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

6 files changed, 35 insertions, 37 deletions

diff --git a/src/geometry/broad_phase_multi_sap/broad_phase.rs b/src/geometry/broad_phase_multi_sap/broad_phase.rs
index 9e1bc06..07a5854 100644
--- a/src/geometry/broad_phase_multi_sap/broad_phase.rs
+++ b/src/geometry/broad_phase_multi_sap/broad_phase.rs
@@ -6,7 +6,7 @@ use crate::geometry::{
     ColliderBroadPhaseData, ColliderChanges, ColliderHandle, ColliderPosition, ColliderSet,
     ColliderShape,
 };
-use crate::math::Real;
+use crate::math::*;
 use crate::utils::IndexMut2;
 use parry::bounding_volume::BoundingVolume;
 use parry::utils::hashmap::HashMap;
@@ -361,8 +361,8 @@ impl BroadPhase {
             .compute_aabb(co_pos)
             .loosened(prediction_distance / 2.0);
 
-        if aabb.mins.coords.iter().any(|e| !e.is_finite())
-            || aabb.maxs.coords.iter().any(|e| !e.is_finite())
+        if aabb.mins.as_vector().iter().any(|e| !e.is_finite())
+            || aabb.maxs.as_vector().iter().any(|e| !e.is_finite())
         {
             // Reject Aabbs with non-finite values.
             return false;
diff --git a/src/geometry/broad_phase_multi_sap/broad_phase_pair_event.rs b/src/geometry/broad_phase_multi_sap/broad_phase_pair_event.rs
index 7b489f5..5732fad 100644
--- a/src/geometry/broad_phase_multi_sap/broad_phase_pair_event.rs
+++ b/src/geometry/broad_phase_multi_sap/broad_phase_pair_event.rs
@@ -25,17 +25,17 @@ impl ColliderPair {
     }
 
     /// Constructs a pair of artificial handles that are not guaranteed to be valid..
-    pub fn zero() -> Self {
+    pub fn invalid() -> Self {
         Self {
-            collider1: ColliderHandle::from_raw_parts(0, 0),
-            collider2: ColliderHandle::from_raw_parts(0, 0),
+            collider1: ColliderHandle::PLACEHOLDER,
+            collider2: ColliderHandle::PLACEHOLDER,
         }
     }
 }
 
 impl Default for ColliderPair {
     fn default() -> Self {
-        ColliderPair::zero()
+        ColliderPair::invalid()
     }
 }
 
diff --git a/src/geometry/broad_phase_multi_sap/sap_axis.rs b/src/geometry/broad_phase_multi_sap/sap_axis.rs
index 2452148..28c0822 100644
--- a/src/geometry/broad_phase_multi_sap/sap_axis.rs
+++ b/src/geometry/broad_phase_multi_sap/sap_axis.rs
@@ -1,7 +1,7 @@
 use super::{SAPEndpoint, SAPProxies, NUM_SENTINELS};
 use crate::geometry::broad_phase_multi_sap::DELETED_AABB_VALUE;
 use crate::geometry::SAPProxyIndex;
-use crate::math::Real;
+use crate::math::*;
 use bit_vec::BitVec;
 use parry::bounding_volume::BoundingVolume;
 use parry::utils::hashmap::HashMap;
diff --git a/src/geometry/broad_phase_multi_sap/sap_endpoint.rs b/src/geometry/broad_phase_multi_sap/sap_endpoint.rs
index a57b8e9..482c046 100644
--- a/src/geometry/broad_phase_multi_sap/sap_endpoint.rs
+++ b/src/geometry/broad_phase_multi_sap/sap_endpoint.rs
@@ -1,5 +1,5 @@
 use super::SENTINEL_VALUE;
-use crate::math::Real;
+use crate::math::*;
 
 #[derive(Copy, Clone, Debug, PartialEq)]
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
diff --git a/src/geometry/broad_phase_multi_sap/sap_layer.rs b/src/geometry/broad_phase_multi_sap/sap_layer.rs
index 2266d56..a315cc7 100644
--- a/src/geometry/broad_phase_multi_sap/sap_layer.rs
+++ b/src/geometry/broad_phase_multi_sap/sap_layer.rs
@@ -1,7 +1,7 @@
 use super::{SAPProxies, SAPProxy, SAPRegion, SAPRegionPool};
 use crate::geometry::broad_phase_multi_sap::DELETED_AABB_VALUE;
 use crate::geometry::{Aabb, SAPProxyIndex};
-use crate::math::{Point, Real};
+use crate::math::*;
 use parry::bounding_volume::BoundingVolume;
 use parry::utils::hashmap::{Entry, HashMap};
 
@@ -13,9 +13,9 @@ pub(crate) struct SAPLayer {
     pub smaller_layer: Option<u8>,
     pub larger_layer: Option<u8>,
     region_width: Real,
-    pub regions: HashMap<Point<i32>, SAPProxyIndex>,
+    pub regions: HashMap<[i32; DIM], SAPProxyIndex>,
     #[cfg_attr(feature = "serde-serialize", serde(skip))]
-    regions_to_potentially_remove: Vec<Point<i32>>, // Workspace
+    regions_to_potentially_remove: Vec<[i32; DIM]>, // Workspace
     #[cfg_attr(feature = "serde-serialize", serde(skip))]
     pub created_regions: Vec<SAPProxyIndex>,
 }
@@ -188,7 +188,7 @@ impl SAPLayer {
     /// of the new region if it did not exist and has been created by this method.
     pub fn ensure_region_exists(
         &mut self,
-        region_key: Point<i32>,
+        region_key: [i32; DIM],
         proxies: &mut SAPProxies,
         pool: &mut SAPRegionPool,
     ) -> SAPProxyIndex {
@@ -227,15 +227,15 @@ impl SAPLayer {
         #[cfg(feature = "dim2")]
         let k_range = 0..1;
         #[cfg(feature = "dim3")]
-        let k_range = start.z..=end.z;
+        let k_range = start[2]..=end[2];
 
-        for i in start.x..=end.x {
-            for j in start.y..=end.y {
+        for i in start[0]..=end[0] {
+            for j in start[1]..=end[1] {
                 for _k in k_range.clone() {
                     #[cfg(feature = "dim2")]
-                    let region_key = Point::new(i, j);
+                    let region_key = [i, j];
                     #[cfg(feature = "dim3")]
-                    let region_key = Point::new(i, j, _k);
+                    let region_key = [i, j, _k];
                     let region_id = self.ensure_region_exists(region_key, proxies, pool);
                     let region_proxy = &mut proxies[region_id];
                     let region = region_proxy.data.as_region_mut();
@@ -273,21 +273,21 @@ impl SAPLayer {
         let end = super::point_key(proxy_aabb.maxs, self.region_width);
 
         // Set the Aabb of the proxy to a very large value.
-        proxy_aabb.mins.coords.fill(DELETED_AABB_VALUE);
-        proxy_aabb.maxs.coords.fill(DELETED_AABB_VALUE);
+        proxy_aabb.mins.as_vector_mut().fill(DELETED_AABB_VALUE);
+        proxy_aabb.maxs.as_vector_mut().fill(DELETED_AABB_VALUE);
 
         #[cfg(feature = "dim2")]
         let k_range = 0..1;
         #[cfg(feature = "dim3")]
-        let k_range = start.z..=end.z;
+        let k_range = start[2]..=end[2];
 
-        for i in start.x..=end.x {
-            for j in start.y..=end.y {
+        for i in start[0]..=end[0] {
+            for j in start[1]..=end[1] {
                 for _k in k_range.clone() {
                     #[cfg(feature = "dim2")]
-                    let key = Point::new(i, j);
+                    let key = [i, j];
                     #[cfg(feature = "dim3")]
-                    let key = Point::new(i, j, _k);
+                    let key = [i, j, _k];
                     if let Some(region_id) = self.regions.get(&key) {
                         let region = proxies[*region_id].data.as_region_mut();
                         region.predelete_proxy(proxy_index);
@@ -362,8 +362,8 @@ impl SAPLayer {
 
                         // Move the proxy to infinity.
                         let proxy = &mut proxies[region_id];
-                        proxy.aabb.mins.coords.fill(DELETED_AABB_VALUE);
-                        proxy.aabb.maxs.coords.fill(DELETED_AABB_VALUE);
+                        proxy.aabb.mins.as_vector_mut().fill(DELETED_AABB_VALUE);
+                        proxy.aabb.maxs.as_vector_mut().fill(DELETED_AABB_VALUE);
 
                         // Mark the proxy as deleted.
                         proxies.remove(region_id);
diff --git a/src/geometry/broad_phase_multi_sap/sap_utils.rs b/src/geometry/broad_phase_multi_sap/sap_utils.rs
index 56183eb..ec1f442 100644
--- a/src/geometry/broad_phase_multi_sap/sap_utils.rs
+++ b/src/geometry/broad_phase_multi_sap/sap_utils.rs
@@ -1,4 +1,4 @@
-use crate::math::{Point, Real, Vector};
+use crate::math::*;
 use parry::bounding_volume::Aabb;
 
 pub(crate) const NUM_SENTINELS: usize = 1;
@@ -19,19 +19,17 @@ pub(crate) fn sort2(a: u32, b: u32) -> (u32, u32) {
     }
 }
 
-pub(crate) fn clamp_point(point: Point<Real>) -> Point<Real> {
+pub(crate) fn clamp_point(point: Point) -> Point {
     point.map(|e| na::clamp(e, -MAX_AABB_EXTENT, MAX_AABB_EXTENT))
 }
 
-pub(crate) fn point_key(point: Point<Real>, region_width: Real) -> Point<i32> {
-    (point / region_width)
-        .coords
-        .map(|e| e.floor() as i32)
-        .into()
+pub(crate) fn point_key(point: Point, region_width: Real) -> [i32; DIM] {
+    let array: [Real; DIM] = (point / region_width).into_vector().into();
+    array.map(|e| e.floor() as i32)
 }
 
-pub(crate) fn region_aabb(index: Point<i32>, region_width: Real) -> Aabb {
-    let mins = index.coords.map(|i| i as Real * region_width).into();
+pub(crate) fn region_aabb(index: [i32; DIM], region_width: Real) -> Aabb {
+    let mins = index.map(|i| i as Real * region_width).into();
     let maxs = mins + Vector::repeat(region_width);
     Aabb::new(mins, maxs)
 }
@@ -43,7 +41,7 @@ pub(crate) fn region_width(depth: i8) -> Real {
 /// Computes the depth of the layer the given Aabb should be part of.
 ///
 /// The idea here is that an Aabb should be part of a layer which has
-/// regions large enough so that one Aabb doesn't crosses too many
+/// regions large enough so that one Aabb doesn't cross too many
 /// regions. But the regions must also not be too large, otherwise
 /// we are loosing the benefits of Multi-SAP.
 ///