Move all the contact manifold computations out of Rapier.

49 files changed, 103 insertions, 2511 deletions

diff --git a/Cargo.toml b/Cargo.toml
index 55e9b43..eaafe91 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -10,8 +10,8 @@ members = [ "build/rapier2d", "build/rapier_testbed2d", "examples2d", "benchmark
 #nphysics2d = { path = "../nphysics/build/nphysics2d" }
 #nphysics3d = { path = "../nphysics/build/nphysics3d" }
 #kiss3d = { path = "../kiss3d" }
-buckler2d = { path = "../buckler/build/buckler2d" }
-buckler3d = { path = "../buckler/build/buckler3d" }
+eagl2d = { path = "../eagl/build/eagl2d" }
+eagl3d = { path = "../eagl/build/eagl3d" }
 
 [profile.release]
 #debug = true
diff --git a/build/rapier2d/Cargo.toml b/build/rapier2d/Cargo.toml
index 987fa2f..c20833c 100644
--- a/build/rapier2d/Cargo.toml
+++ b/build/rapier2d/Cargo.toml
@@ -21,8 +21,8 @@ simd-nightly = [ "simba/packed_simd", "simd-is-enabled" ]
 # enabled with the "simd-stable" or "simd-nightly" feature.
 simd-is-enabled = [ ]
 wasm-bindgen = [ "instant/wasm-bindgen" ]
-serde-serialize = [ "erased-serde", "nalgebra/serde-serialize", "buckler2d/serde-serialize", "serde", "generational-arena/serde", "bit-vec/serde", "arrayvec/serde" ]
-enhanced-determinism = [ "simba/libm_force", "indexmap" ]
+serde-serialize = [ "erased-serde", "nalgebra/serde-serialize", "eagl2d/serde-serialize", "serde", "generational-arena/serde", "bit-vec/serde", "arrayvec/serde" ]
+enhanced-determinism = [ "simba/libm_force", "eagl2d/enhanced-determinism", "indexmap" ]
 
 [lib]
 name = "rapier2d"
@@ -35,7 +35,7 @@ vec_map = "0.8"
 instant = { version = "0.1", features = [ "now" ]}
 num-traits = "0.2"
 nalgebra = "0.23"
-buckler2d = "0.1"
+eagl2d = "0.1"
 simba = "0.3"
 approx = "0.4"
 rayon = { version = "1", optional = true }
diff --git a/build/rapier3d/Cargo.toml b/build/rapier3d/Cargo.toml
index 7d5673b..a9abef8 100644
--- a/build/rapier3d/Cargo.toml
+++ b/build/rapier3d/Cargo.toml
@@ -15,14 +15,14 @@ edition = "2018"
 default = [ "dim3" ]
 dim3    = [ ]
 parallel = [ "rayon" ]
-simd-stable = [ "buckler3d/simd-stable", "simba/wide", "simd-is-enabled" ]
-simd-nightly = [ "buckler3d/simd-nightly", "simba/packed_simd", "simd-is-enabled" ]
+simd-stable = [ "eagl3d/simd-stable", "simba/wide", "simd-is-enabled" ]
+simd-nightly = [ "eagl3d/simd-nightly", "simba/packed_simd", "simd-is-enabled" ]
 # Do not enable this feature directly. It is automatically
 # enabled with the "simd-stable" or "simd-nightly" feature.
 simd-is-enabled = [ ]
 wasm-bindgen = [ "instant/wasm-bindgen" ]
-serde-serialize = [ "erased-serde", "nalgebra/serde-serialize", "buckler3d/serde-serialize", "serde", "generational-arena/serde", "bit-vec/serde" ]
-enhanced-determinism = [ "simba/libm_force", "indexmap" ]
+serde-serialize = [ "erased-serde", "nalgebra/serde-serialize", "eagl3d/serde-serialize", "serde", "generational-arena/serde", "bit-vec/serde" ]
+enhanced-determinism = [ "simba/libm_force", "eagl3d/enhanced-determinism" ]
 
 [lib]
 name = "rapier3d"
@@ -35,7 +35,7 @@ vec_map = "0.8"
 instant = { version = "0.1", features = [ "now" ]}
 num-traits = "0.2"
 nalgebra = "0.23"
-buckler3d = "0.1"
+eagl3d = "0.1"
 simba = "0.3"
 approx = "0.4"
 rayon = { version = "1", optional = true }
@@ -46,7 +46,6 @@ bit-vec = "0.6"
 rustc-hash = "1"
 serde = { version = "1", features = [ "derive" ], optional = true }
 erased-serde = { version = "0.3", optional = true }
-indexmap = { version = "1", features = [ "serde-1" ], optional = true }
 downcast-rs = "1.2"
 num-derive = "0.3"
 bitflags = "1"
diff --git a/build/rapier_testbed2d/Cargo.toml b/build/rapier_testbed2d/Cargo.toml
index 72ead41..23be92e 100644
--- a/build/rapier_testbed2d/Cargo.toml
+++ b/build/rapier_testbed2d/Cargo.toml
@@ -31,7 +31,7 @@ instant    = { version = "0.1", features = [ "web-sys", "now" ]}
 bitflags   = "1"
 num_cpus   = { version = "1", optional = true }
 wrapped2d  = { version = "0.4", optional = true }
-buckler2d = "0.1"
+eagl2d = "0.1"
 ncollide2d = "0.26"
 nphysics2d = { version = "0.18", optional = true }
 crossbeam = "0.8"
diff --git a/build/rapier_testbed3d/Cargo.toml b/build/rapier_testbed3d/Cargo.toml
index d4ad764..2820a7c 100644
--- a/build/rapier_testbed3d/Cargo.toml
+++ b/build/rapier_testbed3d/Cargo.toml
@@ -30,7 +30,7 @@ instant    = { version = "0.1", features = [ "web-sys", "now" ]}
 bitflags   = "1"
 glam       = { version = "0.10", optional = true }
 num_cpus   = { version = "1", optional = true }
-buckler3d = "0.1"
+eagl3d = "0.1"
 ncollide3d = "0.26"
 nphysics3d = { version = "0.18", optional = true }
 physx      = { version = "0.8", optional = true }
diff --git a/src/data/arena.rs b/src/data/arena.rs
index a3af45c..3a24cd1 100644
--- a/src/data/arena.rs
+++ b/src/data/arena.rs
@@ -3,7 +3,7 @@
 //! See  https://github.com/fitzgen/generational-arena/blob/master/src/lib.rs.
 //! This has been modified to have a fully deterministic deserialization (including for the order of
 //! Index attribution after a deserialization of the arena.
-use buckler::partitioning::IndexedData;
+use eagl::partitioning::IndexedData;
 use std::cmp;
 use std::iter::{self, Extend, FromIterator, FusedIterator};
 use std::mem;
diff --git a/src/data/hashmap.rs b/src/data/hashmap.rs
deleted file mode 100644
index d2ea980..0000000
--- a/src/data/hashmap.rs
+++ /dev/null
@@ -1,137 +0,0 @@
-//! A hash-map that behaves deterministically when the
-//! `enhanced-determinism` feature is enabled.
-
-#[cfg(all(feature = "enhanced-determinism", feature = "serde-serialize"))]
-use indexmap::IndexMap as StdHashMap;
-#[cfg(all(not(feature = "enhanced-determinism"), feature = "serde-serialize"))]
-use std::collections::HashMap as StdHashMap;
-
-/// Serializes only the capacity of a hash-map instead of its actual content.
-#[cfg(feature = "serde-serialize")]
-pub fn serialize_hashmap_capacity<S: serde::Serializer, K, V, H: std::hash::BuildHasher>(
-    map: &StdHashMap<K, V, H>,
-    s: S,
-) -> Result<S::Ok, S::Error> {
-    s.serialize_u64(map.capacity() as u64)
-}
-
-/// Creates a new hash-map with its capacity deserialized from `d`.
-#[cfg(feature = "serde-serialize")]
-pub fn deserialize_hashmap_capacity<
-    'de,
-    D: serde::Deserializer<'de>,
-    K,
-    V,
-    H: std::hash::BuildHasher + Default,
->(
-    d: D,
-) -> Result<StdHashMap<K, V, H>, D::Error> {
-    struct CapacityVisitor;
-    impl<'de> serde::de::Visitor<'de> for CapacityVisitor {
-        type Value = u64;
-
-        fn expecting(&self, formatter: &mut std::fmt::Formatter) -> std::fmt::Result {
-            write!(formatter, "an integer between 0 and 2^64")
-        }
-
-        fn visit_u64<E: serde::de::Error>(self, val: u64) -> Result<Self::Value, E> {
-            Ok(val)
-        }
-    }
-
-    let capacity = d.deserialize_u64(CapacityVisitor)? as usize;
-    Ok(StdHashMap::with_capacity_and_hasher(
-        capacity,
-        Default::default(),
-    ))
-}
-
-/*
- * FxHasher taken from rustc_hash, except that it does not depend on the pointer size.
- */
-#[cfg(feature = "enhanced-determinism")]
-pub type FxHashMap32<K, V> = indexmap::IndexMap<K, V, std::hash::BuildHasherDefault<FxHasher32>>;
-#[cfg(feature = "enhanced-determinism")]
-pub use {self::FxHashMap32 as HashMap, indexmap::map::Entry};
-#[cfg(not(feature = "enhanced-determinism"))]
-pub use {rustc_hash::FxHashMap as HashMap, std::collections::hash_map::Entry};
-
-const K: u32 = 0x9e3779b9;
-
-// Same as FxHasher, but with the guarantee that the internal hash is
-// an u32 instead of something that depends on the platform.
-pub struct FxHasher32 {
-    hash: u32,
-}
-
-impl Default for FxHasher32 {
-    #[inline]
-    fn default() -> FxHasher32 {
-        FxHasher32 { hash: 0 }
-    }
-}
-
-impl FxHasher32 {
-    #[inline]
-    fn add_to_hash(&mut self, i: u32) {
-        use std::ops::BitXor;
-        self.hash = self.hash.rotate_left(5).bitxor(i).wrapping_mul(K);
-    }
-}
-
-impl std::hash::Hasher for FxHasher32 {
-    #[inline]
-    fn write(&mut self, mut bytes: &[u8]) {
-        use std::convert::TryInto;
-        let read_u32 = |bytes: &[u8]| u32::from_ne_bytes(bytes[..4].try_into().unwrap());
-        let mut hash = FxHasher32 { hash: self.hash };
-        assert!(std::mem::size_of::<u32>() <= 8);
-        while bytes.len() >= std::mem::size_of::<u32>() {
-            hash.add_to_hash(read_u32(bytes) as u32);
-            bytes = &bytes[std::mem::size_of::<u32>()..];
-        }
-        if (std::mem::size_of::<u32>() > 4) && (bytes.len() >= 4) {
-            hash.add_to_hash(u32::from_ne_bytes(bytes[..4].try_into().unwrap()) as u32);
-            bytes = &bytes[4..];
-        }
-        if (std::mem::size_of::<u32>() > 2) && bytes.len() >= 2 {
-            hash.add_to_hash(u16::from_ne_bytes(bytes[..2].try_into().unwrap()) as u32);
-            bytes = &bytes[2..];
-        }
-        if (std::mem::size_of::<u32>() > 1) && bytes.len() >= 1 {
-            hash.add_to_hash(bytes[0] as u32);
-        }
-        self.hash = hash.hash;
-    }
-
-    #[inline]
-    fn write_u8(&mut self, i: u8) {
-        self.add_to_hash(i as u32);
-    }
-
-    #[inline]
-    fn write_u16(&mut self, i: u16) {
-        self.add_to_hash(i as u32);
-    }
-
-    #[inline]
-    fn write_u32(&mut self, i: u32) {
-        self.add_to_hash(i as u32);
-    }
-
-    #[inline]
-    fn write_u64(&mut self, i: u64) {
-        self.add_to_hash(i as u32);
-        self.add_to_hash((i >> 32) as u32);
-    }
-
-    #[inline]
-    fn write_usize(&mut self, i: usize) {
-        self.add_to_hash(i as u32);
-    }
-
-    #[inline]
-    fn finish(&self) -> u64 {
-        self.hash as u64
-    }
-}
diff --git a/src/data/maybe_serializable_data.rs b/src/data/maybe_serializable_data.rs
deleted file mode 100644
index 8b14e1a..0000000
--- a/src/data/maybe_serializable_data.rs
+++ /dev/null
@@ -1,17 +0,0 @@
-use downcast_rs::{impl_downcast, DowncastSync};
-#[cfg(feature = "serde-serialize")]
-use erased_serde::Serialize;
-
-/// Piece of data that may be serializable.
-pub trait MaybeSerializableData: DowncastSync {
-    /// Convert this shape as a serializable entity.
-    #[cfg(feature = "serde-serialize")]
-    fn as_serialize(&self) -> Option<(u32, &dyn Serialize)> {
-        None
-    }
-
-    /// Clones `self`.
-    fn clone_dyn(&self) -> Box<dyn MaybeSerializableData>;
-}
-
-impl_downcast!(sync MaybeSerializableData);
diff --git a/src/data/mod.rs b/src/data/mod.rs
index 672bf94..eb0a229 100644
--- a/src/data/mod.rs
+++ b/src/data/mod.rs
@@ -1,11 +1,9 @@
 //! Data structures modified with guaranteed deterministic behavior after deserialization.
 
 pub use self::coarena::Coarena;
-pub use self::maybe_serializable_data::MaybeSerializableData;
+pub use eagl::utils::MaybeSerializableData;
 
 pub mod arena;
 mod coarena;
 pub(crate) mod graph;
-pub(crate) mod hashmap;
-mod maybe_serializable_data;
 pub mod pubsub;
diff --git a/src/dynamics/mod.rs b/src/dynamics/mod.rs
index 28f149a..76e9de2 100644
--- a/src/dynamics/mod.rs
+++ b/src/dynamics/mod.rs
@@ -9,7 +9,7 @@ pub use self::joint::{
 };
 pub use self::rigid_body::{ActivationStatus, BodyStatus, RigidBody, RigidBodyBuilder};
 pub use self::rigid_body_set::{BodyPair, RigidBodyHandle, RigidBodySet};
-pub use buckler::shape::MassProperties;
+pub use eagl::shape::MassProperties;
 // #[cfg(not(feature = "parallel"))]
 pub(crate) use self::joint::JointGraphEdge;
 pub(crate) use self::rigid_body::RigidBodyChanges;
diff --git a/src/dynamics/solver/joint_constraint/fixed_velocity_constraint_wide.rs b/src/dynamics/solver/joint_constraint/fixed_velocity_constraint_wide.rs
index 79c69c6..ce42da8 100644
--- a/src/dynamics/solver/joint_constraint/fixed_velocity_constraint_wide.rs
+++ b/src/dynamics/solver/joint_constraint/fixed_velocity_constraint_wide.rs
@@ -13,7 +13,7 @@ use crate::utils::{WAngularInertia, WCross, WCrossMatrix};
 use na::{Cholesky, Matrix6, Vector6, U3};
 #[cfg(feature = "dim2")]
 use {
-    crate::utils::SdpMatrix3,
+    eagl::utils::SdpMatrix3,
     na::{Matrix3, Vector3},
 };
 
diff --git a/src/dynamics/solver/joint_constraint/prismatic_velocity_constraint.rs b/src/dynamics/solver/joint_constraint/prismatic_velocity_constraint.rs
index 49cfc7a..a2c7c2c 100644
--- a/src/dynamics/solver/joint_constraint/prismatic_velocity_constraint.rs
+++ b/src/dynamics/solver/joint_constraint/prismatic_velocity_constraint.rs
@@ -8,7 +8,7 @@ use crate::utils::{WAngularInertia, WCross, WCrossMatrix};
 use na::{Cholesky, Matrix3x2, Matrix5, Vector5, U2, U3};
 #[cfg(feature = "dim2")]
 use {
-    crate::utils::SdpMatrix2,
+    eagl::utils::SdpMatrix2,
     na::{Matrix2, Vector2},
 };
 
diff --git a/src/dynamics/solver/joint_constraint/prismatic_velocity_constraint_wide.rs b/src/dynamics/solver/joint_constraint/prismatic_velocity_constraint_wide.rs
index c05c08e..86e0c78 100644
--- a/src/dynamics/solver/joint_constraint/prismatic_velocity_constraint_wide.rs
+++ b/src/dynamics/solver/joint_constraint/prismatic_velocity_constraint_wide.rs
@@ -12,7 +12,7 @@ use crate::utils::{WAngularInertia, WCross, WCrossMatrix};
 use na::{Cholesky, Matrix3x2, Matrix5, Vector5, U2, U3};
 #[cfg(feature = "dim2")]
 use {
-    crate::utils::SdpMatrix2,
+    eagl::utils::SdpMatrix2,
     na::{Matrix2, Vector2},
 };
 
diff --git a/src/geometry/broad_phase_multi_sap.rs b/src/geometry/broad_phase_multi_sap.rs
index 56c05df..4242d77 100644
--- a/src/geometry/broad_phase_multi_sap.rs
+++ b/src/geometry/broad_phase_multi_sap.rs
@@ -1,10 +1,10 @@
-use crate::data::hashmap::HashMap;
 use crate::data::pubsub::Subscription;
 use crate::dynamics::RigidBodySet;
 use crate::geometry::{ColliderHandle, ColliderSet, RemovedCollider};
 use crate::math::{Point, Vector, DIM};
 use bit_vec::BitVec;
-use buckler::bounding_volume::{BoundingVolume, AABB};
+use eagl::bounding_volume::{BoundingVolume, AABB};
+use eagl::utils::hashmap::HashMap;
 use std::cmp::Ordering;
 use std::ops::{Index, IndexMut};
 
@@ -477,8 +477,8 @@ pub struct BroadPhase {
     #[cfg_attr(
         feature = "serde-serialize",
         serde(
-            serialize_with = "crate::data::hashmap::serialize_hashmap_capacity",
-            deserialize_with = "crate::data::hashmap::deserialize_hashmap_capacity"
+            serialize_with = "eagl::utils::hashmap::serialize_hashmap_capacity",
+            deserialize_with = "eagl::utils::hashmap::deserialize_hashmap_capacity"
         )
     )]
     reporting: HashMap<(u32, u32), bool>, // Workspace
diff --git a/src/geometry/collider.rs b/src/geometry/collider.rs
index 1275358..db418a3 100644
--- a/src/geometry/collider.rs
+++ b/src/geometry/collider.rs
@@ -1,13 +1,13 @@
-use crate::buckler::shape::HalfSpace;
 use crate::dynamics::{MassProperties, RigidBodyHandle, RigidBodySet};
+use crate::eagl::shape::HalfSpace;
 use crate::geometry::InteractionGroups;
 use crate::math::{AngVector, Isometry, Point, Rotation, Vector};
-use buckler::bounding_volume::AABB;
-use buckler::shape::{
+use eagl::bounding_volume::AABB;
+use eagl::shape::{
     Ball, Capsule, Cuboid, HeightField, Segment, Shape, ShapeType, TriMesh, Triangle,
 };
 #[cfg(feature = "dim3")]
-use buckler::shape::{Cone, Cylinder, RoundCylinder};
+use eagl::shape::{Cone, Cylinder, RoundCylinder};
 use na::Point3;
 use std::ops::Deref;
 use std::sync::Arc;
diff --git a/src/geometry/contact_generator/ball_ball_contact_generator.rs b/src/geometry/contact_generator/ball_ball_contact_generator.rs
deleted file mode 100644
index f2ca7af..0000000
--- a/src/geometry/contact_generator/ball_ball_contact_generator.rs
+++ /dev/null
@@ -1,103 +0,0 @@
-use crate::geometry::contact_generator::PrimitiveContactGenerationContext;
-use crate::geometry::{Contact, ContactManifoldData, KinematicsCategory};
-use crate::math::{Point, Vector};
-#[cfg(feature = "simd-is-enabled")]
-use {
-    crate::geometry::contact_generator::PrimitiveContactGenerationContextSimd,
-    crate::geometry::{WBall, WContact},
-    crate::math::{Isometry, SimdReal, SIMD_WIDTH},
-    simba::simd::SimdValue,
-};
-
-#[cfg(feature = "simd-is-enabled")]
-fn generate_contacts_simd(ball1: &WBall, ball2: &WBall, pos21: &Isometry<SimdReal>) -> WContact {
-    let dcenter = ball2.center - ball1.center;
-    let center_dist = dcenter.magnitude();
-    let normal = dcenter / center_dist;
-
-    WContact {
-        local_p1: ball1.center + normal * ball1.radius,
-        local_p2: pos21 * (ball2.center - normal * ball2.radius),
-        local_n1: normal,
-        local_n2: pos21 * -normal,
-        fid1: [0; SIMD_WIDTH],
-        fid2: [0; SIMD_WIDTH],
-        dist: center_dist - ball1.radius - ball2.radius,
-    }
-}
-
-#[cfg(feature = "simd-is-enabled")]
-pub fn generate_contacts_ball_ball_simd(ctxt: &mut PrimitiveContactGenerationContextSimd) {
-    let pos_ba = ctxt.positions2.inverse() * ctxt.positions1;
-    let radii_a =
-        SimdReal::from(array![|ii| ctxt.shapes1[ii].as_ball().unwrap().radius; SIMD_WIDTH]);
-    let radii_b =
-        SimdReal::from(array![|ii| ctxt.shapes2[ii].as_ball().unwrap().radius; SIMD_WIDTH]);
-
-    let wball_a = WBall::new(Point::origin(), radii_a);
-    let wball_b = WBall::new(pos_ba.inverse_transform_point(&Point::origin()), radii_b);
-    let contacts = generate_contacts_simd(&wball_a, &wball_b, &pos_ba);
-
-    for (i, manifold) in ctxt.manifolds.iter_mut().enumerate() {
-        // FIXME: compare the dist before extracting the contact.
-        let (contact, local_n1, local_n2) = contacts.extract(i);
-        if contact.dist <= ctxt.prediction_distance {
-            if manifold.points.len() != 0 {
-                manifold.points[0].copy_geometry_from(contact);
-            } else {
-                manifold.points.push(contact);
-            }
-
-            manifold.local_n1 = local_n1;
-            manifold.local_n2 = local_n2;
-            manifold.kinematics.category = KinematicsCategory::PointPoint;
-            manifold.kinematics.radius1 = radii_a.extract(i);
-            manifold.kinematics.radius2 = radii_b.extract(i);
-            ContactManifoldData::update_warmstart_multiplier(manifold);
-        } else {
-            manifold.points.clear();
-        }
-
-        manifold.sort_contacts(ctxt.prediction_distance);
-    }
-}
-
-pub fn generate_contacts_ball_ball(ctxt: &mut PrimitiveContactGenerationContext) {
-    let pos_ba = ctxt.position2.inverse() * ctxt.position1;
-    let radius_a = ctxt.shape1.as_ball().unwrap().radius;
-    let radius_b = ctxt.shape2.as_ball().unwrap().radius;
-
-    let dcenter = pos_ba.inverse_transform_point(&Point::origin()).coords;
-    let center_dist = dcenter.magnitude();
-    let dist = center_dist - radius_a - radius_b;
-
-    if dist < ctxt.prediction_distance {
-        let local_n1 = if center_dist != 0.0 {
-            dcenter / center_dist
-        } else {
-            Vector::y()
-        };
-
-        let local_n2 = pos_ba.inverse_transform_vector(&-local_n1);
-        let local_p1 = local_n1 * radius_a;
-        let local_p2 = local_n2 * radius_b;
-        let contact = Contact::new(local_p1.into(), local_p2.into(), 0, 0, dist);
-
-        if ctxt.manifold.points.len() != 0 {
-            ctxt.manifold.points[0].copy_geometry_from(contact);
-        } else {
-            ctxt.manifold.points.push(contact);
-        }
-
-        ctxt.manifold.local_n1 = local_n1;
-        ctxt.manifold.local_n2 = local_n2;
-        ctxt.manifold.kinematics.category = KinematicsCategory::PointPoint;
-        ctxt.manifold.kinematics.radius1 = radius_a;
-        ctxt.manifold.kinematics.radius2 = radius_b;
-        ContactManifoldData::update_warmstart_multiplier(ctxt.manifold);
-    } else {
-        ctxt.manifold.points.clear();
-    }
-
-    ctxt.manifold.sort_contacts(ctxt.prediction_distance);
-}
diff --git a/src/geometry/contact_generator/ball_convex_contact_generator.rs b/src/geometry/contact_generator/ball_convex_contact_generator.rs
deleted file mode 100644
index 88f1912..0000000
--- a/src/geometry/contact_generator/ball_convex_contact_generator.rs
+++ /dev/null
@@ -1,70 +0,0 @@
-use crate::geometry::contact_generator::PrimitiveContactGenerationContext;
-use crate::geometry::{Ball, Contact, ContactManifoldData, KinematicsCategory};
-use crate::math::Isometry;
-use buckler::query::PointQuery;
-use na::Unit;
-
-pub fn generate_contacts_ball_convex(ctxt: &mut PrimitiveContactGenerationContext) {
-    if let Some(ball1) = ctxt.shape1.as_ball() {
-        ctxt.manifold.swap_identifiers();
-        do_generate_contacts(ctxt.shape2, ball1, ctxt, true);
-    } else if let Some(ball2) = ctxt.shape2.as_ball() {
-        do_generate_contacts(ctxt.shape1, ball2, ctxt, false);
-    }
-
-    ctxt.manifold.sort_contacts(ctxt.prediction_distance);
-}
-
-fn do_generate_contacts<P: ?Sized + PointQuery>(
-    point_query1: &P,
-    ball2: &Ball,
-    ctxt: &mut PrimitiveContactGenerationContext,
-    swapped: bool,
-) {
-    let position1;
-    let position2;
-
-    if swapped {
-        position1 = ctxt.position2;
-        position2 = ctxt.position1;
-    } else {
-        position1 = ctxt.position1;
-        position2 = ctxt.position2;
-    }
-
-    let local_p2_1 = position1.inverse_transform_point(&position2.translation.vector.into());
-    let proj = point_query1.project_local_point(&local_p2_1, cfg!(feature = "dim3"));
-    let dpos = local_p2_1 - proj.local_point;
-
-    #[allow(unused_mut)] // Because `mut local_n1, mut dist` is needed in 2D but not in 3D.