Clean up internal representation of Segment

fj-math/src/segment.rs

@@ -8,28 +8,27 @@ use super::Point;
 /// parameter.
 #[derive(Clone, Copy, Eq, PartialEq, Hash, Ord, PartialOrd)]
 pub struct Segment<const D: usize> {
-    a: Point<D>,
-    b: Point<D>,
+    points: [Point<D>; 2],
 }
 
 impl<const D: usize> Segment<D> {
     /// Access the points of the segment
     pub fn points(&self) -> [Point<D>; 2] {
-        [self.a, self.b]
+        self.points
     }
 }
 
 impl Segment<2> {
     /// Convert the 2-dimensional segment to a Parry segment
     pub fn to_parry(self) -> parry2d_f64::shape::Segment {
-        [self.a.to_na(), self.b.to_na()].into()
+        self.points.map(|point| point.to_na()).into()
     }
 }
 
 impl Segment<3> {
     /// Convert the 3-dimensional segment to a Parry segment
     pub fn to_parry(self) -> parry3d_f64::shape::Segment {
-        [self.a.to_na(), self.b.to_na()].into()
+        self.points.map(|point| point.to_na()).into()
     }
 }
 
@@ -39,15 +38,12 @@ impl<const D: usize> From<[Point<D>; 2]> for Segment<D> {
 
         assert!(a != b, "Invalid segment; both points are identical {a:?}");
 
-        Self {
-            a: points[0],
-            b: points[1],
-        }
+        Self { points }
     }
 }
 
 impl<const D: usize> fmt::Debug for Segment<D> {
     fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result {
-        write!(f, "[{:?} -> {:?}]", self.a, self.b)
+        write!(f, "[{:?} -> {:?}]", self.points[0], self.points[1])
     }
 }