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

1 files changed, 71 insertions, 72 deletions

diff --git a/examples3d/joints3.rs b/examples3d/joints3.rs
index c7f8a1c..e22f293 100644
--- a/examples3d/joints3.rs
+++ b/examples3d/joints3.rs
@@ -1,49 +1,44 @@
-use na::{Isometry3, Point3, Unit, UnitQuaternion, Vector3};
-use rapier3d::dynamics::{
-    BallJoint, FixedJoint, JointSet, PrismaticJoint, RevoluteJoint, RigidBodyBuilder,
-    RigidBodyHandle, RigidBodySet, RigidBodyType,
-};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet};
+use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
 
 fn create_prismatic_joints(
     bodies: &mut RigidBodySet,
     colliders: &mut ColliderSet,
     joints: &mut JointSet,
-    origin: Point3<f32>,
+    origin: Point<f32>,
     num: usize,
 ) {
     let rad = 0.4;
     let shift = 2.0;
 
     let ground = RigidBodyBuilder::new_static()
-        .translation(origin.x, origin.y, origin.z)
+        .translation(vector![origin.x, origin.y, origin.z])
         .build();
     let mut curr_parent = bodies.insert(ground);
     let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
-    colliders.insert(collider, curr_parent, bodies);
+    colliders.insert_with_parent(collider, curr_parent, bodies);
 
     for i in 0..num {
         let z = origin.z + (i + 1) as f32 * shift;
         let rigid_body = RigidBodyBuilder::new_dynamic()
-            .translation(origin.x, origin.y, z)
+            .translation(vector![origin.x, origin.y, z])
             .build();
         let curr_child = bodies.insert(rigid_body);
         let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
-        colliders.insert(collider, curr_child, bodies);
+        colliders.insert_with_parent(collider, curr_child, bodies);
 
         let axis = if i % 2 == 0 {
-            Unit::new_normalize(Vector3::new(1.0, 1.0, 0.0))
+            UnitVector::new_normalize(vector![1.0, 1.0, 0.0])
         } else {
-            Unit::new_normalize(Vector3::new(-1.0, 1.0, 0.0))
+            UnitVector::new_normalize(vector![-1.0, 1.0, 0.0])
         };
 
-        let z = Vector3::z();
+        let z = Vector::z();
         let mut prism = PrismaticJoint::new(
-            Point3::new(0.0, 0.0, 0.0),
+            point![0.0, 0.0, 0.0],
             axis,
             z,
-            Point3::new(0.0, 0.0, -shift),
+            point![0.0, 0.0, -shift],
             axis,
             z,
         );
@@ -61,40 +56,40 @@ fn create_actuated_prismatic_joints(
     bodies: &mut RigidBodySet,
     colliders: &mut ColliderSet,
     joints: &mut JointSet,
-    origin: Point3<f32>,
+    origin: Point<f32>,
     num: usize,
 ) {
     let rad = 0.4;
     let shift = 2.0;
 
     let ground = RigidBodyBuilder::new_static()
-        .translation(origin.x, origin.y, origin.z)
+        .translation(vector![origin.x, origin.y, origin.z])
         .build();
     let mut curr_parent = bodies.insert(ground);
     let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
-    colliders.insert(collider, curr_parent, bodies);
+    colliders.insert_with_parent(collider, curr_parent, bodies);
 
     for i in 0..num {
         let z = origin.z + (i + 1) as f32 * shift;
         let rigid_body = RigidBodyBuilder::new_dynamic()
-            .translation(origin.x, origin.y, z)
+            .translation(vector![origin.x, origin.y, z])
             .build();
         let curr_child = bodies.insert(rigid_body);
         let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
-        colliders.insert(collider, curr_child, bodies);
+        colliders.insert_with_parent(collider, curr_child, bodies);
 
         let axis = if i % 2 == 0 {
-            Unit::new_normalize(Vector3::new(1.0, 1.0, 0.0))
+            UnitVector::new_normalize(vector![1.0, 1.0, 0.0])
         } else {
-            Unit::new_normalize(Vector3::new(-1.0, 1.0, 0.0))
+            UnitVector::new_normalize(vector![-1.0, 1.0, 0.0])
         };
 
-        let z = Vector3::z();
+        let z = Vector::z();
         let mut prism = PrismaticJoint::new(
-            Point3::new(0.0, 0.0, 0.0),
+            point![0.0, 0.0, 0.0],
             axis,
             z,
-            Point3::new(0.0, 0.0, -shift),
+            point![0.0, 0.0, -shift],
             axis,
             z,
         );
@@ -128,27 +123,27 @@ fn create_revolute_joints(
     bodies: &mut RigidBodySet,
     colliders: &mut ColliderSet,
     joints: &mut JointSet,
-    origin: Point3<f32>,
+    origin: Point<f32>,
     num: usize,
 ) {
     let rad = 0.4;
     let shift = 2.0;
 
     let ground = RigidBodyBuilder::new_static()
-        .translation(origin.x, origin.y, 0.0)
+        .translation(vector![origin.x, origin.y, 0.0])
         .build();
     let mut curr_parent = bodies.insert(ground);
     let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
-    colliders.insert(collider, curr_parent, bodies);
+    colliders.insert_with_parent(collider, curr_parent, bodies);
 
     for i in 0..num {
         // Create four bodies.
         let z = origin.z + i as f32 * shift * 2.0 + shift;
         let positions = [
-            Isometry3::translation(origin.x, origin.y, z),
-            Isometry3::translation(origin.x + shift, origin.y, z),
-            Isometry3::translation(origin.x + shift, origin.y, z + shift),
-            Isometry3::translation(origin.x, origin.y, z + shift),
+            Isometry::translation(origin.x, origin.y, z),
+            Isometry::translation(origin.x + shift, origin.y, z),
+            Isometry::translation(origin.x + shift, origin.y, z + shift),
+            Isometry::translation(origin.x, origin.y, z + shift),
         ];
 
         let mut handles = [curr_parent; 4];
@@ -158,19 +153,19 @@ fn create_revolute_joints(
                 .build();
             handles[k] = bodies.insert(rigid_body);
             let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
-            colliders.insert(collider, handles[k], bodies);
+            colliders.insert_with_parent(collider, handles[k], bodies);
         }
 
         // Setup four joints.
-        let o = Point3::origin();
-        let x = Vector3::x_axis();
-        let z = Vector3::z_axis();
+        let o = Point::origin();
+        let x = Vector::x_axis();
+        let z = Vector::z_axis();
 
         let revs = [
-            RevoluteJoint::new(o, z, Point3::new(0.0, 0.0, -shift), z),
-            RevoluteJoint::new(o, x, Point3::new(-shift, 0.0, 0.0), x),
-            RevoluteJoint::new(o, z, Point3::new(0.0, 0.0, -shift), z),
-            RevoluteJoint::new(o, x, Point3::new(shift, 0.0, 0.0), x),
+            RevoluteJoint::new(o, z, point![0.0, 0.0, -shift], z),
+            RevoluteJoint::new(o, x, point![-shift, 0.0, 0.0], x),
+            RevoluteJoint::new(o, z, point![0.0, 0.0, -shift], z),
+            RevoluteJoint::new(o, x, point![shift, 0.0, 0.0], x),
         ];
 
         joints.insert(bodies, curr_parent, handles[0], revs[0]);
@@ -186,7 +181,7 @@ fn create_fixed_joints(
     bodies: &mut RigidBodySet,
     colliders: &mut ColliderSet,
     joints: &mut JointSet,
-    origin: Point3<f32>,
+    origin: Point<f32>,
     num: usize,
 ) {
     let rad = 0.4;
@@ -209,18 +204,22 @@ fn create_fixed_joints(
             };
 
             let rigid_body = RigidBodyBuilder::new(status)
-                .translation(origin.x + fk * shift, origin.y, origin.z + fi * shift)
+                .translation(vector![
+                    origin.x + fk * shift,
+                    origin.y,
+                    origin.z + fi * shift
+                ])
                 .build();
             let child_handle = bodies.insert(rigid_body);
             let collider = ColliderBuilder::ball(rad).build();
-            colliders.insert(collider, child_handle, bodies);
+            colliders.insert_with_parent(collider, child_handle, bodies);
 
             // Vertical joint.
             if i > 0 {
                 let parent_handle = *body_handles.last().unwrap();
                 let joint = FixedJoint::new(
-                    Isometry3::identity(),
-                    Isometry3::translation(0.0, 0.0, -shift),
+                    Isometry::identity(),
+                    Isometry::translation(0.0, 0.0, -shift),
                 );
                 joints.insert(bodies, parent_handle, child_handle, joint);
             }
@@ -230,8 +229,8 @@ fn create_fixed_joints(
                 let parent_index = body_handles.len() - num;
                 let parent_handle = body_handles[parent_index];
                 let joint = FixedJoint::new(
-                    Isometry3::identity(),
-                    Isometry3::translation(-shift, 0.0, 0.0),
+                    Isometry::identity(),
+                    Isometry::translation(-shift, 0.0, 0.0),
                 );
                 joints.insert(bodies, parent_handle, child_handle, joint);
             }
@@ -264,16 +263,16 @@ fn create_ball_joints(
             };
 
             let rigid_body = RigidBodyBuilder::new(status)
-                .translation(fk * shift, 0.0, fi * shift * 2.0)
+                .translation(vector![fk * shift, 0.0, fi * shift * 2.0])
                 .build();
             let child_handle = bodies.insert(rigid_body);
             let collider = ColliderBuilder::capsule_z(rad * 1.25, rad).build();
-            colliders.insert(collider, child_handle, bodies);
+            colliders.insert_with_parent(collider, child_handle, bodies);
 
             // Vertical joint.
             if i > 0 {
                 let parent_handle = *body_handles.last().unwrap();
-                let joint = BallJoint::new(Point3::origin(), Point3::new(0.0, 0.0, -shift * 2.0));
+                let joint = BallJoint::new(Point::origin(), point![0.0, 0.0, -shift * 2.0]);
                 joints.insert(bodies, parent_handle, child_handle, joint);
             }
 
@@ -281,7 +280,7 @@ fn create_ball_joints(
             if k > 0 {
                 let parent_index = body_handles.len() - num;
                 let parent_handle = body_handles[parent_index];
-                let joint = BallJoint::new(Point3::origin(), Point3::new(-shift, 0.0, 0.0));
+                let joint = BallJoint::new(Point::origin(), point![-shift, 0.0, 0.0]);
                 joints.insert(bodies, parent_handle, child_handle, joint);
             }
 
@@ -294,7 +293,7 @@ fn create_actuated_revolute_joints(
     bodies: &mut RigidBodySet,
     colliders: &mut ColliderSet,
     joints: &mut JointSet,
-    origin: Point3<f32>,
+    origin: Point<f32>,
     num: usize,
 ) {
     let rad = 0.4;
@@ -302,10 +301,10 @@ fn create_actuated_revolute_joints(
 
     // We will reuse this base configuration for all the joints here.
     let joint_template = RevoluteJoint::new(
-        Point3::origin(),
-        Vector3::z_axis(),
-        Point3::new(0.0, 0.0, -shift),
-        Vector3::z_axis(),
+        Point::origin(),
+        Vector::z_axis(),
+        point![0.0, 0.0, -shift],
+        Vector::z_axis(),
     );
 
     let mut parent_handle = RigidBodyHandle::invalid();
@@ -325,13 +324,13 @@ fn create_actuated_revolute_joints(
         let shifty = (i >= 1) as u32 as f32 * -2.0;
 
         let rigid_body = RigidBodyBuilder::new(status)
-            .translation(origin.x, origin.y + shifty, origin.z + fi * shift)
+            .translation(vector![origin.x, origin.y + shifty, origin.z + fi * shift])
             // .rotation(Vector3::new(0.0, fi * 1.1, 0.0))
             .build();
 
         let child_handle = bodies.insert(rigid_body);
         let collider = ColliderBuilder::cuboid(rad * 2.0, rad * 6.0 / (fi + 1.0), rad).build();
-        colliders.insert(collider, child_handle, bodies);
+        colliders.insert_with_parent(collider, child_handle, bodies);
 
         if i > 0 {
             let mut joint = joint_template.clone();
@@ -360,14 +359,14 @@ fn create_actuated_ball_joints(
     bodies: &mut RigidBodySet,
     colliders: &mut ColliderSet,
     joints: &mut JointSet,
-    origin: Point3<f32>,
+    origin: Point<f32>,
     num: usize,
 ) {
     let rad = 0.4;
     let shift = 2.0;
 
     // We will reuse this base configuration for all the joints here.
-    let joint_template = BallJoint::new(Point3::new(0.0, 0.0, shift), Point3::origin());
+    let joint_template = BallJoint::new(point![0.0, 0.0, shift], Point::origin());
 
     let mut parent_handle = RigidBodyHandle::invalid();
 
@@ -384,24 +383,24 @@ fn create_actuated_ball_joints(
         };
 
         let rigid_body = RigidBodyBuilder::new(status)
-            .translation(origin.x, origin.y, origin.z + fi * shift)
+            .translation(vector![origin.x, origin.y, origin.z + fi * shift])
             // .rotation(Vector3::new(0.0, fi * 1.1, 0.0))
             .build();
 
         let child_handle = bodies.insert(rigid_body);
         let collider = ColliderBuilder::capsule_y(rad * 2.0 / (fi + 1.0), rad).build();
-        colliders.insert(collider, child_handle, bodies);
+        colliders.insert_with_parent(collider, child_handle, bodies);
 
         if i > 0 {
             let mut joint = joint_template.clone();
 
             if i == 1 {
-                joint.configure_motor_velocity(Vector3::new(0.0, 0.5, -2.0), 0.1);
+                joint.configure_motor_velocity(vector![0.0, 0.5, -2.0], 0.1);
             } else if i == num - 1 {
                 let stiffness = 0.2;
                 let damping = 1.0;
                 joint.configure_motor_position(
-                    UnitQuaternion::new(Vector3::new(0.0, 1.0, 3.14 / 2.0)),
+                    Rotation::new(vector![0.0, 1.0, 3.14 / 2.0]),
                     stiffness,
                     damping,
                 );
@@ -426,42 +425,42 @@ pub fn init_world(testbed: &mut Testbed) {
         &mut bodies,
         &mut colliders,
         &mut joints,
-        Point3::new(20.0, 5.0, 0.0),
+        point![20.0, 5.0, 0.0],
         4,
     );
     create_actuated_prismatic_joints(
         &mut bodies,
         &mut colliders,
         &mut joints,
-        Point3::new(25.0, 5.0, 0.0),
+        point![25.0, 5.0, 0.0],
         4,
     );
     create_revolute_joints(
         &mut bodies,
         &mut colliders,
         &mut joints,
-        Point3::new(20.0, 0.0, 0.0),
+        point![20.0, 0.0, 0.0],
         3,
     );
     create_fixed_joints(
         &mut bodies,
         &mut colliders,
         &mut joints,
-        Point3::new(0.0, 10.0, 0.0),
+        point![0.0, 10.0, 0.0],
         10,
     );
     create_actuated_revolute_joints(
         &mut bodies,
         &mut colliders,
         &mut joints,
-        Point3::new(20.0, 10.0, 0.0),
+        point![20.0, 10.0, 0.0],
         6,
     );
     create_actuated_ball_joints(
         &mut bodies,
         &mut colliders,
         &mut joints,
-        Point3::new(13.0, 10.0, 0.0),
+        point![13.0, 10.0, 0.0],
         3,
     );
     create_ball_joints(&mut bodies, &mut colliders, &mut joints, 15);
@@ -470,5 +469,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point3::new(15.0, 5.0, 42.0), Point3::new(13.0, 1.0, 1.0));
+    testbed.look_at(point![15.0, 5.0, 42.0], point![13.0, 1.0, 1.0]);
 }