Outsource the Shape trait, wquadtree, and shape types.

8 files changed, 38 insertions, 37 deletions

diff --git a/src/geometry/contact_generator/ball_ball_contact_generator.rs b/src/geometry/contact_generator/ball_ball_contact_generator.rs
index 7122998..f2ca7af 100644
--- a/src/geometry/contact_generator/ball_ball_contact_generator.rs
+++ b/src/geometry/contact_generator/ball_ball_contact_generator.rs
@@ -5,12 +5,12 @@ use crate::math::{Point, Vector};
 use {
     crate::geometry::contact_generator::PrimitiveContactGenerationContextSimd,
     crate::geometry::{WBall, WContact},
-    crate::math::{Isometry, SimdFloat, SIMD_WIDTH},
+    crate::math::{Isometry, SimdReal, SIMD_WIDTH},
     simba::simd::SimdValue,
 };
 
 #[cfg(feature = "simd-is-enabled")]
-fn generate_contacts_simd(ball1: &WBall, ball2: &WBall, pos21: &Isometry<SimdFloat>) -> WContact {
+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;
@@ -30,9 +30,9 @@ fn generate_contacts_simd(ball1: &WBall, ball2: &WBall, pos21: &Isometry<SimdFlo
 pub fn generate_contacts_ball_ball_simd(ctxt: &mut PrimitiveContactGenerationContextSimd) {
     let pos_ba = ctxt.positions2.inverse() * ctxt.positions1;
     let radii_a =
-        SimdFloat::from(array![|ii| ctxt.shapes1[ii].as_ball().unwrap().radius; SIMD_WIDTH]);
+        SimdReal::from(array![|ii| ctxt.shapes1[ii].as_ball().unwrap().radius; SIMD_WIDTH]);
     let radii_b =
-        SimdFloat::from(array![|ii| ctxt.shapes2[ii].as_ball().unwrap().radius; SIMD_WIDTH]);
+        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);
diff --git a/src/geometry/contact_generator/contact_dispatcher.rs b/src/geometry/contact_generator/contact_dispatcher.rs
index 7c32714..9b247f3 100644
--- a/src/geometry/contact_generator/contact_dispatcher.rs
+++ b/src/geometry/contact_generator/contact_dispatcher.rs
@@ -3,9 +3,9 @@ use crate::geometry::contact_generator::PfmPfmContactManifoldGeneratorWorkspace;
 use crate::geometry::contact_generator::{
     ContactGenerator, ContactGeneratorWorkspace, ContactPhase,
     HeightFieldShapeContactGeneratorWorkspace, PrimitiveContactGenerator,
-    TrimeshShapeContactGeneratorWorkspace,
+    TriMeshShapeContactGeneratorWorkspace,
 };
-use crate::geometry::ShapeType;
+use buckler::shape::ShapeType;
 
 /// Trait implemented by structures responsible for selecting a collision-detection algorithm
 /// for a given pair of shapes.
@@ -114,13 +114,13 @@ impl ContactDispatcher for DefaultContactDispatcher {
         shape2: ShapeType,
     ) -> (ContactPhase, Option<ContactGeneratorWorkspace>) {
         match (shape1, shape2) {
-            (ShapeType::Trimesh, _) | (_, ShapeType::Trimesh) => (
+            (ShapeType::TriMesh, _) | (_, ShapeType::TriMesh) => (
                 ContactPhase::NearPhase(ContactGenerator {
                     generate_contacts: super::generate_contacts_trimesh_shape,
                     ..ContactGenerator::default()
                 }),
                 Some(ContactGeneratorWorkspace::from(
-                    TrimeshShapeContactGeneratorWorkspace::new(),
+                    TriMeshShapeContactGeneratorWorkspace::new(),
                 )),
             ),
             (ShapeType::HeightField, _) | (_, ShapeType::HeightField) => (
diff --git a/src/geometry/contact_generator/contact_generator.rs b/src/geometry/contact_generator/contact_generator.rs
index b1b1be6..06ab265 100644
--- a/src/geometry/contact_generator/contact_generator.rs
+++ b/src/geometry/contact_generator/contact_generator.rs
@@ -1,11 +1,11 @@
 use crate::data::MaybeSerializableData;
 use crate::geometry::{
     Collider, ColliderSet, ContactDispatcher, ContactEvent, ContactManifold, ContactPair, Shape,
-    SolverFlags,
+    ShapeType, SolverFlags,
 };
 use crate::math::Isometry;
 #[cfg(feature = "simd-is-enabled")]
-use crate::math::{SimdFloat, SIMD_WIDTH};
+use crate::math::{SimdReal, SIMD_WIDTH};
 use crate::pipeline::EventHandler;
 
 #[derive(Copy, Clone)]
@@ -158,8 +158,8 @@ pub struct PrimitiveContactGenerationContextSimd<'a, 'b> {
     pub colliders2: [&'a Collider; SIMD_WIDTH],
     pub shapes1: [&'a dyn Shape; SIMD_WIDTH],
     pub shapes2: [&'a dyn Shape; SIMD_WIDTH],
-    pub positions1: &'a Isometry<SimdFloat>,
-    pub positions2: &'a Isometry<SimdFloat>,
+    pub positions1: &'a Isometry<SimdReal>,
+    pub positions2: &'a Isometry<SimdReal>,
     pub manifolds: &'a mut [&'b mut ContactManifold],
     pub workspaces: &'a mut [Option<&'b mut (dyn MaybeSerializableData)>],
 }
diff --git a/src/geometry/contact_generator/contact_generator_workspace.rs b/src/geometry/contact_generator/contact_generator_workspace.rs
index e89395f..7aac592 100644
--- a/src/geometry/contact_generator/contact_generator_workspace.rs
+++ b/src/geometry/contact_generator/contact_generator_workspace.rs
@@ -2,7 +2,7 @@ use crate::data::MaybeSerializableData;
 #[cfg(feature = "dim3")]
 use crate::geometry::contact_generator::PfmPfmContactManifoldGeneratorWorkspace;
 use crate::geometry::contact_generator::{
-    HeightFieldShapeContactGeneratorWorkspace, TrimeshShapeContactGeneratorWorkspace,
+    HeightFieldShapeContactGeneratorWorkspace, TriMeshShapeContactGeneratorWorkspace,
     WorkspaceSerializationTag,
 };
 
@@ -81,8 +81,8 @@ impl<'de> serde::Deserialize<'de> for ContactGeneratorWorkspace {
                     Some(WorkspaceSerializationTag::HeightfieldShapeContactGeneratorWorkspace) => {
                         deser::<A, HeightFieldShapeContactGeneratorWorkspace>(&mut seq)?
                     }
-                    Some(WorkspaceSerializationTag::TrimeshShapeContactGeneratorWorkspace) => {
-                        deser::<A, TrimeshShapeContactGeneratorWorkspace>(&mut seq)?
+                    Some(WorkspaceSerializationTag::TriMeshShapeContactGeneratorWorkspace) => {
+                        deser::<A, TriMeshShapeContactGeneratorWorkspace>(&mut seq)?
                     }
                     #[cfg(feature = "dim3")]
                     Some(WorkspaceSerializationTag::PfmPfmContactGeneratorWorkspace) => {
diff --git a/src/geometry/contact_generator/heightfield_shape_contact_generator.rs b/src/geometry/contact_generator/heightfield_shape_contact_generator.rs
index 358ac84..125ac34 100644
--- a/src/geometry/contact_generator/heightfield_shape_contact_generator.rs
+++ b/src/geometry/contact_generator/heightfield_shape_contact_generator.rs
@@ -5,9 +5,10 @@ use crate::geometry::contact_generator::{
     ContactGenerationContext, ContactGeneratorWorkspace, PrimitiveContactGenerationContext,
     PrimitiveContactGenerator,
 };
+use crate::geometry::{Collider, ContactManifold, ContactManifoldData};
 #[cfg(feature = "dim2")]
-use crate::geometry::Capsule;
-use crate::geometry::{Collider, ContactManifold, ContactManifoldData, HeightField, Shape};
+use buckler::shape::Capsule;
+use buckler::shape::{HeightField, Shape};
 #[cfg(feature = "serde-serialize")]
 use erased_serde::Serialize;
 
@@ -95,7 +96,7 @@ fn do_generate_contacts(
         #[cfg(feature = "dim3")]
         let sub_shape1 = *part1;
 
-        let sub_detector = match workspace.sub_detectors.entry(i) {
+        let sub_detector = match workspace.sub_detectors.entry(i as usize) {
             Entry::Occupied(entry) => {
                 let sub_detector = entry.into_mut();
                 let manifold = workspace.old_manifolds[sub_detector.manifold_id].take();
@@ -119,7 +120,7 @@ fn do_generate_contacts(
                     collider2,
                     solver_flags,
                 );
-                manifolds.push(ContactManifold::with_data((i, 0), manifold_data));
+                manifolds.push(ContactManifold::with_data((i as usize, 0), manifold_data));
 
                 entry.insert(sub_detector)
             }
diff --git a/src/geometry/contact_generator/mod.rs b/src/geometry/contact_generator/mod.rs
index f539d7a..4c0716a 100644
--- a/src/geometry/contact_generator/mod.rs
+++ b/src/geometry/contact_generator/mod.rs
@@ -25,7 +25,7 @@ pub use self::pfm_pfm_contact_generator::{
 // pub use self::polygon_polygon_contact_generator::generate_contacts_polygon_polygon;
 pub use self::contact_generator_workspace::ContactGeneratorWorkspace;
 pub use self::trimesh_shape_contact_generator::{
-    generate_contacts_trimesh_shape, TrimeshShapeContactGeneratorWorkspace,
+    generate_contacts_trimesh_shape, TriMeshShapeContactGeneratorWorkspace,
 };
 
 pub(self) use self::serializable_workspace_tag::WorkspaceSerializationTag;
diff --git a/src/geometry/contact_generator/serializable_workspace_tag.rs b/src/geometry/contact_generator/serializable_workspace_tag.rs
index 2488c1e..4bdb902 100644
--- a/src/geometry/contact_generator/serializable_workspace_tag.rs
+++ b/src/geometry/contact_generator/serializable_workspace_tag.rs
@@ -2,7 +2,7 @@ use num_derive::FromPrimitive;
 
 #[derive(Copy, Clone, Debug, FromPrimitive)]
 pub(super) enum WorkspaceSerializationTag {
-    TrimeshShapeContactGeneratorWorkspace = 0,
+    TriMeshShapeContactGeneratorWorkspace = 0,
     #[cfg(feature = "dim3")]
     PfmPfmContactGeneratorWorkspace,
     HeightfieldShapeContactGeneratorWorkspace,
diff --git a/src/geometry/contact_generator/trimesh_shape_contact_generator.rs b/src/geometry/contact_generator/trimesh_shape_contact_generator.rs
index 172069d..209ac42 100644
--- a/src/geometry/contact_generator/trimesh_shape_contact_generator.rs
+++ b/src/geometry/contact_generator/trimesh_shape_contact_generator.rs
@@ -3,21 +3,21 @@ use crate::data::MaybeSerializableData;
 use crate::geometry::contact_generator::{
     ContactGenerationContext, PrimitiveContactGenerationContext,
 };
-use crate::geometry::{Collider, ContactManifold, ContactManifoldData, ShapeType, Trimesh};
+use crate::geometry::{Collider, ContactManifold, ContactManifoldData, ShapeType, TriMesh};
 #[cfg(feature = "serde-serialize")]
 use erased_serde::Serialize;
 
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
 #[derive(Clone)]
-pub struct TrimeshShapeContactGeneratorWorkspace {
-    interferences: Vec<usize>,
+pub struct TriMeshShapeContactGeneratorWorkspace {
+    interferences: Vec<u32>,
     local_aabb2: AABB,
-    old_interferences: Vec<usize>,
+    old_interferences: Vec<u32>,
     #[cfg_attr(feature = "serde-serialize", serde(skip))]
     old_manifolds: Vec<ContactManifold>,
 }
 
-impl TrimeshShapeContactGeneratorWorkspace {
+impl TriMeshShapeContactGeneratorWorkspace {
     pub fn new() -> Self {
         Self {
             interferences: Vec::new(),
@@ -40,7 +40,7 @@ pub fn generate_contacts_trimesh_shape(ctxt: &mut ContactGenerationContext) {
 }
 
 fn do_generate_contacts(
-    trimesh1: &Trimesh,
+    trimesh1: &TriMesh,
     collider1: &Collider,
     collider2: &Collider,
     ctxt: &mut ContactGenerationContext,
@@ -52,14 +52,14 @@ fn do_generate_contacts(
         ctxt.pair.pair
     };
 
-    let workspace: &mut TrimeshShapeContactGeneratorWorkspace = ctxt
+    let workspace: &mut TriMeshShapeContactGeneratorWorkspace = ctxt
         .pair
         .generator_workspace
         .as_mut()
-        .expect("The TrimeshShapeContactGeneratorWorkspace is missing.")
+        .expect("The TriMeshShapeContactGeneratorWorkspace is missing.")
         .0
         .downcast_mut()
-        .expect("Invalid workspace type, expected a TrimeshShapeContactGeneratorWorkspace.");
+        .expect("Invalid workspace type, expected a TriMeshShapeContactGeneratorWorkspace.");
 
     /*
      * Compute interferences.
@@ -97,9 +97,9 @@ fn do_generate_contacts(
                 .iter()
                 .map(|manifold| {
                     if manifold.data.pair.collider1 == ctxt_collider1 {
-                        manifold.subshape_index_pair.0
+                        manifold.subshape_index_pair.0 as u32
                     } else {
-                        manifold.subshape_index_pair.1
+                        manifold.subshape_index_pair.1 as u32
                     }
                 })
                 .collect();
@@ -118,7 +118,7 @@ fn do_generate_contacts(
 
         workspace.interferences.clear();
         trimesh1
-            .waabbs()
+            .quadtree()
             .intersect_aabb(&local_aabb2, &mut workspace.interferences);
         workspace.local_aabb2 = local_aabb2;
     }
@@ -134,7 +134,7 @@ fn do_generate_contacts(
     // TODO: don't redispatch at each frame (we should probably do the same as
     // the heightfield).
     for (i, triangle_id) in new_interferences.iter().enumerate() {
-        if *triangle_id >= trimesh1.num_triangles() {
+        if *triangle_id >= trimesh1.num_triangles() as u32 {
             // Because of SIMD padding, the broad-phase may return tiangle indices greater
             // than the max.
             continue;
@@ -160,7 +160,7 @@ fn do_generate_contacts(
                     ctxt.solver_flags,
                 );
 
-                ContactManifold::with_data((*triangle_id, 0), data)
+                ContactManifold::with_data((*triangle_id as usize, 0), data)
             } else {
                 // We already have a manifold for this triangle.
                 old_inter_it.next();
@@ -206,11 +206,11 @@ fn do_generate_contacts(
     }
 }
 
-impl MaybeSerializableData for TrimeshShapeContactGeneratorWorkspace {
+impl MaybeSerializableData for TriMeshShapeContactGeneratorWorkspace {
     #[cfg(feature = "serde-serialize")]
     fn as_serialize(&self) -> Option<(u32, &dyn Serialize)> {
         Some((
-            super::WorkspaceSerializationTag::TrimeshShapeContactGeneratorWorkspace as u32,
+            super::WorkspaceSerializationTag::TriMeshShapeContactGeneratorWorkspace as u32,
             self,
         ))
     }