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

53 files changed, 2351 insertions, 2210 deletions

diff --git a/src/dynamics/ccd/ccd_solver.rs b/src/dynamics/ccd/ccd_solver.rs
index 79c4495..064c044 100644
--- a/src/dynamics/ccd/ccd_solver.rs
+++ b/src/dynamics/ccd/ccd_solver.rs
@@ -1,7 +1,7 @@
 use super::TOIEntry;
 use crate::dynamics::{IslandManager, RigidBodyHandle, RigidBodySet};
 use crate::geometry::{ColliderParent, ColliderSet, CollisionEvent, NarrowPhase};
-use crate::math::Real;
+use crate::math::*;
 use crate::parry::utils::SortedPair;
 use crate::pipeline::{EventHandler, QueryPipeline, QueryPipelineMode};
 use crate::prelude::{ActiveEvents, CollisionEventFlags};
@@ -92,14 +92,14 @@ impl CCDSolver {
         for handle in islands.active_dynamic_bodies() {
             let rb = bodies.index_mut_internal(*handle);
 
-            if rb.ccd.ccd_enabled {
+            if rb.ccd.enabled {
                 let forces = if include_forces {
                     Some(&rb.forces)
                 } else {
                     None
                 };
                 let moving_fast = rb.ccd.is_moving_fast(dt, &rb.integrated_vels, forces);
-                rb.ccd.ccd_active = moving_fast;
+                rb.ccd.active = moving_fast;
                 ccd_active = ccd_active || moving_fast;
             }
         }
@@ -129,7 +129,7 @@ impl CCDSolver {
         for handle in islands.active_dynamic_bodies() {
             let rb1 = &bodies[*handle];
 
-            if rb1.ccd.ccd_active {
+            if rb1.ccd.active {
                 let predicted_body_pos1 = rb1.pos.integrate_forces_and_velocities(
                     dt,
                     &rb1.forces,
@@ -161,10 +161,7 @@ impl CCDSolver {
                             }
 
                             if pairs_seen
-                                .insert(
-                                    SortedPair::new(ch1.into_raw_parts().0, ch2.into_raw_parts().0),
-                                    (),
-                                )
+                                .insert(SortedPair::new(ch1.index(), ch2.index()), ())
                                 .is_none()
                             {
                                 let co1 = &colliders[*ch1];
@@ -253,7 +250,7 @@ impl CCDSolver {
         for handle in islands.active_dynamic_bodies() {
             let rb1 = &bodies[*handle];
 
-            if rb1.ccd.ccd_active {
+            if rb1.ccd.active {
                 let predicted_body_pos1 = rb1.pos.integrate_forces_and_velocities(
                     dt,
                     &rb1.forces,
@@ -261,8 +258,8 @@ impl CCDSolver {
                     &rb1.mprops,
                 );
 
-                for ch1 in &rb1.colliders.0 {
-                    let co1 = &colliders[*ch1];
+                for ch1 in rb1.colliders.0.iter().copied() {
+                    let co1 = &colliders[ch1];
                     let co_parent1 = co1
                         .parent
                         .as_ref()
@@ -275,19 +272,16 @@ impl CCDSolver {
 
                     self.query_pipeline
                         .colliders_with_aabb_intersecting_aabb(&aabb1, |ch2| {
-                            if *ch1 == *ch2 {
+                            if ch1 == *ch2 {
                                 // Ignore self-intersection.
                                 return true;
                             }
 
                             if pairs_seen
-                                .insert(
-                                    SortedPair::new(ch1.into_raw_parts().0, ch2.into_raw_parts().0),
-                                    (),
-                                )
+                                .insert(SortedPair::new(ch1.index(), ch2.index()), ())
                                 .is_none()
                             {
-                                let co1 = &colliders[*ch1];
+                                let co1 = &colliders[ch1];
                                 let co2 = &colliders[*ch2];
 
                                 let bh1 = co1.parent.map(|p| p.handle);
@@ -301,7 +295,7 @@ impl CCDSolver {
                                 }
 
                                 let smallest_dist = narrow_phase
-                                    .contact_pair(*ch1, *ch2)
+                                    .contact_pair(ch1, *ch2)
                                     .and_then(|p| p.find_deepest_contact())
                                     .map(|c| c.1.dist)
                                     .unwrap_or(0.0);
@@ -311,7 +305,7 @@ impl CCDSolver {
 
                                 if let Some(toi) = TOIEntry::try_from_colliders(
                                     self.query_pipeline.query_dispatcher(),
-                                    *ch1,
+                                    ch1,
                                     *ch2,
                                     co1,
                                     co2,
@@ -362,12 +356,10 @@ impl CCDSolver {
             let rb2 = toi.b2.and_then(|b| bodies.get(b));
 
             let mut colliders_to_check = Vec::new();
-            let should_freeze1 = rb1.is_some()
-                && rb1.unwrap().ccd.ccd_active
-                && !frozen.contains_key(&toi.b1.unwrap());
-            let should_freeze2 = rb2.is_some()
-                && rb2.unwrap().ccd.ccd_active
-                && !frozen.contains_key(&toi.b2.unwrap());
+            let should_freeze1 =
+                rb1.is_some() && rb1.unwrap().ccd.active && !frozen.contains_key(&toi.b1.unwrap());
+            let should_freeze2 =
+                rb2.is_some() && rb2.unwrap().ccd.active && !frozen.contains_key(&toi.b2.unwrap());
 
             if !should_freeze1 && !should_freeze2 {
                 continue;
@@ -400,8 +392,8 @@ impl CCDSolver {
 
             // NOTE: the 1 and 2 indices (e.g., `ch1`, `ch2`) bellow are unrelated to the
             //       ones we used above.
-            for ch1 in &colliders_to_check {
-                let co1 = &colliders[*ch1];
+            for ch1 in colliders_to_check.iter().copied() {
+                let co1 = &colliders[ch1];
                 let co1_parent = co1.parent.as_ref().unwrap();
                 let rb1 = &bodies[co1_parent.handle];
 
@@ -428,23 +420,22 @@ impl CCDSolver {
                         let rb1 = bh1.and_then(|h| bodies.get(h));
                         let rb2 = bh2.and_then(|h| bodies.get(h));
 
-                        if (frozen1.is_some() || !rb1.map(|b| b.ccd.ccd_active).unwrap_or(false))
-                            && (frozen2.is_some()
-                                || !rb2.map(|b| b.ccd.ccd_active).unwrap_or(false))
+                        if (frozen1.is_some() || !rb1.map(|b| b.ccd.active).unwrap_or(false))
+                            && (frozen2.is_some() || !rb2.map(|b| b.ccd.active).unwrap_or(false))
                         {
                             // We already did a resweep.
                             return true;
                         }
 
                         let smallest_dist = narrow_phase
-                            .contact_pair(*ch1, *ch2)
+                            .contact_pair(ch1, *ch2)
                             .and_then(|p| p.find_deepest_contact())
                             .map(|c| c.1.dist)
                             .unwrap_or(0.0);
 
                         if let Some(toi) = TOIEntry::try_from_colliders(
                             self.query_pipeline.query_dispatcher(),
-                            *ch1,
+                            ch1,
                             *ch2,
                             co1,
                             co2,
diff --git a/src/dynamics/ccd/toi_entry.rs b/src/dynamics/ccd/toi_entry.rs
index 719f3c5..3f4f5f2 100644
--- a/src/dynamics/ccd/toi_entry.rs
+++ b/src/dynamics/ccd/toi_entry.rs
@@ -1,6 +1,6 @@
 use crate::dynamics::{RigidBody, RigidBodyHandle};
 use crate::geometry::{Collider, ColliderHandle};
-use crate::math::Real;
+use crate::math::*;
 use parry::query::{NonlinearRigidMotion, QueryDispatcher};
 
 #[derive(Copy, Clone, Debug)]
@@ -57,13 +57,13 @@ impl TOIEntry {
         }
 
         let linvel1 = frozen1.is_none() as u32 as Real
-            * rb1.map(|b| b.integrated_vels.linvel).unwrap_or(na::zero());
+            * rb1.map(|b| b.integrated_vels.linvel).unwrap_or_default();
         let linvel2 = frozen2.is_none() as u32 as Real
-            * rb2.map(|b| b.integrated_vels.linvel).unwrap_or(na::zero());
+            * rb2.map(|b| b.integrated_vels.linvel).unwrap_or_default();
         let angvel1 = frozen1.is_none() as u32 as Real
-            * rb1.map(|b| b.integrated_vels.angvel).unwrap_or(na::zero());
+            * rb1.map(|b| b.integrated_vels.angvel).unwrap_or_default();
         let angvel2 = frozen2.is_none() as u32 as Real
-            * rb2.map(|b| b.integrated_vels.angvel).unwrap_or(na::zero());
+            * rb2.map(|b| b.integrated_vels.angvel).unwrap_or_default();
 
         #[cfg(feature = "dim2")]
         let vel12 = (linvel2 - linvel1).norm()
@@ -154,7 +154,7 @@ impl TOIEntry {
     }
 
     fn body_motion(rb: &RigidBody) -> NonlinearRigidMotion {
-        if rb.ccd.ccd_active {
+        if rb.ccd.active {
             NonlinearRigidMotion::new(
                 rb.pos.position,
                 rb.mprops.local_mprops.local_com,
diff --git a/src/dynamics/coefficient_combine_rule.rs b/src/dynamics/coefficient_combine_rule.rs
index 9f99b7d..84094bf 100644
--- a/src/dynamics/coefficient_combine_rule.rs
+++ b/src/dynamics/coefficient_combine_rule.rs
@@ -1,4 +1,7 @@
-use crate::math::Real;
+use crate::math::*;
+
+#[cfg(feature = "bevy")]
+use bevy::prelude::{Component, Reflect, ReflectComponent};
 
 /// Rules used to combine two coefficients.
 ///
@@ -9,6 +12,11 @@ use crate::math::Real;
 /// actually used is given by `max(first_combine_rule as usize, second_combine_rule as usize)`.
 #[derive(Default, Copy, Clone, Debug, PartialEq, Eq)]
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
+#[cfg_attr(
+    feature = "bevy",
+    derive(Component, Reflect),
+    reflect(Component, PartialEq)
+)]
 pub enum CoefficientCombineRule {
     /// The two coefficients are averaged.
     #[default]
diff --git a/src/dynamics/integration_parameters.rs b/src/dynamics/integration_parameters.rs
index 13b3fde..ea290fc 100644
--- a/src/dynamics/integration_parameters.rs
+++ b/src/dynamics/integration_parameters.rs
@@ -1,4 +1,4 @@
-use crate::math::Real;
+use crate::math::*;
 use std::num::NonZeroUsize;
 
 /// Parameters for a time-step of the physics engine.
diff --git a/src/dynamics/island_manager.rs b/src/dynamics/island_manager.rs
index 8f18941..1e720fc 100644
--- a/src/dynamics/island_manager.rs
+++ b/src/dynamics/island_manager.rs
@@ -1,9 +1,9 @@
 use crate::dynamics::{
-    ImpulseJointSet, MultibodyJointSet, RigidBodyActivation, RigidBodyChanges, RigidBodyColliders,
-    RigidBodyHandle, RigidBodyIds, RigidBodySet, RigidBodyType, RigidBodyVelocity,
+    ImpulseJointSet, MultibodyJointSet, RigidBodyChanges, RigidBodyColliders, RigidBodyHandle,
+    RigidBodyIds, RigidBodySet, RigidBodyType, SleepState, Velocity,
 };
 use crate::geometry::{ColliderSet, NarrowPhase};
-use crate::math::Real;
+use crate::math::*;
 use crate::utils::SimdDot;
 
 /// Structure responsible for maintaining the set of active rigid-bodies, and
@@ -317,14 +317,14 @@ impl IslandManager {
         for handle in &self.can_sleep {
             let rb = bodies.index_mut_internal(*handle);
             if rb.activation.sleeping {
-                rb.vels = RigidBodyVelocity::zero();
+                rb.vels = Velocity::zero();
                 rb.activation.sleep();
             }
         }
     }
 }
 
-fn update_energy(activation: &mut RigidBodyActivation, sq_linvel: Real, sq_angvel: Real, dt: Real) {
+fn update_energy(activation: &mut SleepState, sq_linvel: Real, sq_angvel: Real, dt: Real) {
     if sq_linvel < activation.linear_threshold * activation.linear_threshold.abs()
         && sq_angvel < activation.angular_threshold * activation.angular_threshold.abs()
     {
diff --git a/src/dynamics/joint/fixed_joint.rs b/src/dynamics/joint/fixed_joint.rs
index 2bb2f64..f5a0250 100644
--- a/src/dynamics/joint/fixed_joint.rs
+++ b/src/dynamics/joint/fixed_joint.rs
@@ -1,5 +1,5 @@
 use crate::dynamics::{GenericJoint, GenericJointBuilder, JointAxesMask};
-use crate::math::{Isometry, Point, Real};
+use crate::math::*;
 
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
 #[derive(Copy, Clone, Debug, PartialEq)]
@@ -37,48 +37,48 @@ impl FixedJoint {
 
     /// The joint’s frame, expressed in the first rigid-body’s local-space.
     #[must_use]
-    pub fn local_frame1(&self) -> &Isometry<Real> {
+    pub fn local_frame1(&self) -> &Isometry {
         &self.data.local_frame1
     }
 
     /// Sets the joint’s frame, expressed in the first rigid-body’s local-space.
-    pub fn set_local_frame1(&mut self, local_frame: Isometry<Real>) -> &mut Self {
+    pub fn set_local_frame1(&mut self, local_frame: Isometry) -> &mut Self {
         self.data.set_local_frame1(local_frame);
         self
     }
 
     /// The joint’s frame, expressed in the second rigid-body’s local-space.
     #[must_use]
-    pub fn local_frame2(&self) -> &Isometry<Real> {
+    pub fn local_frame2(&self) -> &Isometry {
         &self.data.local_frame2
     }
 
     /// Sets joint’s frame, expressed in the second rigid-body’s local-space.
-    pub fn set_local_frame2(&mut self, local_frame: Isometry<Real>) -> &mut Self {
+    pub fn set_local_frame2(&mut self, local_frame: Isometry) -> &mut Self {
         self.data.set_local_frame2(local_frame);
         self
     }
 
     /// The joint’s anchor, expressed in the local-space of the first rigid-body.
     #[must_use]
-    pub fn local_anchor1(&self) -> Point<Real> {
+    pub fn local_anchor1(&self) -> Point {
         self.data.local_anchor1()
     }
 
     /// Sets the joint’s anchor, expressed in the local-space of the first rigid-body.
-    pub fn set_local_anchor1(&mut self, anchor1: Point<Real>) -> &mut Self {
+    pub fn set_local_anchor1(&mut self, anchor1: Point) -> &mut Self {
         self.data.set_local_anchor1(anchor1);
         self
     }
 
     /// The joint’s anchor, expressed in the local-space of the second rigid-body.
     #[must_use]
-    pub fn local_anchor2(&self) -> Point<Real> {
+    pub fn local_anchor2(&self) -> Point {
         self.data.local_anchor2()
     }
 
     /// Sets the joint’s anchor, expressed in the local-space of the second rigid-body.
-    pub fn set_local_anchor2(&mut self, anchor2: Point<Real>) -> &mut Self {
+    pub fn set_local_anchor2(&mut self, anchor2: Point) -> &mut Self {
         self.data.set_local_anchor2(anchor2);
         self
     }
@@ -110,28 +110,28 @@ impl FixedJointBuilder {
 
     /// Sets the joint’s frame, expressed in the first rigid-body’s local-space.
     #[must_use]
-    pub fn local_frame1(mut self, local_frame: Isometry<Real>) -> Self {
+    pub fn local_frame1(mut self, local_frame: Isometry) -> Self {
         self.0.set_local_frame1(local_frame);
         self
     }
 
     /// Sets joint’s frame, expressed in the second rigid-body’s local-space.
     #[must_use]
-    pub fn local_frame2(mut self, local_frame: Isometry<Real>) -> Self {
+    pub fn local_frame2(mut self, local_frame: Isometry) -> Self {
         self.0.set_local_frame2(local_frame);
         self
     }
 
     /// Sets the joint’s anchor, expressed in the local-space of the first rigid-body.
     #[must_use]
-    pub fn local_anchor1(mut self, anchor1: Point<Real>) -> Self {
+    pub fn local_anchor1(mut self, anchor1: Point) -> Self {
         self.0.set_local_anchor1(anchor1);
         self
     }
 
     /// Sets the joint’s anchor, expressed in the local-space of the second rigid-body.
     #[must_use]
-    pub fn local_anchor2(mut self, anchor2: Point<Real>) -> Self {
+    pub fn local_anchor2(mut self, anchor2: Point) -> Self {
         self.0.set_local_anchor2(anchor2);
         self
     }
diff --git a/src/dynamics/joint/generic_joint.rs b/src/dynamics/joint/generic_joint.rs
index 76a7fe1..8773b2c 100644
--- a/src/dynamics/joint/generic_joint.rs
+++ b/src/dynamics/joint/generic_joint.rs
@@ -2,7 +2,7 @@
 
 use crate::dynamics::solver::MotorParameters;
 use crate::dynamics::{FixedJoint, MotorModel, PrismaticJoint, RevoluteJoint, RopeJoint};
-use crate::math::{Isometry, Point, Real, Rotation, UnitVector, Vector, SPATIAL_DIM};
+use crate::math::*;
 use crate::utils::{SimdBasis, SimdRealCopy};
 
 #[cfg(feature = "dim3")]
@@ -212,9 +212,9 @@ pub enum JointEnabled {
 /// A generic joint.
 pub struct GenericJoint {
     /// The joint’s frame, expressed in the first rigid-body’s local-space.
-    pub local_frame1: Isometry<Real>,
+    pub local_frame1: Isometry,
     /// The joint’s frame, expressed in the second rigid-body’s local-space.
-    pub local_frame2: Isometry<Real>,
+    pub local_frame2: Isometry,
     /// The degrees-of-freedoms locked by this joint.
     pub locked_axes: JointAxesMask,
     /// The degrees-of-freedoms limited by this joint.
@@ -280,23 +280,20 @@ impl GenericJoint {
     }
 
     #[doc(hidden)]
-    pub fn complete_ang_frame(axis: UnitVector<Real>) -> Rotation<Real> {
+    pub fn complete_ang_frame(axis: UnitVector) -> Rotation {
         let basis = axis.orthonormal_basis();
 
         #[cfg(feature = "dim2")]
         {
-            use na::{Matrix2, Rotation2, UnitComplex};
-            let mat = Matrix2::from_columns(&[axis.into_inner(), basis[0]]);
-            let rotmat = Rotation2::from_matrix_unchecked(mat);
-            UnitComplex::from_rotation_matrix(&rotmat)
+            let mat = Matrix::from_columns(&[axis.into_inner(), basis[0]]);
+            Rotation::from_matrix_unchecked(mat)
         }
 
         #[cfg(feature = "dim3")]
         {
-            use na::{Matrix3, Rotation3, UnitQuaternion};
-            let mat = Matrix3::from_columns(&[axis.into_inner(), basis[0], basis[1]]);
-            let rotmat = Rotation3::from_matrix_unchecked(mat);
-            UnitQuaternion::from_rotation_matrix(&rotmat)
+            let mat = Matrix::from_columns(&[axis.into_inner(), basis[0], basis[1]]);
+            let rotmat = RotationMatrix::from_matrix_unchecked(mat);
+            Rotation::from_rotation_matrix(&rotmat)
         }
     }
 
@@ -328,62 +325,62 @@ impl GenericJoint {
     }
 
     /// Sets the joint’s frame, expressed in the first rigid-body’s local-space.
-    pub fn set_local_frame1(&mut self, local_frame: Isometry<Real>) -> &mut Self {
+    pub fn set_local_frame1(&mut self, local_frame: Isometry) -> &mut Self {
         self.local_frame1 = local_frame;
         self
     }
 
     /// Sets the joint’s frame, expressed in the second rigid-body’s local-space.
-    pub fn set_local_frame2(&mut self, local_frame: Isometry<Real>) -> &mut Self {
+    pub fn set_local_frame2(&mut self, local_frame: Isometry) -> &mut Self {
         self.local_frame2 = local_frame;
         self
     }
 
     /// The principal (local X) axis of this joint, expressed in the first rigid-body’s local-space.
     #[must_use]
-    pub fn local_axis1(&self) -> UnitVector<Real> {
-        self.local_frame1 * Vector::x_axis()
+    pub fn local_axis1(&self) -> UnitVector {
+        self.local_frame1.rotation * Vector::x_axis()
     }
 
     /// Sets the principal (local X) axis of this joint, expressed in the first rigid-body’s local-space.
-    pub fn set_local_axis1(&mut self, local_axis: UnitVector<Real>) -> &mut Self {
+    pub fn set_local_axis1(&mut self, local_axis: UnitVector) -> &mut Self {
         self.local_frame1.rotation = Self::complete_ang_frame(local_axis);
         self
     }
 
     /// The principal (local X) axis of this joint, expressed in the second rigid-body’s local-space.
     #[must_use]
-    pub fn local_axis2(&self) -> UnitVector<Real> {
-        self.local_frame2 * Vector::x_axis()
+    pub fn local_axis2(&self) -> UnitVector {
+        self.local_frame2.rotation * Vector::x_axis()
     }
 
     /// Sets the principal (local X) axis of this joint, expressed in the second rigid-body’s local-space.
-    pub fn set_local_axis2(&mut self, local_axis: UnitVector<Real>) -> &mut Self {
+    pub fn set_local_axis2(&mut self, local_axis: UnitVector) -> &mut Self {
         self.local_frame2.rotation = Self::complete_ang_frame(local_axis);
         self
     }
 
     /// The anchor of this joint, expressed in the first rigid-body’s local-space.
     #[must_use]
-    pub fn local_anchor1(&self) -> Point<Real> {
-        self.local_frame1.translation.vector.into()
+    pub fn local_anchor1(&self) -> Point {
+        self.local_frame1.translation.into_vector().into()
     }
 
     /// Sets anchor of this joint, expressed in the first rigid-body’s local-space.
-    pub fn set_local_anchor1(&mut self, anchor1: Point<Real>) -> &mut Self {
-        self.local_frame1.translation.vector = anchor1.coords;
+    pub fn set_local_anchor1(&mut self, anchor1: Point) -> &mut Self {
+        *self.local_frame1.translation.as_vector_mut() = anchor1.into_vector();
         self
     }
 
     /// The anchor of this joint, expressed in the second rigid-body’s local-space.
     #[must_use]
-    pub fn local_anchor2(&self) -> Point<Real> {
-        self.local_frame2.translation.vector.into()
+    pub fn local_anchor2(&self) -> Point {
+        self.local_frame2.translation.into_vector().into()
     }
 
     /// Sets anchor of this joint, expressed in the second rigid-body’s local-space.
-    pub fn set_local_anchor2(&mut self, anchor2: Point<Real>) -> &mut Self {
-        self.local_frame2.translation.vector = anchor2.coords;
+    pub fn set_local_anchor2(&mut self, anchor2: Point) -> &mut Self {
+        *self.local_frame2.translation.as_vector_mut() = anchor2.into_vector();
         self
     }
 
@@ -589,42 +586,42 @@ impl GenericJointBuilder {
 
     /// Sets the joint’s frame, expressed in the first rigid-body’s local-space.
     #[must_use]
-    pub fn local_frame1(mut self, local_frame: Isometry<Real>) -> Self {
+    pub fn local_frame1(mut