Replace the Rounded<S> type by a non-generic RoundCylinder type.

1 files changed, 9 insertions, 9 deletions

diff --git a/src/geometry/contact_generator/pfm_pfm_contact_generator.rs b/src/geometry/contact_generator/pfm_pfm_contact_generator.rs
index 62a38ae..1dcae33 100644
--- a/src/geometry/contact_generator/pfm_pfm_contact_generator.rs
+++ b/src/geometry/contact_generator/pfm_pfm_contact_generator.rs
@@ -24,11 +24,11 @@ impl Default for PfmPfmContactManifoldGeneratorWorkspace {
 }
 
 pub fn generate_contacts_pfm_pfm(ctxt: &mut PrimitiveContactGenerationContext) {
-    if let (Some((pfm1, round_radius1)), Some((pfm2, round_radius2))) = (
+    if let (Some((pfm1, border_radius1)), Some((pfm2, border_radius2))) = (
         ctxt.shape1.as_polygonal_feature_map(),
         ctxt.shape2.as_polygonal_feature_map(),
     ) {
-        do_generate_contacts(pfm1, round_radius1, pfm2, round_radius2, ctxt);
+        do_generate_contacts(pfm1, border_radius1, pfm2, border_radius2, ctxt);
         ctxt.manifold.update_warmstart_multiplier();
         ctxt.manifold.sort_contacts(ctxt.prediction_distance);
     }
@@ -36,9 +36,9 @@ pub fn generate_contacts_pfm_pfm(ctxt: &mut PrimitiveContactGenerationContext) {
 
 fn do_generate_contacts(
     pfm1: &dyn PolygonalFeatureMap,
-    round_radius1: f32,
+    border_radius1: f32,
     pfm2: &dyn PolygonalFeatureMap,
-    round_radius2: f32,
+    border_radius2: f32,
     ctxt: &mut PrimitiveContactGenerationContext,
 ) {
     let pos12 = ctxt.position1.inverse() * ctxt.position2;
@@ -61,7 +61,7 @@ fn do_generate_contacts(
         .downcast_mut()
         .expect("Invalid workspace type, expected a PfmPfmContactManifoldGeneratorWorkspace.");
 
-    let total_prediction = ctxt.prediction_distance + round_radius1 + round_radius2;
+    let total_prediction = ctxt.prediction_distance + border_radius1 + border_radius2;
     let contact = query::contact_support_map_support_map_with_params(
         &Isometry::identity(),
         pfm1,
@@ -93,11 +93,11 @@ fn do_generate_contacts(
                 ctxt.manifold,
             );
 
-            if round_radius1 != 0.0 || round_radius2 != 0.0 {
+            if border_radius1 != 0.0 || border_radius2 != 0.0 {
                 for contact in &mut ctxt.manifold.points {
-                    contact.local_p1 += *normal1 * round_radius1;
-                    contact.local_p2 += *normal2 * round_radius2;
-                    contact.dist -= round_radius1 + round_radius2;
+                    contact.local_p1 += *normal1 * border_radius1;
+                    contact.local_p2 += *normal2 * border_radius2;
+                    contact.dist -= border_radius1 + border_radius2;
                 }
             }