Merge pull request #28 from dimforge/raycast

Add the QueryPipeline for ray-casting and other geometrical queries in the future

2 files changed, 11 insertions, 10 deletions

diff --git a/src/geometry/contact_generator/heightfield_shape_contact_generator.rs b/src/geometry/contact_generator/heightfield_shape_contact_generator.rs
index f59a94b..04afc65 100644
--- a/src/geometry/contact_generator/heightfield_shape_contact_generator.rs
+++ b/src/geometry/contact_generator/heightfield_shape_contact_generator.rs
@@ -71,10 +71,10 @@ fn do_generate_contacts(
             } else {
                 manifold.subshape_index_pair.1
             };
-            println!(
-                "Restoring for {} [chosen with {:?}]",
-                subshape_id, manifold.subshape_index_pair
-            );
+            // println!(
+            //     "Restoring for {} [chosen with {:?}]",
+            //     subshape_id, manifold.subshape_index_pair
+            // );
 
             // Use dummy shapes for the dispatch.
             #[cfg(feature = "dim2")]
diff --git a/src/geometry/contact_generator/trimesh_shape_contact_generator.rs b/src/geometry/contact_generator/trimesh_shape_contact_generator.rs
index 78f26bb..52ba9b7 100644
--- a/src/geometry/contact_generator/trimesh_shape_contact_generator.rs
+++ b/src/geometry/contact_generator/trimesh_shape_contact_generator.rs
@@ -1,11 +1,11 @@
 use crate::geometry::contact_generator::{
     ContactGenerationContext, PrimitiveContactGenerationContext,
 };
-use crate::geometry::{Collider, ContactManifold, Shape, Trimesh, WAABBHierarchyIntersections};
+use crate::geometry::{Collider, ContactManifold, Shape, Trimesh};
 use crate::ncollide::bounding_volume::{BoundingVolume, AABB};
 
 pub struct TrimeshShapeContactGeneratorWorkspace {
-    interferences: WAABBHierarchyIntersections,
+    interferences: Vec<usize>,
     local_aabb2: AABB<f32>,
     old_interferences: Vec<usize>,
     old_manifolds: Vec<ContactManifold>,
@@ -14,7 +14,7 @@ pub struct TrimeshShapeContactGeneratorWorkspace {
 impl TrimeshShapeContactGeneratorWorkspace {
     pub fn new() -> Self {
         Self {
-            interferences: WAABBHierarchyIntersections::new(),
+            interferences: Vec::new(),
             local_aabb2: AABB::new_invalid(),
             old_interferences: Vec::new(),
             old_manifolds: Vec::new(),
@@ -74,7 +74,7 @@ fn do_generate_contacts(
         let local_aabb2 = new_local_aabb2; // .loosened(ctxt.prediction_distance * 2.0); // FIXME: what would be the best value?
         std::mem::swap(
             &mut workspace.old_interferences,
-            workspace.interferences.computed_interferences_mut(),
+            &mut workspace.interferences,
         );
         std::mem::swap(&mut workspace.old_manifolds, &mut ctxt.pair.manifolds);
         ctxt.pair.manifolds.clear();
@@ -108,16 +108,17 @@ fn do_generate_contacts(
         //     workspace.old_manifolds.len()
         // );
 
+        workspace.interferences.clear();
         trimesh1
             .waabbs()
-            .compute_interferences_with(local_aabb2, &mut workspace.interferences);
+            .intersect_aabb(&local_aabb2, &mut workspace.interferences);
         workspace.local_aabb2 = local_aabb2;
     }
 
     /*
      * Dispatch to the specific solver by keeping the previous manifold if we already had one.
      */
-    let new_interferences = workspace.interferences.computed_interferences();
+    let new_interferences = &workspace.interferences;
     let mut old_inter_it = workspace.old_interferences.drain(..).peekable();
     let mut old_manifolds_it = workspace.old_manifolds.drain(..);