Add prelude + use vectors for setting linvel/translation in builders

1 files changed, 31 insertions, 29 deletions

diff --git a/benchmarks3d/stacks3.rs b/benchmarks3d/stacks3.rs
index 31dff0a..39386ea 100644
--- a/benchmarks3d/stacks3.rs
+++ b/benchmarks3d/stacks3.rs
@@ -1,15 +1,13 @@
-use na::{Point3, Translation3, UnitQuaternion, Vector3};
-use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet};
+use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
 
 fn create_tower_circle(
     bodies: &mut RigidBodySet,
     colliders: &mut ColliderSet,
-    offset: Vector3<f32>,
+    offset: Vector<f32>,
     stack_height: usize,
     nsubdivs: usize,
-    half_extents: Vector3<f32>,
+    half_extents: Vector<f32>,
 ) {
     let ang_step = std::f32::consts::PI * 2.0 / nsubdivs as f32;
     let radius = 1.3 * nsubdivs as f32 * half_extents.x / std::f32::consts::PI;
@@ -20,16 +18,16 @@ fn create_tower_circle(
             let fj = j as f32;
             let fi = i as f32;
             let y = fi * shift.y;
-            let pos = Translation3::from(offset)
-                * UnitQuaternion::new(Vector3::y() * (fi / 2.0 + fj) * ang_step)
-                * Translation3::new(0.0, y, radius);
+            let pos = Translation::from(offset)
+                * Rotation::new(Vector::y() * (fi / 2.0 + fj) * ang_step)
+                * Translation::new(0.0, y, radius);
 
             // Build the rigid body.
             let rigid_body = RigidBodyBuilder::new_dynamic().position(pos).build();
             let handle = bodies.insert(rigid_body);
             let collider =
                 ColliderBuilder::cuboid(half_extents.x, half_extents.y, half_extents.z).build();
-            colliders.insert(collider, handle, bodies);
+            colliders.insert_with_parent(collider, handle, bodies);
         }
     }
 }
@@ -37,9 +35,9 @@ fn create_tower_circle(
 fn create_wall(
     bodies: &mut RigidBodySet,
     colliders: &mut ColliderSet,
-    offset: Vector3<f32>,
+    offset: Vector<f32>,
     stack_height: usize,
-    half_extents: Vector3<f32>,
+    half_extents: Vector<f32>,
 ) {
     let shift = half_extents * 2.0;
     for i in 0usize..stack_height {
@@ -52,11 +50,13 @@ fn create_wall(
                 - stack_height as f32 * half_extents.z;
 
             // Build the rigid body.
-            let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
+            let rigid_body = RigidBodyBuilder::new_dynamic()
+                .translation(vector![x, y, z])
+                .build();
             let handle = bodies.insert(rigid_body);
             let collider =
                 ColliderBuilder::cuboid(half_extents.x, half_extents.y, half_extents.z).build();
-            colliders.insert(collider, handle, bodies);
+            colliders.insert_with_parent(collider, handle, bodies);
         }
     }
 }
@@ -64,9 +64,9 @@ fn create_wall(
 fn create_pyramid(
     bodies: &mut RigidBodySet,
     colliders: &mut ColliderSet,
-    offset: Vector3<f32>,
+    offset: Vector<f32>,
     stack_height: usize,
-    half_extents: Vector3<f32>,
+    half_extents: Vector<f32>,
 ) {
     let shift = half_extents * 2.0;
 
@@ -83,11 +83,13 @@ fn create_pyramid(
                     - stack_height as f32 * half_extents.z;
 
                 // Build the rigid body.
-                let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
+                let rigid_body = RigidBodyBuilder::new_dynamic()
+                    .translation(vector![x, y, z])
+                    .build();
                 let handle = bodies.insert(rigid_body);
                 let collider =
                     ColliderBuilder::cuboid(half_extents.x, half_extents.y, half_extents.z).build();
-                colliders.insert(collider, handle, bodies);
+                colliders.insert_with_parent(collider, handle, bodies);
             }
         }
     }
@@ -108,71 +110,71 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_height = 0.1;
 
     let rigid_body = RigidBodyBuilder::new_static()
-        .translation(0.0, -ground_height, 0.0)
+        .translation(vector![0.0, -ground_height, 0.0])
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
      * Create the cubes
      */
     let cube_size = 1.0;
-    let hext = Vector3::repeat(cube_size);
+    let hext = Vector::repeat(cube_size);
     let bottomy = cube_size * 50.0;
     create_pyramid(
         &mut bodies,
         &mut colliders,
-        Vector3::new(-110.0, bottomy, 0.0),
+        vector![-110.0, bottomy, 0.0],
         12,
         hext,
     );
     create_pyramid(
         &mut bodies,
         &mut colliders,
-        Vector3::new(-80.0, bottomy, 0.0),
+        vector![-80.0, bottomy, 0.0],
         12,
         hext,
     );
     create_pyramid(
         &mut bodies,
         &mut colliders,
-        Vector3::new(-50.0, bottomy, 0.0),
+        vector![-50.0, bottomy, 0.0],
         12,
         hext,
     );
     create_pyramid(
         &mut bodies,
         &mut colliders,
-        Vector3::new(-20.0, bottomy, 0.0),
+        vector![-20.0, bottomy, 0.0],
         12,
         hext,
     );
     create_wall(
         &mut bodies,
         &mut colliders,
-        Vector3::new(-2.0, bottomy, 0.0),
+        vector![-2.0, bottomy, 0.0],
         12,
         hext,
     );
     create_wall(
         &mut bodies,
         &mut colliders,
-        Vector3::new(4.0, bottomy, 0.0),
+        vector![4.0, bottomy, 0.0],
         12,
         hext,
     );
     create_wall(
         &mut bodies,
         &mut colliders,
-        Vector3::new(10.0, bottomy, 0.0),
+        vector![10.0, bottomy, 0.0],
         12,
         hext,
     );
     create_tower_circle(
         &mut bodies,
         &mut colliders,
-        Vector3::new(25.0, bottomy, 0.0),
+        vector![25.0, bottomy, 0.0],
         8,
         24,
         hext,
@@ -182,5 +184,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
+    testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
 }