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

1 files changed, 32 insertions, 22 deletions

diff --git a/src/geometry/interaction_groups.rs b/src/geometry/interaction_groups.rs
index 37b7586..b2961d9 100644
--- a/src/geometry/interaction_groups.rs
+++ b/src/geometry/interaction_groups.rs
@@ -1,56 +1,66 @@
-#[repr(transparent)]
-#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
-#[derive(Copy, Clone, Debug, Hash, PartialEq, Eq)]
 /// Pairwise filtering using bit masks.
 ///
-/// This filtering method is based on two 16-bit values:
-/// - The interaction groups (the 16 left-most bits of `self.0`).
-/// - The interaction mask (the 16 right-most bits of `self.0`).
+/// This filtering method is based on two 32-bit values:
+/// - The interaction groups memberships.
+/// - The interaction groups filter.
 ///
 /// An interaction is allowed between two filters `a` and `b` when two conditions
 /// are met simultaneously:
-/// - The interaction groups of `a` has at least one bit set to `1` in common with the interaction mask of `b`.
-/// - The interaction groups of `b` has at least one bit set to `1` in common with the interaction mask of `a`.
+/// - The groups membership of `a` has at least one bit set to `1` in common with the groups filter of `b`.
+/// - The groups membership of `b` has at least one bit set to `1` in common with the groups filter of `a`.
 ///
 /// In other words, interactions are allowed between two filter iff. the following condition is met:
 /// ```ignore
-/// ((self.0 >> 16) & rhs.0) != 0 && ((rhs.0 >> 16) & self.0) != 0
+/// (self.memberships & rhs.filter) != 0 && (rhs.memberships & self.filter) != 0
 /// ```
-pub struct InteractionGroups(pub u32);
+#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
+#[derive(Copy, Clone, Debug, Hash, PartialEq, Eq)]
+#[repr(C)]
+pub struct InteractionGroups {
+    /// Groups memberships.
+    pub memberships: u32,
+    /// Groups filter.
+    pub filter: u32,
+}
 
 impl InteractionGroups {
     /// Initializes with the given interaction groups and interaction mask.
-    pub const fn new(groups: u16, masks: u16) -> Self {
-        Self::none().with_groups(groups).with_mask(masks)
+    pub const fn new(memberships: u32, filter: u32) -> Self {
+        Self {
+            memberships,
+            filter,
+        }
     }
 
     /// Allow interaction with everything.
     pub const fn all() -> Self {
-        Self(u32::MAX)
+        Self::new(u32::MAX, u32::MAX)
     }
 
     /// Prevent all interactions.
     pub const fn none() -> Self {
-        Self(0)
+        Self::new(0, 0)
     }
 
     /// Sets the group this filter is part of.
-    pub const fn with_groups(self, groups: u16) -> Self {
-        Self((self.0 & 0x0000ffff) | ((groups as u32) << 16))
+    pub const fn with_memberships(mut self, memberships: u32) -> Self {
+        self.memberships = memberships;
+        self
     }
 
     /// Sets the interaction mask of this filter.
-    pub const fn with_mask(self, mask: u16) -> Self {
-        Self((self.0 & 0xffff0000) | (mask as u32))
+    pub const fn with_filter(mut self, filter: u32) -> Self {
+        self.filter = filter;
+        self
     }
 
-    /// Check if interactions should be allowed based on the interaction groups and mask.
+    /// Check if interactions should be allowed based on the interaction memberships and filter.
     ///
-    /// An interaction is allowed iff. the groups of `self` contain at least one bit set to 1 in common
-    /// with the mask of `rhs`, and vice-versa.
+    /// An interaction is allowed iff. the memberships of `self` contain at least one bit set to 1 in common
+    /// with the filter of `rhs`, and vice-versa.
     #[inline]
     pub const fn test(self, rhs: Self) -> bool {
-        ((self.0 >> 16) & rhs.0) != 0 && ((rhs.0 >> 16) & self.0) != 0
+        (self.memberships & rhs.filter) != 0 && (rhs.memberships & self.filter) != 0
     }
 }