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

7 files changed, 18 insertions, 16 deletions

diff --git a/examples3d/Cargo.toml b/examples3d/Cargo.toml
index 1e44b3d..1edf6fe 100644
--- a/examples3d/Cargo.toml
+++ b/examples3d/Cargo.toml
@@ -11,6 +11,8 @@ simd-stable = [ "rapier3d/simd-stable" ]
 simd-nightly = [ "rapier3d/simd-nightly" ]
 other-backends = [ "rapier_testbed3d/other-backends" ]
 enhanced-determinism = [ "rapier3d/enhanced-determinism" ]
+linalg-nalgebra = [ "rapier_testbed3d/linalg-nalgebra" ]
+linalg-glam = [ "rapier_testbed3d/linalg-glam" ]
 
 [dependencies]
 rand = "0.8"
diff --git a/examples3d/ccd3.rs b/examples3d/ccd3.rs
index c1a5176..8a3ea7c 100644
--- a/examples3d/ccd3.rs
+++ b/examples3d/ccd3.rs
@@ -5,9 +5,9 @@ fn create_wall(
     testbed: &mut Testbed,
     bodies: &mut RigidBodySet,
     colliders: &mut ColliderSet,
-    offset: Vector<f32>,
+    offset: Vector,
     stack_height: usize,
-    half_extents: Vector<f32>,
+    half_extents: Vector,
 ) {
     let shift = half_extents * 2.0;
     let mut k = 0;
diff --git a/examples3d/convex_polyhedron3.rs b/examples3d/convex_polyhedron3.rs
index 980720a..986dea9 100644
--- a/examples3d/convex_polyhedron3.rs
+++ b/examples3d/convex_polyhedron3.rs
@@ -47,7 +47,7 @@ pub fn init_world(testbed: &mut Testbed) {
 
                 let mut points = Vec::new();
                 for _ in 0..10 {
-                    let pt: Point<f32> = distribution.sample(&mut rng);
+                    let pt: Point = distribution.sample(&mut rng);
                     points.push(pt * scale);
                 }
 
diff --git a/examples3d/debug_deserialize3.rs b/examples3d/debug_deserialize3.rs
index b8b79fb..00eedf4 100644
--- a/examples3d/debug_deserialize3.rs
+++ b/examples3d/debug_deserialize3.rs
@@ -3,7 +3,7 @@ use rapier_testbed3d::Testbed;
 
 #[derive(serde::Deserialize)]
 struct PhysicsState {
-    pub gravity: Vector<f32>,
+    pub gravity: Vector,
     pub integration_parameters: IntegrationParameters,
     pub islands: IslandManager,
     pub broad_phase: BroadPhase,
diff --git a/examples3d/debug_prismatic3.rs b/examples3d/debug_prismatic3.rs
index 776c50c..f67c43e 100644
--- a/examples3d/debug_prismatic3.rs
+++ b/examples3d/debug_prismatic3.rs
@@ -5,7 +5,7 @@ fn prismatic_repro(
     bodies: &mut RigidBodySet,
     colliders: &mut ColliderSet,
     impulse_joints: &mut ImpulseJointSet,
-    box_center: Point<f32>,
+    box_center: Point,
 ) {
     let box_rb = bodies.insert(RigidBodyBuilder::dynamic().translation(vector![
         box_center.x,
diff --git a/examples3d/joints3.rs b/examples3d/joints3.rs
index 73f48ae..2e0ad25 100644
--- a/examples3d/joints3.rs
+++ b/examples3d/joints3.rs
@@ -6,7 +6,7 @@ fn create_coupled_joints(
     colliders: &mut ColliderSet,
     impulse_joints: &mut ImpulseJointSet,
     multibody_joints: &mut MultibodyJointSet,
-    origin: Point<f32>,
+    origin: Point,
     use_articulations: bool,
 ) {
     let ground = bodies.insert(RigidBodyBuilder::fixed().translation(origin.coords));
@@ -34,7 +34,7 @@ fn create_prismatic_joints(
     colliders: &mut ColliderSet,
     impulse_joints: &mut ImpulseJointSet,
     multibody_joints: &mut MultibodyJointSet,
-    origin: Point<f32>,
+    origin: Point,
     num: usize,
     use_articulations: bool,
 ) {
@@ -78,7 +78,7 @@ fn create_actuated_prismatic_joints(
     colliders: &mut ColliderSet,
     impulse_joints: &mut ImpulseJointSet,
     multibody_joints: &mut MultibodyJointSet,
-    origin: Point<f32>,
+    origin: Point,
     num: usize,
     use_articulations: bool,
 ) {
@@ -143,7 +143,7 @@ fn create_revolute_joints(
     colliders: &mut ColliderSet,
     impulse_joints: &mut ImpulseJointSet,
     multibody_joints: &mut MultibodyJointSet,
-    origin: Point<f32>,
+    origin: Point,
     num: usize,
     use_articulations: bool,
 ) {
@@ -204,7 +204,7 @@ fn create_revolute_joints_with_limits(
     colliders: &mut ColliderSet,
     impulse_joints: &mut ImpulseJointSet,
     multibody_joints: &mut MultibodyJointSet,
-    origin: Point<f32>,
+    origin: Point,
     use_articulations: bool,
 ) {
     let ground = bodies.insert(RigidBodyBuilder::fixed().translation(origin.coords));
@@ -275,7 +275,7 @@ fn create_fixed_joints(
     colliders: &mut ColliderSet,
     impulse_joints: &mut ImpulseJointSet,
     multibody_joints: &mut MultibodyJointSet,
-    origin: Point<f32>,
+    origin: Point,
     num: usize,
     use_articulations: bool,
 ) {
@@ -397,7 +397,7 @@ fn create_spherical_joints_with_limits(
     colliders: &mut ColliderSet,
     impulse_joints: &mut ImpulseJointSet,
     multibody_joints: &mut MultibodyJointSet,
-    origin: Point<f32>,
+    origin: Point,
     use_articulations: bool,
 ) {
     let shift = vector![0.0, 0.0, 3.0];
@@ -438,7 +438,7 @@ fn create_actuated_revolute_joints(
     colliders: &mut ColliderSet,
     impulse_joints: &mut ImpulseJointSet,
     multibody_joints: &mut MultibodyJointSet,
-    origin: Point<f32>,
+    origin: Point,
     num: usize,
     use_articulations: bool,
 ) {
@@ -507,7 +507,7 @@ fn create_actuated_spherical_joints(
     colliders: &mut ColliderSet,
     impulse_joints: &mut ImpulseJointSet,
     multibody_joints: &mut MultibodyJointSet,
-    origin: Point<f32>,
+    origin: Point,
     num: usize,
     use_articulations: bool,
 ) {
diff --git a/examples3d/keva3.rs b/examples3d/keva3.rs
index 4f5cd54..fb2c6b2 100644
--- a/examples3d/keva3.rs
+++ b/examples3d/keva3.rs
@@ -5,8 +5,8 @@ pub fn build_block(
     testbed: &mut Testbed,
     bodies: &mut RigidBodySet,
     colliders: &mut ColliderSet,
-    half_extents: Vector<f32>,
-    shift: Vector<f32>,
+    half_extents: Vector,
+    shift: Vector,
     (mut numx, numy, mut numz): (usize, usize, usize),
 ) {
     let dimensions = [half_extents.xyz(), half_extents.zyx()];