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

3 files changed, 41 insertions, 38 deletions

diff --git a/src/pipeline/debug_render_pipeline/debug_render_backend.rs b/src/pipeline/debug_render_pipeline/debug_render_backend.rs
index 664bf46..84aa2cc 100644
--- a/src/pipeline/debug_render_pipeline/debug_render_backend.rs
+++ b/src/pipeline/debug_render_pipeline/debug_render_backend.rs
@@ -2,9 +2,8 @@ use crate::dynamics::{
     ImpulseJoint, ImpulseJointHandle, Multibody, MultibodyLink, RigidBody, RigidBodyHandle,
 };
 use crate::geometry::{Aabb, Collider, ContactPair};
-use crate::math::{Isometry, Point, Real, Vector};
+use crate::math::*;
 use crate::prelude::{ColliderHandle, MultibodyJointHandle};
-use na::Scale;
 
 /// The object currently being rendered by the debug-renderer.
 #[derive(Copy, Clone)]
@@ -38,27 +37,25 @@ pub trait DebugRenderBackend {
     /// Draws a colored line.
     ///
     /// Note that this method can be called multiple time for the same `object`.
-    fn draw_line(
-        &mut self,
-        object: DebugRenderObject,
-        a: Point<Real>,
-        b: Point<Real>,
-        color: [f32; 4],
-    );
+    fn draw_line(&mut self, object: DebugRenderObject, a: Point, b: Point, color: [f32; 4]);
 
     /// Draws a set of line.
     fn draw_polyline(
         &mut self,
         object: DebugRenderObject,
-        vertices: &[Point<Real>],
+        vertices: &[Point],
         indices: &[[u32; 2]],
-        transform: &Isometry<Real>,
-        scale: &Vector<Real>,
+        transform: &Isometry,
+        scale: &Vector,
         color: [f32; 4],
     ) {
         for idx in indices {
-            let a = transform * (Scale::from(*scale) * vertices[idx[0] as usize]);
-            let b = transform * (Scale::from(*scale) * vertices[idx[1] as usize]);
+            let a = transform.transform_point(&Point::from(
+                vertices[idx[0] as usize].as_vector().component_mul(scale),
+            ));
+            let b = transform.transform_point(&Point::from(
+                vertices[idx[1] as usize].as_vector().component_mul(scale),
+            ));
             self.draw_line(object, a, b, color);
         }
     }
@@ -67,21 +64,26 @@ pub trait DebugRenderBackend {
     fn draw_line_strip(
         &mut self,
         object: DebugRenderObject,
-        vertices: &[Point<Real>],
-        transform: &Isometry<Real>,
-        scale: &Vector<Real>,
+        vertices: &[Point],
+        transform: &Isometry,
+        scale: &Vector,
         color: [f32; 4],
         closed: bool,
     ) {
         for vtx in vertices.windows(2) {
-            let a = transform * (Scale::from(*scale) * vtx[0]);
-            let b = transform * (Scale::from(*scale) * vtx[1]);
+            let a =
+                transform.transform_point(&Point::from(vtx[0].as_vector().component_mul(scale)));
+            let b =
+                transform.transform_point(&Point::from(vtx[1].as_vector().component_mul(scale)));
             self.draw_line(object, a, b, color);
         }
 
         if closed && vertices.len() > 2 {
-            let a = transform * (Scale::from(*scale) * vertices[0]);
-            let b = transform * (Scale::from(*scale) * vertices.last().unwrap());
+            let a = transform
+                .transform_point(&Point::from(vertices[0].as_vector().component_mul(scale)));
+            let b = transform.transform_point(&Point::from(
+                vertices.last().unwrap().as_vector().component_mul(scale),
+            ));
             self.draw_line(object, a, b, color);
         }
     }
diff --git a/src/pipeline/debug_render_pipeline/debug_render_pipeline.rs b/src/pipeline/debug_render_pipeline/debug_render_pipeline.rs
index b429c90..779e220 100644
--- a/src/pipeline/debug_render_pipeline/debug_render_pipeline.rs
+++ b/src/pipeline/debug_render_pipeline/debug_render_pipeline.rs
@@ -5,7 +5,7 @@ use crate::dynamics::{
 use crate::geometry::{Ball, ColliderSet, Cuboid, NarrowPhase, Shape, TypedShape};
 #[cfg(feature = "dim3")]
 use crate::geometry::{Cone, Cylinder};
-use crate::math::{Isometry, Point, Real, Vector, DIM};
+use crate::math::*;
 use crate::pipeline::debug_render_pipeline::debug_render_backend::DebugRenderObject;
 use crate::pipeline::debug_render_pipeline::DebugRenderStyle;
 use crate::utils::SimdBasis;
@@ -42,9 +42,9 @@ impl Default for DebugRenderMode {
 }
 
 #[cfg(feature = "dim2")]
-type InstancesMap = HashMap<TypeId, Vec<Point<Real>>>;
+type InstancesMap = HashMap<TypeId, Vec<Point>>;
 #[cfg(feature = "dim3")]
-type InstancesMap = HashMap<TypeId, (Vec<Point<Real>>, Vec<[u32; 2]>)>;
+type InstancesMap = HashMap<TypeId, (Vec<Point>, Vec<[u32; 2]>)>;
 
 /// Pipeline responsible for rendering the state of the physics engine for debugging purpose.
 pub struct DebugRenderPipeline {
@@ -117,16 +117,17 @@ impl DebugRenderPipeline {
                             for contact in manifold.contacts() {
                                 backend.draw_line(
                                     object,
-                                    co1.position() * contact.local_p1,
-                                    co2.position() * contact.local_p2,
+                                    co1.position().transform_point(&contact.local_p1),
+                                    co2.position().transform_point(&contact.local_p2),
                                     self.style.contact_depth_color,
                                 );
                                 backend.draw_line(
                                     object,
-                                    co1.position() * contact.local_p1,
-                                    co1.position()
-                                        * (contact.local_p1
+                                    co1.position().transform_point(&contact.local_p1),
+                                    co1.position().transform_point(
+                                        &(contact.local_p1
                                             + manifold.local_n1 * self.style.contact_normal_length),
+                                    ),
                                     self.style.contact_normal_color,
                                 );
                             }
@@ -193,10 +194,10 @@ impl DebugRenderPipeline {
                 let frame1 = rb1.position() * data.local_frame1;
                 let frame2 = rb2.position() * data.local_frame2;
 
-                let a = *rb1.translation();
-                let b = frame1.translation.vector;
-                let c = frame2.translation.vector;
-                let d = *rb2.translation();
+                let a = rb1.translation();
+                let b = frame1.translation.into_vector();
+                let c = frame2.translation.into_vector();
+                let d = rb2.translation();
 
                 for k in 0..4 {
                     anchor_color[k] *= coeff[k];
@@ -351,7 +352,7 @@ impl DebugRenderPipeline {
         object: DebugRenderObject,
         backend: &mut impl DebugRenderBackend,
         shape: &dyn Shape,
-        pos: &Isometry<Real>,
+        pos: &Isometry,
         color: [f32; 4],
     ) {
         match shape.as_typed_shape() {
@@ -451,7 +452,7 @@ impl DebugRenderPipeline {
         object: DebugRenderObject,
         backend: &mut impl DebugRenderBackend,
         shape: &dyn Shape,
-        pos: &Isometry<Real>,
+        pos: &Isometry,
         color: [f32; 4],
     ) {
         match shape.as_typed_shape() {
diff --git a/src/pipeline/debug_render_pipeline/outlines.rs b/src/pipeline/debug_render_pipeline/outlines.rs
index cd0b6ed..56e26ec 100644
--- a/src/pipeline/debug_render_pipeline/outlines.rs
+++ b/src/pipeline/debug_render_pipeline/outlines.rs
@@ -1,12 +1,12 @@
 use crate::geometry::{Ball, Cuboid};
 #[cfg(feature = "dim3")]
 use crate::geometry::{Cone, Cylinder};
-use crate::math::{Point, Real, Vector};
+use crate::math::*;
 use std::any::TypeId;
 use std::collections::HashMap;
 
 #[cfg(feature = "dim2")]
-pub fn instances(nsubdivs: u32) -> HashMap<TypeId, Vec<Point<Real>>> {
+pub fn instances(nsubdivs: u32) -> HashMap<TypeId, Vec<Point>> {
     let mut result = HashMap::new();
     result.insert(
         TypeId::of::<Cuboid>(),
@@ -18,7 +18,7 @@ pub fn instances(nsubdivs: u32) -> HashMap<TypeId, Vec<Point<Real>>> {
 
 #[cfg(feature = "dim3")]
 #[allow(clippy::type_complexity)]
-pub fn instances(nsubdivs: u32) -> HashMap<TypeId, (Vec<Point<Real>>, Vec<[u32; 2]>)> {
+pub fn instances(nsubdivs: u32) -> HashMap<TypeId, (Vec<Point>, Vec<[u32; 2]>)> {
     let mut result = HashMap::new();
     result.insert(
         TypeId::of::<Cuboid>(),