https://github.com/dimforge/parry", rev = "c0e6f8032396396f93b5ad687504bed9d676aaee" }
+parry3d-f64 = { git = "https://github.com/dimforge/parry", rev = "c0e6f8032396396f93b5ad687504bed9d676aaee" }
 
 [profile.release]
 #debug = true
diff --git a/crates/rapier2d/Cargo.toml b/crates/rapier2d/Cargo.toml
index 0d8bc24..f73107d 100644
--- a/crates/rapier2d/Cargo.toml
+++ b/crates/rapier2d/Cargo.toml
@@ -1,14 +1,14 @@
 [package]
-name    = "rapier2d"
+name = "rapier2d"
 version = "0.18.0"
-authors = [ "Sébastien Crozet <developer@crozet.re>" ]
+authors = ["Sébastien Crozet <developer@crozet.re>"]
 description = "2-dimensional physics engine in Rust."
 documentation = "https://docs.rs/rapier2d"
 homepage = "https://rapier.rs"
 repository = "https://github.com/dimforge/rapier"
 readme = "README.md"
-categories = [ "science", "game-development", "mathematics", "simulation", "wasm"]
-keywords = [ "physics", "dynamics", "rigid", "real-time", "impulse_joints" ]
+categories = ["science", "game-development", "mathematics", "simulation", "wasm"]
+keywords = ["physics", "dynamics", "rigid", "real-time", "impulse_joints"]
 license = "Apache-2.0"
 edition = "2021"
 
@@ -16,23 +16,26 @@ edition = "2021"
 maintenance = { status = "actively-developed" }
 
 [features]
-default = [ "dim2", "f32" ]
-dim2    = [ ]
-f32     = [ ]
-parallel = [ "rayon" ]
-simd-stable = [ "simba/wide", "simd-is-enabled" ]
-simd-nightly = [ "simba/packed_simd", "simd-is-enabled" ]
+default = ["dim2", "f32"]
+dim2 = []
+f32 = []
+linalg-nalgebra = ["parry2d/linalg-nalgebra"]
+linalg-glam = ["parry2d/linalg-glam", "glam"]
+
+parallel = ["rayon"]
+simd-stable = ["simba/wide", "simd-is-enabled"]
+simd-nightly = ["simba/packed_simd", "simd-is-enabled"]
 # Do not enable this feature directly. It is automatically
 # enabled with the "simd-stable" or "simd-nightly" feature.
-simd-is-enabled = [ "vec_map" ]
-wasm-bindgen = [ "instant/wasm-bindgen" ]
-serde-serialize = [ "nalgebra/serde-serialize", "parry2d/serde-serialize", "serde", "bit-vec/serde", "arrayvec/serde" ]
-enhanced-determinism = [ "simba/libm_force", "parry2d/enhanced-determinism" ]
-debug-render = [ ]
-profiler = [ "instant" ] # Enables the internal profiler.
+simd-is-enabled = ["vec_map"]
+wasm-bindgen = ["instant/wasm-bindgen"]
+serde-serialize = ["nalgebra/serde-serialize", "parry2d/serde-serialize", "serde", "bit-vec/serde", "arrayvec/serde"]
+enhanced-determinism = ["simba/libm_force", "parry2d/enhanced-determinism"]
+debug-render = []
+profiler = ["instant"] # Enables the internal profiler.
 
 # Feature used for debugging only.
-debug-disable-legitimate-fe-exceptions = [ ]
+debug-disable-legitimate-fe-exceptions = []
 
 # Feature used for development and debugging only.
 # Do not enable this unless you are working on the engine internals.
@@ -44,12 +47,12 @@ features = ["parallel", "simd-stable", "serde-serialize", "debug-render"]
 [lib]
 name = "rapier2d"
 path = "../../src/lib.rs"
-required-features = [ "dim2", "f32" ]
+required-features = ["dim2", "f32"]
 
 
 [dependencies]
 vec_map = { version = "0.8", optional = true }
-instant = { version = "0.1", features = [ "now" ], optional = true }
+instant = { version = "0.1", features = ["now"], optional = true }
 num-traits = "0.2"
 nalgebra = "0.32"
 parry2d = "0.13.1"
@@ -60,11 +63,12 @@ crossbeam = "0.8"
 arrayvec = "0.7"
 bit-vec = "0.6"
 rustc-hash = "1"
-serde = { version = "1", features = [ "derive" ], optional = true }
+serde = { version = "1", features = ["derive"], optional = true }
 downcast-rs = "1.2"
 num-derive = "0.4"
 bitflags = "1"
+glam = { version = "0.25", optional = true }
 
 [dev-dependencies]
 bincode = "1"
-serde = { version = "1", features = [ "derive" ] }
+serde = { version = "1", features = ["derive"] }
diff --git a/crates/rapier3d/Cargo.toml b/crates/rapier3d/Cargo.toml
index 1d3605b..dbe15f5 100644
--- a/crates/rapier3d/Cargo.toml
+++ b/crates/rapier3d/Cargo.toml
@@ -1,14 +1,14 @@
 [package]
-name    = "rapier3d"
+name = "rapier3d"
 version = "0.18.0"
-authors = [ "Sébastien Crozet <developer@crozet.re>" ]
+authors = ["Sébastien Crozet <developer@crozet.re>"]
 description = "3-dimensional physics engine in Rust."
 documentation = "https://docs.rs/rapier3d"
 homepage = "https://rapier.rs"
 repository = "https://github.com/dimforge/rapier"
 readme = "README.md"
-categories = [ "science", "game-development", "mathematics", "simulation", "wasm"]
-keywords = [ "physics", "dynamics", "rigid", "real-time", "impulse_joints" ]
+categories = ["science", "game-development", "mathematics", "simulation", "wasm"]
+keywords = ["physics", "dynamics", "rigid", "real-time", "impulse_joints"]
 license = "Apache-2.0"
 edition = "2021"
 
@@ -16,23 +16,26 @@ edition = "2021"
 maintenance = { status = "actively-developed" }
 
 [features]
-default = [ "dim3", "f32" ]
-dim3    = [ ]
-f32     = [ ]
-parallel = [ "rayon" ]
-simd-stable = [ "parry3d/simd-stable", "simba/wide", "simd-is-enabled" ]
-simd-nightly = [ "parry3d/simd-nightly", "simba/packed_simd", "simd-is-enabled" ]
+default = ["dim3", "f32"]
+dim3 = []
+f32 = []
+linalg-nalgebra = ["parry3d/linalg-nalgebra"]
+linalg-glam = ["parry3d/linalg-glam", "glam", "bevy"] # FIXME: don’t enable bevy by default
+
+parallel = ["rayon"]
+simd-stable = ["parry3d/simd-stable", "simba/wide", "simd-is-enabled"]
+simd-nightly = ["parry3d/simd-nightly", "simba/packed_simd", "simd-is-enabled"]
 # Do not enable this feature directly. It is automatically
 # enabled with the "simd-stable" or "simd-nightly" feature.
-simd-is-enabled = [ "vec_map" ]
-wasm-bindgen = [ "instant/wasm-bindgen" ]
-serde-serialize = [ "nalgebra/serde-serialize", "parry3d/serde-serialize", "serde", "bit-vec/serde" ]
-enhanced-determinism = [ "simba/libm_force", "parry3d/enhanced-determinism" ]
-debug-render = [ ]
-profiler = [ "instant" ] # Enables the internal profiler.
+simd-is-enabled = ["vec_map"]
+wasm-bindgen = ["instant/wasm-bindgen"]
+serde-serialize = ["nalgebra/serde-serialize", "parry3d/serde-serialize", "serde", "bit-vec/serde"]
+enhanced-determinism = ["simba/libm_force", "parry3d/enhanced-determinism"]
+debug-render = []
+profiler = ["instant"] # Enables the internal profiler.
 
 # Feature used for debugging only.
-debug-disable-legitimate-fe-exceptions = [ ]
+debug-disable-legitimate-fe-exceptions = []
 
 # Feature used for development and debugging only.
 # Do not enable this unless you are working on the engine internals.
@@ -44,12 +47,12 @@ features = ["parallel", "simd-stable", "serde-serialize", "debug-render"]
 [lib]
 name = "rapier3d"
 path = "../../src/lib.rs"
-required-features = [ "dim3", "f32" ]
+required-features = ["dim3", "f32"]
 
 
 [dependencies]
 vec_map = { version = "0.8", optional = true }
-instant = { version = "0.1", features = [ "now" ], optional = true }
+instant = { version = "0.1", features = ["now"], optional = true }
 num-traits = "0.2"
 nalgebra = "0.32"
 parry3d = "0.13.1"
@@ -60,11 +63,14 @@ crossbeam = "0.8"
 arrayvec = "0.7"
 bit-vec = "0.6"
 rustc-hash = "1"
-serde = { version = "1", features = [ "derive" ], optional = true }
+serde = { version = "1", features = ["derive"], optional = true }
 downcast-rs = "1.2"
 num-derive = "0.4"
 bitflags = "1"
+glam = { version = "0.25", optional = true }
+
+bevy = { version = "0.13", default-features = false, optional = true } # FIXME: depend on bevy-ecs only?
 
 [dev-dependencies]
 bincode = "1"
-serde = { version = "1", features = [ "derive" ] }
+serde = { version = "1", features = ["derive"] }
diff --git a/crates/rapier_testbed3d/Cargo.toml b/crates/rapier_testbed3d/Cargo.toml
index 3b3bdeb..e8de12f 100644
--- a/crates/rapier_testbed3d/Cargo.toml
+++ b/crates/rapier_testbed3d/Cargo.toml
@@ -21,6 +21,8 @@ required-features = [ "dim3" ]
 [features]
 default = [ "dim3" ]
 dim3 = [ ]
+linalg-nalgebra = [ "rapier/linalg-nalgebra" ]
+linalg-glam = [ "rapier/linalg-glam" ]
 parallel = [ "rapier/parallel", "num_cpus" ]
 other-backends = [ "physx", "physx-sys", "glam" ]
 
diff --git a/examples3d/Cargo.toml b/examples3d/Cargo.toml
index 1e44b3d..1edf6fe 100644
--- a/examples3d/Cargo.toml
+++ b/