Switch to [u32; DIM] instead of Point<u32> for element indices.

examples3d/convex_decomposition3.rs

@@ -1,5 +1,5 @@
 use kiss3d::loader::obj;
-use na::{Isometry3, Point3, Translation3};
+use na::{Point3, Translation3};
 use rapier3d::cdl::bounding_volume::{self, BoundingVolume};
 use rapier3d::cdl::transformation::vhacd::{VHACDParameters, VHACD};
 use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
@@ -74,11 +74,16 @@ pub fn init_world(testbed: &mut Testbed) {
                 trimesh.scale_by_scalar(6.0 / diag);
 
                 let params = VHACDParameters::default();
-                let vertices = &trimesh.coords;
+                let vertices = trimesh.coords;
-                let indices = &trimesh.indices.unwrap_unified();
+                let indices: Vec<_> = trimesh
-                let vhacd = VHACD::decompose(&params, vertices, indices, true);
+                    .indices
+                    .unwrap_unified()
+                    .into_iter()
+                    .map(|idx| [idx.x, idx.y, idx.z])
+                    .collect();
+                let vhacd = VHACD::decompose(&params, &vertices, &indices, true);
 
-                for (vertices, indices) in vhacd.compute_exact_convex_hulls(vertices, indices) {
+                for (vertices, indices) in vhacd.compute_exact_convex_hulls(&vertices, &indices) {
                     if let Some(convex) = ColliderShape::convex_mesh(vertices, &indices) {
                         compound_parts.push(convex);
                     }

examples3d/debug_trimesh3.rs

@@ -24,18 +24,18 @@ pub fn init_world(testbed: &mut Testbed) {
         Point3::new(-width, -width, width),
     ];
     let idx = vec![
-        Point3::new(0, 1, 2),
+        [0, 1, 2],
-        Point3::new(0, 2, 3),
+        [0, 2, 3],
-        Point3::new(4, 5, 6),
+        [4, 5, 6],
-        Point3::new(4, 6, 7),
+        [4, 6, 7],
-        Point3::new(0, 4, 7),
+        [0, 4, 7],
-        Point3::new(0, 7, 3),
+        [0, 7, 3],
-        Point3::new(1, 5, 6),
+        [1, 5, 6],
-        Point3::new(1, 6, 2),
+        [1, 6, 2],
-        Point3::new(3, 2, 7),
+        [3, 2, 7],
-        Point3::new(2, 6, 7),
+        [2, 6, 7],
-        Point3::new(0, 1, 5),
+        [0, 1, 5],
-        Point3::new(0, 5, 4),
+        [0, 5, 4],
     ];
 
     // Dynamic box rigid body.

src/dynamics/solver/joint_constraint/revolute_position_constraint_wide.rs

@@ -1,8 +1,6 @@
 use super::{RevolutePositionConstraint, RevolutePositionGroundConstraint};
-use crate::dynamics::{IntegrationParameters, JointIndex, RevoluteJoint, RigidBody};
+use crate::dynamics::{IntegrationParameters, RevoluteJoint, RigidBody};
-use crate::math::{AngularInertia, Isometry, Point, Real, Rotation, Vector, SIMD_WIDTH};
+use crate::math::{Isometry, Real, SIMD_WIDTH};
-use crate::utils::WAngularInertia;
-use na::Unit;
 
 // TODO: this does not uses SIMD optimizations yet.
 #[derive(Debug)]

src/geometry/collider.rs

@@ -12,7 +12,6 @@ use cdl::shape::{
 };
 #[cfg(feature = "dim2")]
 use cdl::shape::{ConvexPolygon, RoundConvexPolygon};
-use na::Point3;
 use std::ops::Deref;
 use std::sync::Arc;
 
@@ -123,7 +122,7 @@ impl ColliderShape {
     }
 
     /// Initializes a triangle mesh shape defined by its vertex and index buffers.
-    pub fn trimesh(vertices: Vec<Point<Real>>, indices: Vec<Point3<u32>>) -> Self {
+    pub fn trimesh(vertices: Vec<Point<Real>>, indices: Vec<[u32; 3]>) -> Self {
         ColliderShape(Arc::new(TriMesh::new(vertices, indices)))
     }
 
@@ -140,7 +139,7 @@ impl ColliderShape {
     }
 
     #[cfg(feature = "dim3")]
-    pub fn convex_mesh(points: Vec<Point<Real>>, indices: &[Point3<u32>]) -> Option<Self> {
+    pub fn convex_mesh(points: Vec<Point<Real>>, indices: &[[u32; 3]]) -> Option<Self> {
         ConvexPolyhedron::from_convex_mesh(points, indices).map(|ch| ColliderShape(Arc::new(ch)))
     }
 
@@ -174,7 +173,7 @@ impl ColliderShape {
     #[cfg(feature = "dim3")]
     pub fn round_convex_mesh(
         points: Vec<Point<Real>>,
-        indices: &[Point<u32>],
+        indices: &[[u32; 3]],
         border_radius: Real,
     ) -> Option<Self> {
         ConvexPolyhedron::from_convex_mesh(points, indices).map(|ch| {
@@ -555,7 +554,7 @@ impl ColliderBuilder {
     }
 
     /// Initializes a collider builder with a triangle mesh shape defined by its vertex and index buffers.
-    pub fn trimesh(vertices: Vec<Point<Real>>, indices: Vec<Point3<u32>>) -> Self {
+    pub fn trimesh(vertices: Vec<Point<Real>>, indices: Vec<[u32; 3]>) -> Self {
         Self::new(ColliderShape::trimesh(vertices, indices))
     }
 
@@ -578,14 +577,14 @@ impl ColliderBuilder {
     }
 
     #[cfg(feature = "dim3")]
-    pub fn convex_mesh(points: Vec<Point<Real>>, indices: &[Point3<u32>]) -> Option<Self> {
+    pub fn convex_mesh(points: Vec<Point<Real>>, indices: &[[u32; 3]]) -> Option<Self> {
         ColliderShape::convex_mesh(points, indices).map(|cp| Self::new(cp))
     }
 
     #[cfg(feature = "dim3")]
     pub fn round_convex_mesh(
         points: Vec<Point<Real>>,
-        indices: &[Point<u32>],
+        indices: &[[u32; 3]],
         border_radius: Real,
     ) -> Option<Self> {
         ColliderShape::round_convex_mesh(points, indices, border_radius).map(|cp| Self::new(cp))

src_testbed/engine.rs

@@ -336,7 +336,7 @@ impl GraphicsManager {
             out.push(Node::Mesh(Mesh::new(
                 handle,
                 vec![triangle.a, triangle.b, triangle.c],
-                vec![Point3::new(0, 1, 2)],
+                vec![[0, 1, 2]],
                 color,
                 window,
             )))
@@ -346,11 +346,7 @@ impl GraphicsManager {
             out.push(Node::Mesh(Mesh::new(
                 handle,
                 trimesh.vertices().to_vec(),
-                trimesh
+                trimesh.indices().to_vec(),
-                    .indices()
-                    .iter()
-                    .map(|idx| na::convert(*idx))
-                    .collect(),
                 color,
                 window,
             )))

src_testbed/nphysics_backend.rs

@@ -205,7 +205,7 @@ fn nphysics_collider_from_rapier_collider(
                 trimesh
                     .indices()
                     .iter()
-                    .map(|idx| na::convert(*idx))
+                    .map(|idx| na::Point3::new(idx[0] as usize, idx[1] as usize, idx[2] as usize))
                     .collect(),
                 None,
             ))

src_testbed/objects/convex.rs

@@ -21,7 +21,7 @@ impl Convex {
         body: ColliderHandle,
         delta: Isometry<f32>,
         vertices: Vec<Point<f32>>,
-        #[cfg(feature = "dim3")] indices: Vec<Point<u32>>,
+        #[cfg(feature = "dim3")] indices: Vec<[u32; 3]>,
         color: Point3<f32>,
         window: &mut Window,
     ) -> Convex {
@@ -35,9 +35,9 @@ impl Convex {
             let mut mesh_indices = Vec::new();
             for idx in indices {
                 let i = mesh_vertices.len() as u16;
-                mesh_vertices.push(vertices[idx.x as usize]);
+                mesh_vertices.push(vertices[idx[0] as usize]);
-                mesh_vertices.push(vertices[idx.y as usize]);
+                mesh_vertices.push(vertices[idx[1] as usize]);
-                mesh_vertices.push(vertices[idx.z as usize]);
+                mesh_vertices.push(vertices[idx[2] as usize]);
                 mesh_indices.push(Point3::new(i, i + 1, i + 2));
             }
 

src_testbed/objects/heightfield.rs

@@ -55,7 +55,10 @@ impl HeightField {
         use std::rc::Rc;
 
         let (vertices, indices) = heightfield.to_trimesh();
-        let indices = indices.into_iter().map(|i| na::convert(i)).collect();
+        let indices = indices
+            .into_iter()
+            .map(|idx| Point3::new(idx[0] as u16, idx[1] as u16, idx[2] as u16))
+            .collect();
         let mesh = Mesh::new(vertices, indices, None, None, false);
 
         let mut res = HeightField {

src_testbed/objects/mesh.rs

@@ -17,12 +17,15 @@ impl Mesh {
     pub fn new(
         collider: ColliderHandle,
         vertices: Vec<Point<f32>>,
-        indices: Vec<Point3<u32>>,
+        indices: Vec<[u32; 3]>,
         color: Point3<f32>,
         window: &mut window::Window,
     ) -> Mesh {
         let vs = vertices;
-        let is = indices.into_iter().map(na::convert).collect();
+        let is = indices
+            .into_iter()
+            .map(|idx| Point3::new(idx[0] as u16, idx[1] as u16, idx[2] as u16))
+            .collect();
 
         let mesh;
         let gfx;