From 455ecd84e57837a00e00ddeb53e2928d174e2758 Mon Sep 17 00:00:00 2001
From: Duncan <bonsairobo@gmail.com>
Date: Thu, 3 Dec 2020 21:33:20 -0800
Subject: [PATCH] use direct nalgebra conversions instead of mint for the
 collision code

---
 crates/building_blocks_search/Cargo.toml         |  3 +--
 crates/building_blocks_search/src/collision.rs   | 11 ++++-------
 crates/building_blocks_search/src/lib.rs         | 10 ----------
 crates/building_blocks_search/src/octree_dbvt.rs |  6 +++---
 4 files changed, 8 insertions(+), 22 deletions(-)

diff --git a/crates/building_blocks_search/Cargo.toml b/crates/building_blocks_search/Cargo.toml
index d9ed32cd..3b8f0637 100644
--- a/crates/building_blocks_search/Cargo.toml
+++ b/crates/building_blocks_search/Cargo.toml
@@ -12,7 +12,7 @@ description = "Search algorithms for voxel data."
 [features]
 default = []
 
-ncollide = ["mint", "nalgebra", "ncollide3d", "building_blocks_core/mint"]
+ncollide = ["nalgebra", "ncollide3d", "building_blocks_core/nalgebra"]
 
 [dependencies]
 fnv = "1.0"
@@ -20,7 +20,6 @@ indexmap = "1.5"
 itertools = "0.9"
 
 # Optional, feature-gated
-mint = { version = "0.5", optional = true }
 nalgebra = { version = "0.23", optional = true, features = ["mint"] }
 ncollide3d = { version = "0.26", optional = true }
 
diff --git a/crates/building_blocks_search/src/collision.rs b/crates/building_blocks_search/src/collision.rs
index 4ef72702..1d4fecdc 100644
--- a/crates/building_blocks_search/src/collision.rs
+++ b/crates/building_blocks_search/src/collision.rs
@@ -1,7 +1,4 @@
-use crate::{
-    na_conversions::na_point3f_from_point3i,
-    octree_dbvt::{OctreeDBVT, OctreeDBVTVisitor},
-};
+use crate::octree_dbvt::{OctreeDBVT, OctreeDBVTVisitor};
 
 use building_blocks_core::prelude::*;
 use building_blocks_storage::octree::{Octant, VisitStatus};
@@ -272,7 +269,7 @@ fn impact_with_leaf_octant(
         // land in the correct voxel. It should help to nudge the point along the
         // intersection normal by some amount less than 1.0.
         const NUDGE_AMOUNT: f32 = 0.25;
-        let nudged_p: mint::Point3<f32> = (contact - NUDGE_AMOUNT * octant_normal).into();
+        let nudged_p = contact - NUDGE_AMOUNT * octant_normal;
 
         Point3f::from(nudged_p).in_voxel()
     }
@@ -283,14 +280,14 @@ fn extent3i_cuboid(e: &Extent3i) -> Cuboid<f32> {
 }
 
 fn extent3i_cuboid_transform(e: &Extent3i) -> Isometry3<f32> {
-    let min = na_point3f_from_point3i(e.minimum);
+    let min = na::Point3::from(Point3f::from(e.minimum));
     let center = min + half_extent(e.shape);
 
     Isometry3::new(center.coords, zero())
 }
 
 fn half_extent(shape: Point3i) -> na::Vector3<f32> {
-    na_point3f_from_point3i(shape).coords / 2.0
+    na::Vector3::from(Point3f::from(shape)) / 2.0
 }
 
 // ████████╗███████╗███████╗████████╗
diff --git a/crates/building_blocks_search/src/lib.rs b/crates/building_blocks_search/src/lib.rs
index 1b10239d..6325d394 100644
--- a/crates/building_blocks_search/src/lib.rs
+++ b/crates/building_blocks_search/src/lib.rs
@@ -15,13 +15,3 @@ pub use octree_dbvt::{OctreeDBVT, OctreeDBVTVisitor};
 
 #[cfg(feature = "ncollide")]
 pub use ncollide3d;
-
-#[cfg(feature = "ncollide")]
-mod na_conversions {
-    use building_blocks_core::{Point3f, Point3i};
-    use nalgebra as na;
-
-    pub fn na_point3f_from_point3i(p: Point3i) -> na::Point3<f32> {
-        mint::Point3::from(Point3f::from(p)).into()
-    }
-}
diff --git a/crates/building_blocks_search/src/octree_dbvt.rs b/crates/building_blocks_search/src/octree_dbvt.rs
index f0aabf76..4c775843 100644
--- a/crates/building_blocks_search/src/octree_dbvt.rs
+++ b/crates/building_blocks_search/src/octree_dbvt.rs
@@ -6,11 +6,11 @@
 use building_blocks_core::prelude::*;
 use building_blocks_storage::octree::{Octant, OctreeSet, OctreeVisitor, VisitStatus};
 
-use crate::na_conversions::na_point3f_from_point3i;
 use core::hash::Hash;
 use fnv::FnvHashMap;
 use ncollide3d::{
     bounding_volume::AABB,
+    na,
     partitioning::{self as nc_part, DBVTLeaf, DBVTLeafId, BVH, DBVT},
 };
 
@@ -99,8 +99,8 @@ pub trait OctreeDBVTVisitor {
 }
 
 pub fn octant_aabb(octant: &Octant) -> AABB<f32> {
-    let aabb_min = na_point3f_from_point3i(octant.minimum);
-    let aabb_max = na_point3f_from_point3i(octant.minimum + PointN([octant.edge_length; 3]));
+    let aabb_min = Point3f::from(octant.minimum).into();
+    let aabb_max = Point3f::from(octant.minimum + PointN([octant.edge_length; 3])).into();
 
     AABB::new(aabb_min, aabb_max)
 }