Merge branch 'master' into collider-builder-debug

6 files changed, 138 insertions, 117 deletions

diff --git a/src/geometry/broad_phase_multi_sap/broad_phase.rs b/src/geometry/broad_phase_multi_sap/broad_phase_multi_sap.rs
index 9e1bc06..d382258 100644
--- a/src/geometry/broad_phase_multi_sap/broad_phase.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, Collider, ColliderBroadPhaseData, ColliderChanges, ColliderHandle,
+    ColliderSet,
 };
-use crate::math::Real;
+use crate::math::{Isometry, Real};
+use crate::prelude::{BroadPhase, RigidBodySet};
 use crate::utils::IndexMut2;
 use parry::bounding_volume::BoundingVolume;
 use parry::utils::hashmap::HashMap;
@@ -74,7 +74,7 @@ use parry::utils::hashmap::HashMap;
 ///   broad-phase, as well as the Aabbs of all the regions part of this broad-phase.
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
 #[derive(Clone)]
-pub struct BroadPhase {
+pub struct BroadPhaseMultiSap {
     proxies: SAPProxies,
     layers: Vec<SAPLayer>,
     smallest_layer: u8,
@@ -90,7 +90,7 @@ pub struct BroadPhase {
     //       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.
@@ -114,16 +114,16 @@ pub struct BroadPhase {
     reporting: HashMap<(u32, u32), bool>, // Workspace
 }
 
-impl Default for BroadPhase {
+impl Default for BroadPhaseMultiSap {
     fn default() -> Self {
         Self::new()
     }
 }
 
-impl BroadPhase {
+impl BroadPhaseMultiSap {
     /// Create a new empty broad-phase.
     pub fn new() -> Self {
-        BroadPhase {
+        BroadPhaseMultiSap {
             proxies: SAPProxies::new(),
             layers: Vec::new(),
             smallest_layer: 0,
@@ -138,7 +138,7 @@ impl BroadPhase {
     ///
     /// For each colliders marked as removed, we make their containing layer mark
     /// its proxy as pre-deleted. The actual proxy removal will happen at the end
-    /// of the `BroadPhase::update`.
+    /// of the `BroadPhaseMultiSap::update`.
     fn handle_removed_colliders(&mut self, removed_colliders: &[ColliderHandle]) {
         // For each removed collider, remove the corresponding proxy.
         for removed in removed_colliders {
@@ -156,7 +156,7 @@ impl BroadPhase {
     /// 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;
@@ -353,13 +353,18 @@ impl BroadPhase {
         prediction_distance: Real,
         handle: ColliderHandle,
         proxy_index: &mut u32,
-        collider: (&ColliderPosition, &ColliderShape, &ColliderChanges),
+        collider: &Collider,
+        next_position: Option<&Isometry<Real>>,
     ) -> bool {
-        let (co_pos, co_shape, co_changes) = collider;
-
-        let mut aabb = co_shape
-            .compute_aabb(co_pos)
-            .loosened(prediction_distance / 2.0);
+        let mut aabb = collider.compute_collision_aabb(prediction_distance / 2.0);
+
+        if let Some(next_position) = next_position {
+            let next_aabb = collider
+                .shape
+                .compute_aabb(next_position)
+                .loosened(collider.contact_skin() + prediction_distance / 2.0);
+            aabb.merge(&next_aabb);
+        }
 
         if aabb.mins.coords.iter().any(|e| !e.is_finite())
             || aabb.maxs.coords.iter().any(|e| !e.is_finite())
@@ -378,7 +383,7 @@ impl BroadPhase {
             prev_aabb = proxy.aabb;
             proxy.aabb = aabb;
 
-            if co_changes.contains(ColliderChanges::SHAPE) {
+            if collider.changes.contains(ColliderChanges::SHAPE) {
                 // If the shape was changed, then we need to see if this proxy should be
                 // migrated to a larger layer. Indeed, if the shape was replaced by
                 // a much larger shape, we need to promote the proxy to a bigger layer
@@ -449,65 +454,6 @@ impl BroadPhase {
         !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
@@ -618,16 +564,90 @@ impl BroadPhase {
     }
 }
 
+impl BroadPhase for BroadPhaseMultiSap {
+    /// Updates the broad-phase, taking into account the new collider positions.
+    fn update(
+        &mut self,
+        dt: Real,
+        prediction_distance: Real,
+        colliders: &mut ColliderSet,
+        bodies: &RigidBodySet,
+        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;
+
+                let next_pos = co.parent.and_then(|p| {
+                    let parent = bodies.get(p.handle)?;
+                    (parent.soft_ccd_prediction() > 0.0).then(|| {
+                        parent.predict_position_using_velocity_and_forces_with_max_dist(
+                            dt,
+                            parent.soft_ccd_prediction(),
+                        ) * p.pos_wrt_parent
+                    })
+                });
+
+                if self.handle_modified_collider(
+                    prediction_distance,
+                    *handle,
+                    &mut new_proxy_id,
+                    co,
+                    next_pos.as_ref(),
+                ) {
+                    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::{
         ImpulseJointSet, IslandManager, MultibodyJointSet, RigidBodyBuilder, RigidBodySet,
     };
-    use crate::geometry::{BroadPhase, ColliderBuilder, ColliderSet};
+    use crate::geometry::{BroadPhase, BroadPhaseMultiSap, ColliderBuilder, ColliderSet};
 
     #[test]
     fn test_add_update_remove() {
-        let mut broad_phase = BroadPhase::new();
+        let mut broad_phase = BroadPhaseMultiSap::new();
         let mut bodies = RigidBodySet::new();
         let mut colliders = ColliderSet::new();
         let mut impulse_joints = ImpulseJointSet::new();
@@ -640,7 +660,7 @@ mod test {
         let coh = colliders.insert_with_parent(co, hrb, &mut bodies);
 
         let mut events = Vec::new();
-        broad_phase.update(0.0, &mut colliders, &[coh], &[], &mut events);
+        broad_phase.update(0.0, 0.0, &mut colliders, &bodies, &[coh], &[], &mut events);
 
         bodies.remove(
             hrb,
@@ -650,7 +670,7 @@ mod test {
             &mut multibody_joints,
             true,
         );
-        broad_phase.update(0.0, &mut colliders, &[], &[coh], &mut events);
+        broad_phase.update(0.0, 0.0, &mut colliders, &bodies, &[], &[coh], &mut events);
 
         // Create another body.
         let rb = RigidBodyBuilder::dynamic().build();
@@ -659,6 +679,6 @@ mod test {
         let coh = colliders.insert_with_parent(co, hrb, &mut bodies);
 
         // Make sure the proxy handles is recycled properly.
-        broad_phase.update(0.0, &mut colliders, &[coh], &[], &mut events);
+        broad_phase.update(0.0, 0.0, &mut colliders, &bodies, &[coh], &[], &mut events);
     }
 }
diff --git a/src/geometry/broad_phase_multi_sap/mod.rs b/src/geometry/broad_phase_multi_sap/mod.rs
index 0f85e96..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::BroadPhase;
+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::*;
@@ -9,7 +8,7 @@ use self::sap_proxy::*;
 use self::sap_region::*;
 use self::sap_utils::*;
 
-mod broad_phase;
+mod broad_phase_multi_sap;
 mod broad_phase_pair_event;
 mod sap_axis;
 mod 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 2266d56..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 {
@@ -71,7 +71,7 @@ impl SAPLayer {
     ///
     /// This method must be called in a bottom-up loop, propagating new regions from the
     /// smallest layer, up to the largest layer. That loop is done by the Phase 3 of the
-    /// BroadPhase::update.
+    /// BroadPhaseMultiSap::update.
     pub fn propagate_created_regions(
         &mut self,
         larger_layer: &mut Self,
@@ -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,
     ) {
@@ -182,7 +182,7 @@ impl SAPLayer {
     /// If the region with the given region key does not exist yet, it is created.
     /// When a region is created, it creates a new proxy for that region, and its
     /// proxy ID is added to `self.created_region` so it can be propagated during
-    /// the Phase 3 of `BroadPhase::update`.
+    /// the Phase 3 of `BroadPhaseMultiSap::update`.
     ///
     /// This returns the proxy ID of the already existing region if it existed, or
     /// of the new region if it did not exist and has been created by this method.
@@ -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