feat: add a BroadPhaseTrait for allowing custom broad-phases

6 files changed, 98 insertions, 95 deletions

diff --git a/src/geometry/broad_phase_multi_sap/broad_phase_multi_sap.rs b/src/geometry/broad_phase_multi_sap/broad_phase_multi_sap.rs
index 24bc72d..c4661e3 100644
--- a/src/geometry/broad_phase_multi_sap/broad_phase_multi_sap.rs
+++ b/src/geometry/broad_phase_multi_sap/broad_phase_multi_sap.rs
@@ -1,12 +1,12 @@
 use super::{
     BroadPhasePairEvent, ColliderPair, SAPLayer, SAPProxies, SAPProxy, SAPProxyData, SAPRegionPool,
 };
-use crate::geometry::broad_phase_multi_sap::SAPProxyIndex;
 use crate::geometry::{
-    ColliderBroadPhaseData, ColliderChanges, ColliderHandle, ColliderPosition, ColliderSet,
-    ColliderShape,
+    BroadPhaseProxyIndex, ColliderBroadPhaseData, ColliderChanges, ColliderHandle,
+    ColliderPosition, ColliderSet, ColliderShape,
 };
 use crate::math::Real;
+use crate::prelude::BroadPhase;
 use crate::utils::IndexMut2;
 use parry::bounding_volume::BoundingVolume;
 use parry::utils::hashmap::HashMap;
@@ -90,7 +90,7 @@ pub struct BroadPhaseMultiSap {
     //       Another alternative would be to remove ColliderProxyId and
     //       just use a Coarena. But this seems like it could use too
     //       much memory.
-    colliders_proxy_ids: HashMap<ColliderHandle, SAPProxyIndex>,
+    colliders_proxy_ids: HashMap<ColliderHandle, BroadPhaseProxyIndex>,
     #[cfg_attr(feature = "serde-serialize", serde(skip))]
     region_pool: SAPRegionPool, // To avoid repeated allocations.
     // We could think serializing this workspace is useless.
@@ -156,7 +156,7 @@ impl BroadPhaseMultiSap {
     /// remove, the `complete_removal` method MUST be called to
     /// complete the removal of these proxies, by actually removing them
     /// from all the relevant layers/regions/axes.
-    fn predelete_proxy(&mut self, proxy_index: SAPProxyIndex) {
+    fn predelete_proxy(&mut self, proxy_index: BroadPhaseProxyIndex) {
         if proxy_index == crate::INVALID_U32 {
             // This collider has not been added to the broad-phase yet.
             return;
@@ -449,65 +449,6 @@ impl BroadPhaseMultiSap {
         !layer.created_regions.is_empty()
     }
 
-    /// Updates the broad-phase, taking into account the new collider positions.
-    pub fn update(
-        &mut self,
-        prediction_distance: Real,
-        colliders: &mut ColliderSet,
-        modified_colliders: &[ColliderHandle],
-        removed_colliders: &[ColliderHandle],
-        events: &mut Vec<BroadPhasePairEvent>,
-    ) {
-        // Phase 1: pre-delete the collisions that have been deleted.
-        self.handle_removed_colliders(removed_colliders);
-
-        let mut need_region_propagation = false;
-
-        // Phase 2: pre-delete the collisions that have been deleted.
-        for handle in modified_colliders {
-            // NOTE: we use `get` because the collider may no longer
-            //       exist if it has been removed.
-            if let Some(co) = colliders.get_mut_internal(*handle) {
-                if !co.is_enabled() || !co.changes.needs_broad_phase_update() {
-                    continue;
-                }
-
-                let mut new_proxy_id = co.bf_data.proxy_index;
-
-                if self.handle_modified_collider(
-                    prediction_distance,
-                    *handle,
-                    &mut new_proxy_id,
-                    (&co.pos, &co.shape, &co.changes),
-                ) {
-                    need_region_propagation = true;
-                }
-
-                if co.bf_data.proxy_index != new_proxy_id {
-                    self.colliders_proxy_ids.insert(*handle, new_proxy_id);
-
-                    // Make sure we have the new proxy index in case
-                    // the collider was added for the first time.
-                    co.bf_data = ColliderBroadPhaseData {
-                        proxy_index: new_proxy_id,
-                    };
-                }
-            }
-        }
-
-        // Phase 3: bottom-up pass to propagate new regions from smaller layers to larger layers.
-        if need_region_propagation {
-            self.propagate_created_regions();
-        }
-
-        // Phase 4: top-down pass to propagate proxies from larger layers to smaller layers.
-        self.update_layers_and_find_pairs(events);
-
-        // Phase 5: bottom-up pass to remove proxies, and propagate region removed from smaller
-        // layers to possible remove regions from larger layers that would become empty that way.
-        self.complete_removals(colliders, removed_colliders);
-    }
-
     /// Propagate regions from the smallest layers up to the larger layers.
     ///
     /// Whenever a region is created on a layer `n`, then its Aabb must be
@@ -618,6 +559,67 @@ impl BroadPhaseMultiSap {
     }
 }
 
+impl BroadPhase for BroadPhaseMultiSap {
+    /// Updates the broad-phase, taking into account the new collider positions.
+    fn update(
+        &mut self,
+        prediction_distance: Real,
+        colliders: &mut ColliderSet,
+        modified_colliders: &[ColliderHandle],
+        removed_colliders: &[ColliderHandle],
+        events: &mut Vec<BroadPhasePairEvent>,
+    ) {
+        // Phase 1: pre-delete the collisions that have been deleted.
+        self.handle_removed_colliders(removed_colliders);
+
+        let mut need_region_propagation = false;
+
+        // Phase 2: pre-delete the collisions that have been deleted.
+        for handle in modified_colliders {
+            // NOTE: we use `get` because the collider may no longer
+            //       exist if it has been removed.
+            if let Some(co) = colliders.get_mut_internal(*handle) {
+                if !co.is_enabled() || !co.changes.needs_broad_phase_update() {
+                    continue;
+                }
+
+                let mut new_proxy_id = co.bf_data.proxy_index;
+
+                if self.handle_modified_collider(
+                    prediction_distance,
+                    *handle,
+                    &mut new_proxy_id,
+                    (&co.pos, &co.shape, &co.changes),
+                ) {
+                    need_region_propagation = true;
+                }
+
+                if co.bf_data.proxy_index != new_proxy_id {
+                    self.colliders_proxy_ids.insert(*handle, new_proxy_id);
+
+                    // Make sure we have the new proxy index in case
+                    // the collider was added for the first time.
+                    co.bf_data = ColliderBroadPhaseData {
+                        proxy_index: new_proxy_id,
+                    };
+                }
+            }
+        }
+
+        // Phase 3: bottom-up pass to propagate new regions from smaller layers to larger layers.
+        if need_region_propagation {
+            self.propagate_created_regions();
+        }
+
+        // Phase 4: top-down pass to propagate proxies from larger layers to smaller layers.
+        self.update_layers_and_find_pairs(events);
+
+        // Phase 5: bottom-up pass to remove proxies, and propagate region removed from smaller
+        // layers to possible remove regions from larger layers that would become empty that way.
+        self.complete_removals(colliders, removed_colliders);
+    }
+}
+
 #[cfg(test)]
 mod test {
     use crate::dynamics::{
diff --git a/src/geometry/broad_phase_multi_sap/mod.rs b/src/geometry/broad_phase_multi_sap/mod.rs
index a1951c7..b9b3097 100644
--- a/src/geometry/broad_phase_multi_sap/mod.rs
+++ b/src/geometry/broad_phase_multi_sap/mod.rs
@@ -1,6 +1,5 @@
 pub use self::broad_phase_multi_sap::BroadPhaseMultiSap;
 pub use self::broad_phase_pair_event::{BroadPhasePairEvent, ColliderPair};
-pub use self::sap_proxy::SAPProxyIndex;
 
 use self::sap_axis::*;
 use self::sap_endpoint::*;
diff --git a/src/geometry/broad_phase_multi_sap/sap_axis.rs b/src/geometry/broad_phase_multi_sap/sap_axis.rs
index 2452148..f1afdee 100644
--- a/src/geometry/broad_phase_multi_sap/sap_axis.rs
+++ b/src/geometry/broad_phase_multi_sap/sap_axis.rs
@@ -1,6 +1,6 @@
 use super::{SAPEndpoint, SAPProxies, NUM_SENTINELS};
 use crate::geometry::broad_phase_multi_sap::DELETED_AABB_VALUE;
-use crate::geometry::SAPProxyIndex;
+use crate::geometry::BroadPhaseProxyIndex;
 use crate::math::Real;
 use bit_vec::BitVec;
 use parry::bounding_volume::BoundingVolume;
@@ -39,7 +39,7 @@ impl SAPAxis {
     pub fn batch_insert(
         &mut self,
         dim: usize,
-        new_proxies: &[SAPProxyIndex],
+        new_proxies: &[BroadPhaseProxyIndex],
         proxies: &SAPProxies,
         reporting: Option<&mut HashMap<(u32, u32), bool>>,
     ) {
diff --git a/src/geometry/broad_phase_multi_sap/sap_layer.rs b/src/geometry/broad_phase_multi_sap/sap_layer.rs
index 12dc7f7..f1a3a31 100644
--- a/src/geometry/broad_phase_multi_sap/sap_layer.rs
+++ b/src/geometry/broad_phase_multi_sap/sap_layer.rs
@@ -1,6 +1,6 @@
 use super::{SAPProxies, SAPProxy, SAPRegion, SAPRegionPool};
 use crate::geometry::broad_phase_multi_sap::DELETED_AABB_VALUE;
-use crate::geometry::{Aabb, SAPProxyIndex};
+use crate::geometry::{Aabb, BroadPhaseProxyIndex};
 use crate::math::{Point, Real};
 use parry::bounding_volume::BoundingVolume;
 use parry::utils::hashmap::{Entry, HashMap};
@@ -13,11 +13,11 @@ pub(crate) struct SAPLayer {
     pub smaller_layer: Option<u8>,
     pub larger_layer: Option<u8>,
     region_width: Real,
-    pub regions: HashMap<Point<i32>, SAPProxyIndex>,
+    pub regions: HashMap<Point<i32>, BroadPhaseProxyIndex>,
     #[cfg_attr(feature = "serde-serialize", serde(skip))]
     regions_to_potentially_remove: Vec<Point<i32>>, // Workspace
     #[cfg_attr(feature = "serde-serialize", serde(skip))]
-    pub created_regions: Vec<SAPProxyIndex>,
+    pub created_regions: Vec<BroadPhaseProxyIndex>,
 }
 
 impl SAPLayer {
@@ -103,7 +103,7 @@ impl SAPLayer {
     /// one region on its parent "larger" layer.
     fn register_subregion(
         &mut self,
-        proxy_id: SAPProxyIndex,
+        proxy_id: BroadPhaseProxyIndex,
         proxies: &mut SAPProxies,
         pool: &mut SAPRegionPool,
     ) {
@@ -140,7 +140,7 @@ impl SAPLayer {
 
     fn unregister_subregion(
         &mut self,
-        proxy_id: SAPProxyIndex,
+        proxy_id: BroadPhaseProxyIndex,
         proxy_region: &SAPRegion,
         proxies: &mut SAPProxies,
     ) {
@@ -191,7 +191,7 @@ impl SAPLayer {
         region_key: Point<i32>,
         proxies: &mut SAPProxies,
         pool: &mut SAPRegionPool,
-    ) -> SAPProxyIndex {
+    ) -> BroadPhaseProxyIndex {
         match self.regions.entry(region_key) {
             // Yay, the region already exists!
             Entry::Occupied(occupied) => *occupied.get(),
@@ -266,7 +266,7 @@ impl SAPLayer {
         }
     }
 
-    pub fn predelete_proxy(&mut self, proxies: &mut SAPProxies, proxy_index: SAPProxyIndex) {
+    pub fn predelete_proxy(&mut self, proxies: &mut SAPProxies, proxy_index: BroadPhaseProxyIndex) {
         // Discretize the Aabb to find the regions that need to be invalidated.
         let proxy_aabb = &mut proxies[proxy_index].aabb;
         let start = super::point_key(proxy_aabb.mins, self.region_width);
@@ -379,7 +379,7 @@ impl SAPLayer {
     pub fn proper_proxy_moved_to_bigger_layer(
         &mut self,
         proxies: &mut SAPProxies,
-        proxy_id: SAPProxyIndex,
+        proxy_id: BroadPhaseProxyIndex,
     ) {
         for (point, region_id) in &self.regions {
             let region = &mut proxies[*region_id].data.as_region_mut();
diff --git a/src/geometry/broad_phase_multi_sap/sap_proxy.rs b/src/geometry/broad_phase_multi_sap/sap_proxy.rs
index 4d5d79e..ccc172f 100644
--- a/src/geometry/broad_phase_multi_sap/sap_proxy.rs
+++ b/src/geometry/broad_phase_multi_sap/sap_proxy.rs
@@ -1,11 +1,9 @@
 use super::NEXT_FREE_SENTINEL;
 use crate::geometry::broad_phase_multi_sap::SAPRegion;
-use crate::geometry::ColliderHandle;
+use crate::geometry::{BroadPhaseProxyIndex, ColliderHandle};
 use parry::bounding_volume::Aabb;
 use std::ops::{Index, IndexMut};
 
-pub type SAPProxyIndex = u32;
-
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
 #[derive(Clone)]
 pub enum SAPProxyData {
@@ -49,7 +47,7 @@ impl SAPProxyData {
 pub struct SAPProxy {
     pub data: SAPProxyData,
     pub aabb: Aabb,
-    pub next_free: SAPProxyIndex,
+    pub next_free: BroadPhaseProxyIndex,
     // TODO: pack the layer_id and layer_depth into a single u16?
     pub layer_id: u8,
     pub layer_depth: i8,
@@ -81,7 +79,7 @@ impl SAPProxy {
 #[derive(Clone)]
 pub struct SAPProxies {
     pub elements: Vec<SAPProxy>,
-    pub first_free: SAPProxyIndex,
+    pub first_free: BroadPhaseProxyIndex,
 }
 
 impl Default for SAPProxies {
@@ -98,7 +96,7 @@ impl SAPProxies {
         }
     }
 
-    pub fn insert(&mut self, proxy: SAPProxy) -> SAPProxyIndex {
+    pub fn insert(&mut self, proxy: SAPProxy) -> BroadPhaseProxyIndex {
         if self.first_free != NEXT_FREE_SENTINEL {
             let proxy_id = self.first_free;
             self.first_free = self.elements[proxy_id as usize].next_free;
@@ -110,31 +108,31 @@ impl SAPProxies {
         }
     }
 
-    pub fn remove(&mut self, proxy_id: SAPProxyIndex) {
+    pub fn remove(&mut self, proxy_id: BroadPhaseProxyIndex) {
         let proxy = &mut self.elements[proxy_id as usize];
         proxy.next_free = self.first_free;
         self.first_free = proxy_id;
     }
 
     // NOTE: this must not take holes into account.
-    pub fn get_mut(&mut self, i: SAPProxyIndex) -> Option<&mut SAPProxy> {
+    pub fn get_mut(&mut self, i: BroadPhaseProxyIndex) -> Option<&mut SAPProxy> {
         self.elements.get_mut(i as usize)
     }
     // NOTE: this must not take holes into account.
-    pub fn get(&self, i: SAPProxyIndex) -> Option<&SAPProxy> {
+    pub fn get(&self, i: BroadPhaseProxyIndex) -> Option<&SAPProxy> {
         self.elements.get(i as usize)
     }
 }
 
-impl Index<SAPProxyIndex> for SAPProxies {
+impl Index<BroadPhaseProxyIndex> for SAPProxies {
     type Output = SAPProxy;
-    fn index(&self, i: SAPProxyIndex) -> &SAPProxy {
+    fn index(&self, i: BroadPhaseProxyIndex) -> &SAPProxy {
         self.elements.index(i as usize)
     }
 }
 
-impl IndexMut<SAPProxyIndex> for SAPProxies {
-    fn index_mut(&mut self, i: SAPProxyIndex) -> &mut SAPProxy {
+impl IndexMut<BroadPhaseProxyIndex> for SAPProxies {
+    fn index_mut(&mut self, i: BroadPhaseProxyIndex) -> &mut SAPProxy {
         self.elements.index_mut(i as usize)
     }
 }
diff --git a/src/geometry/broad_phase_multi_sap/sap_region.rs b/src/geometry/broad_phase_multi_sap/sap_region.rs
index 21ebca5..7e38eaa 100644
--- a/src/geometry/broad_phase_multi_sap/sap_region.rs
+++ b/src/geometry/broad_phase_multi_sap/sap_region.rs
@@ -1,5 +1,5 @@
 use super::{SAPAxis, SAPProxies};
-use crate::geometry::SAPProxyIndex;
+use crate::geometry::BroadPhaseProxyIndex;
 use crate::math::DIM;
 use bit_vec::BitVec;
 use parry::bounding_volume::Aabb;
@@ -13,8 +13,8 @@ pub struct SAPRegion {
     pub axes: [SAPAxis; DIM],
     pub existing_proxies: BitVec,
     #[cfg_attr(feature = "serde-serialize", serde(skip))]
-    pub to_insert: Vec<SAPProxyIndex>, // Workspace
-    pub subregions: Vec<SAPProxyIndex>,
+    pub to_insert: Vec<BroadPhaseProxyIndex>, // Workspace
+    pub subregions: Vec<BroadPhaseProxyIndex>,
     pub id_in_parent_subregion: u32,
     pub update_count: u8,
     pub needs_update_after_subregion_removal: bool,
@@ -90,7 +90,7 @@ impl SAPRegion {
     /// If this region contains the given proxy, this will decrement this region's proxy count.
     ///
     /// Returns `true` if this region contained the proxy. Returns `false` otherwise.
-    pub fn proper_proxy_moved_to_a_bigger_layer(&mut self, proxy_id: SAPProxyIndex) -> bool {
+    pub fn proper_proxy_moved_to_a_bigger_layer(&mut self, proxy_id: BroadPhaseProxyIndex) -> bool {
         if self.existing_proxies.get(proxy_id as usize) == Some(true) {
             // NOTE: we are just registering the fact that that proxy isn't a
             //       subproper proxy anymore. But it is still part of this region
@@ -142,7 +142,7 @@ impl SAPRegion {
         self.subproper_proxy_count -= num_deleted_subregion_endpoints[0] / 2;
     }
 
-    pub fn predelete_proxy(&mut self, _proxy_id: SAPProxyIndex) {
+    pub fn predelete_proxy(&mut self, _proxy_id: BroadPhaseProxyIndex) {
         // We keep the proxy_id as argument for uniformity with the "preupdate"
         // method. However we don't actually need it because the deletion will be
         // handled transparently during the next update.
@@ -153,14 +153,18 @@ impl SAPRegion {
         self.update_count = self.update_count.max(1);
     }
 
-    pub fn register_subregion(&mut self, proxy_id: SAPProxyIndex) -> usize {
+    pub fn register_subregion(&mut self, proxy_id: BroadPhaseProxyIndex) -> usize {
         let subregion_index = self.subregions.len();
         self.subregions.push(proxy_id);
         self.preupdate_proxy(proxy_id, true);
         subregion_index
     }
 
-    pub fn preupdate_proxy(&mut self, proxy_id: SAPProxyIndex, is_subproper_proxy: bool) -> bool {
+    pub fn preupdate_proxy(
+        &mut self,
+        proxy_id: BroadPhaseProxyIndex,
+        is_subproper_proxy: bool,
+    ) -> bool {
         let mask_len = self.existing_proxies.len();
         if proxy_id as usize >= mask_len {
             self.existing_proxies