Externalize the proximity code (renamed intersection).

12 files changed, 0 insertions, 850 deletions

diff --git a/src/geometry/proximity_detector/ball_ball_proximity_detector.rs b/src/geometry/proximity_detector/ball_ball_proximity_detector.rs
deleted file mode 100644
index 65c141c..0000000
--- a/src/geometry/proximity_detector/ball_ball_proximity_detector.rs
+++ /dev/null
@@ -1,68 +0,0 @@
-use crate::geometry::proximity_detector::PrimitiveProximityDetectionContext;
-
-use crate::geometry::Proximity;
-use crate::math::Point;
-#[cfg(feature = "simd-is-enabled")]
-use {
-    crate::geometry::{proximity_detector::PrimitiveProximityDetectionContextSimd, WBall},
-    crate::math::{SimdReal, SIMD_WIDTH},
-    simba::simd::SimdValue,
-};
-
-#[cfg(feature = "simd-is-enabled")]
-fn ball_distance_simd(ball1: &WBall, ball2: &WBall) -> SimdReal {
-    let dcenter = ball2.center - ball1.center;
-    let center_dist = dcenter.magnitude();
-    center_dist - ball1.radius - ball2.radius
-}
-
-#[cfg(feature = "simd-is-enabled")]
-pub fn detect_proximity_ball_ball_simd(
-    ctxt: &mut PrimitiveProximityDetectionContextSimd,
-) -> [Proximity; SIMD_WIDTH] {
-    let pos_ba = ctxt.positions2.inverse() * ctxt.positions1;
-    let radii_a =
-        SimdReal::from(array![|ii| ctxt.shapes1[ii].as_ball().unwrap().radius; SIMD_WIDTH]);
-    let radii_b =
-        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);
-    let distances = ball_distance_simd(&wball_a, &wball_b);
-    let mut proximities = [Proximity::Disjoint; SIMD_WIDTH];
-
-    for i in 0..SIMD_WIDTH {
-        // FIXME: compare the dist before computing the proximity.
-        let dist = distances.extract(i);
-        if dist > ctxt.prediction_distance {
-            proximities[i] = Proximity::Disjoint;
-        } else if dist > 0.0 {
-            proximities[i] = Proximity::WithinMargin;
-        } else {
-            proximities[i] = Proximity::Intersecting
-        }
-    }
-
-    proximities
-}
-
-pub fn detect_proximity_ball_ball(ctxt: &mut PrimitiveProximityDetectionContext) -> Proximity {
-    let pos_ba = ctxt.position2.inverse() * ctxt.position1;
-    let radius_a = ctxt.shape1.as_ball().unwrap().radius;
-    let radius_b = ctxt.shape2.as_ball().unwrap().radius;
-
-    let center_a = Point::origin();
-    let center_b = pos_ba.inverse_transform_point(&Point::origin());
-
-    let dcenter = center_b - center_a;
-    let center_dist = dcenter.magnitude();
-    let dist = center_dist - radius_a - radius_b;
-
-    if dist > ctxt.prediction_distance {
-        Proximity::Disjoint
-    } else if dist > 0.0 {
-        Proximity::WithinMargin
-    } else {
-        Proximity::Intersecting
-    }
-}
diff --git a/src/geometry/proximity_detector/ball_convex_proximity_detector.rs b/src/geometry/proximity_detector/ball_convex_proximity_detector.rs
deleted file mode 100644
index 19ead5c..0000000
--- a/src/geometry/proximity_detector/ball_convex_proximity_detector.rs
+++ /dev/null
@@ -1,42 +0,0 @@
-use crate::geometry::proximity_detector::PrimitiveProximityDetectionContext;
-use crate::geometry::{Ball, Proximity};
-use crate::math::Isometry;
-use eagl::query::PointQuery;
-
-pub fn detect_proximity_ball_convex(ctxt: &mut PrimitiveProximityDetectionContext) -> Proximity {
-    if let Some(ball1) = ctxt.shape1.as_ball() {
-        do_detect_proximity(ctxt.shape2, ball1, &ctxt)
-    } else if let Some(ball2) = ctxt.shape2.as_ball() {
-        do_detect_proximity(ctxt.shape1, ball2, &ctxt)
-    } else {
-        panic!("Invalid shape types provide.")
-    }
-}
-
-fn do_detect_proximity<P: ?Sized + PointQuery>(
-    point_query1: &P,
-    ball2: &Ball,
-    ctxt: &PrimitiveProximityDetectionContext,
-) -> Proximity {
-    let local_p2_1 = ctxt
-        .position1
-        .inverse_transform_point(&ctxt.position2.translation.vector.into());
-
-    let proj = point_query1.project_local_point(&local_p2_1, cfg!(feature = "dim3"));
-    let dpos = local_p2_1 - proj.local_point;
-    let dist = dpos.norm();
-
-    if proj.is_inside {
-        return Proximity::Intersecting;
-    }
-
-    if dist <= ball2.radius + ctxt.prediction_distance {
-        if dist <= ball2.radius {
-            Proximity::Intersecting
-        } else {
-            Proximity::WithinMargin
-        }
-    } else {
-        Proximity::Disjoint
-    }
-}
diff --git a/src/geometry/proximity_detector/ball_polygon_proximity_detector.rs b/src/geometry/proximity_detector/ball_polygon_proximity_detector.rs
deleted file mode 100644
index 8b13789..0000000
--- a/src/geometry/proximity_detector/ball_polygon_proximity_detector.rs
+++ /dev/null
@@ -1 +0,0 @@
-
diff --git a/src/geometry/proximity_detector/cuboid_cuboid_proximity_detector.rs b/src/geometry/proximity_detector/cuboid_cuboid_proximity_detector.rs
deleted file mode 100644
index b43f53d..0000000
--- a/src/geometry/proximity_detector/cuboid_cuboid_proximity_detector.rs
+++ /dev/null
@@ -1,78 +0,0 @@
-use crate::geometry::proximity_detector::PrimitiveProximityDetectionContext;
-use crate::geometry::Proximity;
-use crate::math::Isometry;
-use eagl::query::sat;
-use eagl::shape::Cuboid;
-
-pub fn detect_proximity_cuboid_cuboid(ctxt: &mut PrimitiveProximityDetectionContext) -> Proximity {
-    if let (Some(cube1), Some(cube2)) = (ctxt.shape1.as_cuboid(), ctxt.shape2.as_cuboid()) {
-        detect_proximity(
-            ctxt.prediction_distance,
-            cube1,
-            ctxt.position1,
-            cube2,
-            ctxt.position2,
-        )
-    } else {
-        unreachable!()
-    }
-}
-
-pub fn detect_proximity<'a>(
-    prediction_distance: f32,
-    cube1: &'a Cuboid,
-    pos1: &'a Isometry<f32>,
-    cube2: &'a Cuboid,
-    pos2: &'a Isometry<f32>,
-) -> Proximity {
-    let pos12 = pos1.inverse() * pos2;
-    let pos21 = pos12.inverse();
-
-    /*
-     *
-     * Point-Face
-     *
-     */
-    let sep1 = sat::cuboid_cuboid_find_local_separating_normal_oneway(cube1, cube2, &pos12).0;
-    if sep1 > prediction_distance {
-        return Proximity::Disjoint;
-    }
-
-    let sep2 = sat::cuboid_cuboid_find_local_separating_normal_oneway(cube2, cube1, &pos21).0;
-    if sep2 > prediction_distance {
-        return Proximity::Disjoint;
-    }
-
-    /*
-     *
-     * Edge-Edge cases
-     *
-     */
-    #[cfg(feature = "dim2")]
-    let sep3 = -f32::MAX; // This case does not exist in 2D.
-    #[cfg(feature = "dim3")]
-    let sep3 = sat::cuboid_cuboid_find_local_separating_edge_twoway(cube1, cube2, &pos12).0;
-    if sep3 > prediction_distance {
-        return Proximity::Disjoint;
-    }
-
-    if sep2 > sep1 && sep2 > sep3 {
-        if sep2 > 0.0 {
-            Proximity::WithinMargin
-        } else {
-            Proximity::Intersecting
-        }
-    } else if sep3 > sep1 {
-        if sep3 > 0.0 {
-            Proximity::WithinMargin
-        } else {
-            Proximity::Intersecting
-        }
-    } else {
-        if sep1 > 0.0 {
-            Proximity::WithinMargin
-        } else {
-            Proximity::Intersecting
-        }
-    }
-}
diff --git a/src/geometry/proximity_detector/cuboid_polygon_proximity_detector.rs b/src/geometry/proximity_detector/cuboid_polygon_proximity_detector.rs
deleted file mode 100644
index 8b13789..0000000
--- a/src/geometry/proximity_detector/cuboid_polygon_proximity_detector.rs
+++ /dev/null
@@ -1 +0,0 @@
-
diff --git a/src/geometry/proximity_detector/cuboid_triangle_proximity_detector.rs b/src/geometry/proximity_detector/cuboid_triangle_proximity_detector.rs
deleted file mode 100644
index 5ac12a8..0000000
--- a/src/geometry/proximity_detector/cuboid_triangle_proximity_detector.rs
+++ /dev/null
@@ -1,90 +0,0 @@
-use crate::geometry::proximity_detector::PrimitiveProximityDetectionContext;
-use crate::geometry::{Cuboid, Proximity, Triangle};
-use crate::math::Isometry;
-use eagl::query::sat;
-
-pub fn detect_proximity_cuboid_triangle(
-    ctxt: &mut PrimitiveProximityDetectionContext,
-) -> Proximity {
-    if let (Some(cube1), Some(triangle2)) = (ctxt.shape1.as_cuboid(), ctxt.shape2.as_triangle()) {
-        detect_proximity(
-            ctxt.prediction_distance,
-            cube1,
-            ctxt.position1,
-            triangle2,
-            ctxt.position2,
-        )
-    } else if let (Some(triangle1), Some(cube2)) =
-        (ctxt.shape1.as_triangle(), ctxt.shape2.as_cuboid())
-    {
-        detect_proximity(
-            ctxt.prediction_distance,
-            cube2,
-            ctxt.position2,
-            triangle1,
-            ctxt.position1,
-        )
-    } else {
-        panic!("Invalid shape types")
-    }
-}
-
-pub fn detect_proximity<'a>(
-    prediction_distance: f32,
-    cube1: &'a Cuboid,
-    pos1: &'a Isometry<f32>,
-    triangle2: &'a Triangle,
-    pos2: &'a Isometry<f32>,
-) -> Proximity {
-    let pos12 = pos1.inverse() * pos2;
-    let pos21 = pos12.inverse();
-
-    /*
-     *
-     * Point-Face cases.
-     *
-     */
-    let sep1 =
-        sat::cuboid_support_map_find_local_separating_normal_oneway(cube1, triangle2, &pos12).0;
-    if sep1 > prediction_distance {
-        return Proximity::Disjoint;
-    }
-
-    let sep2 = sat::triangle_cuboid_find_local_separating_normal_oneway(triangle2, cube1, &pos21).0;
-    if sep2 > prediction_distance {
-        return Proximity::Disjoint;
-    }
-
-    /*
-     *
-     * Edge-Edge cases.
-     *
-     */
-    #[cfg(feature = "dim2")]
-    let sep3 = -f32::MAX; // This case does not exist in 2D.
-    #[cfg(feature = "dim3")]
-    let sep3 = sat::cuboid_triangle_find_local_separating_edge_twoway(cube1, triangle2, &pos12).0;
-    if sep3 > prediction_distance {
-        return Proximity::Disjoint;
-    }
-
-    if sep2 > sep1 && sep2 > sep3 {
-        if sep2 > 0.0 {
-            Proximity::WithinMargin
-        } else {
-            Proximity::Intersecting
-        }
-    } else if sep3 > sep1 {
-        if sep3 > 0.0 {
-            Proximity::WithinMargin
-        } else {
-            Proximity::Intersecting
-        }
-    } else {
-        if sep1 > 0.0 {
-            Proximity::WithinMargin
-        } else {
-            Proximity::Intersecting
-        }
-    }
-}
diff --git a/src/geometry/proximity_detector/mod.rs b/src/geometry/proximity_detector/mod.rs
deleted file mode 100644
index fc904da..0000000
--- a/src/geometry/proximity_detector/mod.rs
+++ /dev/null
@@ -1,30 +0,0 @@
-pub use self::ball_ball_proximity_detector::detect_proximity_ball_ball;
-#[cfg(feature = "simd-is-enabled")]
-pub use self::ball_ball_proximity_detector::detect_proximity_ball_ball_simd;
-pub use self::ball_convex_proximity_detector::detect_proximity_ball_convex;
-pub use self::cuboid_cuboid_proximity_detector::detect_proximity_cuboid_cuboid;
-pub use self::cuboid_triangle_proximity_detector::detect_proximity_cuboid_triangle;
-pub use self::polygon_polygon_proximity_detector::detect_proximity_polygon_polygon;
-pub use self::proximity_detector::{
-    PrimitiveProximityDetectionContext, PrimitiveProximityDetector, ProximityDetectionContext,
-    ProximityDetector, ProximityPhase,
-};
-#[cfg(feature = "simd-is-enabled")]
-pub use self::proximity_detector::{
-    PrimitiveProximityDetectionContextSimd, ProximityDetectionContextSimd,
-};
-pub use self::proximity_dispatcher::{DefaultProximityDispatcher, ProximityDispatcher};
-pub use self::trimesh_shape_proximity_detector::{
-    detect_proximity_trimesh_shape, TriMeshShapeProximityDetectorWorkspace,
-};
-
-mod ball_ball_proximity_detector;
-mod ball_convex_proximity_detector;
-mod ball_polygon_proximity_detector;
-mod cuboid_cuboid_proximity_detector;
-mod cuboid_polygon_proximity_detector;
-mod cuboid_triangle_proximity_detector;
-mod polygon_polygon_proximity_detector;
-mod proximity_detector;
-mod proximity_dispatcher;
-mod trimesh_shape_proximity_detector;
diff --git a/src/geometry/proximity_detector/polygon_polygon_proximity_detector.rs b/src/geometry/proximity_detector/polygon_polygon_proximity_detector.rs
deleted file mode 100644
index 12a8e45..0000000
--- a/src/geometry/proximity_detector/polygon_polygon_proximity_detector.rs
+++ /dev/null
@@ -1,57 +0,0 @@
-#![allow(dead_code)]
-
-use crate::geometry::proximity_detector::PrimitiveProximityDetectionContext;
-use crate::geometry::{sat, Polygon, Proximity};
-use crate::math::Isometry;
-
-pub fn detect_proximity_polygon_polygon(
-    _ctxt: &mut PrimitiveProximityDetectionContext,
-) -> Proximity {
-    unimplemented!()
-    // if let (Some(polygon1), Some(polygon2)) = (ctxt.shape1.as_polygon(), ctxt.shape2.as_polygon()) {
-    //     detect_proximity(
-    //         ctxt.prediction_distance,
-    //         polygon1,
-    //         &ctxt.position1,
-    //         polygon2,
-    //         &ctxt.position2,
-    //     )
-    // } else {
-    //     unreachable!()
-    // }
-}
-
-fn detect_proximity<'a>(
-    prediction_distance: f32,
-    p1: &'a Polygon,
-    m1: &'a Isometry<f32>,
-    p2: &'a Polygon,
-    m2: &'a Isometry<f32>,
-) -> Proximity {
-    let m12 = m1.inverse() * m2;
-    let m21 = m12.inverse();
-
-    let sep1 = sat::polygon_polygon_compute_separation_features(p1, p2, &m12);
-    if sep1.0 > prediction_distance {
-        return Proximity::Disjoint;
-    }
-
-    let sep2 = sat::polygon_polygon_compute_separation_features(p2, p1, &m21);
-    if sep2.0 > prediction_distance {
-        return Proximity::Disjoint;
-    }
-
-    if sep2.0 > sep1.0 {
-        if sep2.0 > 0.0 {
-            Proximity::WithinMargin
-        } else {
-            Proximity::Intersecting
-        }
-    } else {
-        if sep1.0 > 0.0 {
-            Proximity::WithinMargin
-        } else {
-            Proximity::Intersecting
-        }
-    }
-}
diff --git a/src/geometry/proximity_detector/proximity_detector.rs b/src/geometry/proximity_detector/proximity_detector.rs
deleted file mode 100644
index ea362de..0000000
--- a/src/geometry/proximity_detector/proximity_detector.rs
+++ /dev/null
@@ -1,212 +0,0 @@
-use crate::geometry::{
-    Collider, ColliderSet, Proximity, ProximityDispatcher, ProximityEvent, ProximityPair, Shape,
-};
-use crate::math::Isometry;
-#[cfg(feature = "simd-is-enabled")]
-use crate::math::{SimdReal, SIMD_WIDTH};
-use crate::pipeline::EventHandler;
-use std::any::Any;
-
-#[derive(Copy, Clone)]
-pub enum ProximityPhase {
-    NearPhase(ProximityDetector),
-    ExactPhase(PrimitiveProximityDetector),
-}
-
-impl ProximityPhase {
-    #[inline]
-    pub fn detect_proximity(
-        self,
-        mut context: ProximityDetectionContext,
-        events: &dyn EventHandler,
-    ) {
-        let proximity = match self {
-            Self::NearPhase(gen) => (gen.detect_proximity)(&mut context),
-            Self::ExactPhase(gen) => {
-                // Build the primitive context from the non-primitive context and dispatch.
-                let collider1 = &context.colliders[context.pair.pair.collider1];
-                let collider2 = &context.colliders[context.pair.pair.collider2];
-
-                let mut context2 = PrimitiveProximityDetectionContext {
-                    prediction_distance: context.prediction_distance,
-                    collider1,
-                    collider2,
-                    shape1: collider1.shape(),
-                    shape2: collider2.shape(),
-                    position1: collider1.position(),
-                    position2: collider2.position(),
-                    workspace: context.pair.detector_workspace.as_mut().map(|w| &mut **w),
-                };
-
-                (gen.detect_proximity)(&mut context2)
-            }
-        };
-
-        if context.pair.proximity != proximity {
-            events.handle_proximity_event(ProximityEvent::new(
-                context.pair.pair.collider1,
-                context.pair.pair.collider2,
-                context.pair.proximity,
-                proximity,
-            ))
-        }
-
-        context.pair.proximity = proximity;
-    }
-
-    #[cfg(feature = "simd-is-enabled")]
-    #[inline]
-    pub fn detect_proximity_simd(
-        self,
-        mut context: ProximityDetectionContextSimd,
-        events: &dyn EventHandler,
-    ) {
-        let proximities = match self {
-            Self::NearPhase(gen) => (gen.detect_proximity_simd)(&mut context),
-            Self::ExactPhase(gen) => {
-                // Build the primitive context from the non-primitive context and dispatch.
-                use arrayvec::ArrayVec;
-                let mut colliders_arr: ArrayVec<[(&Collider, &Collider); SIMD_WIDTH]> =
-                    ArrayVec::new();
-                let mut workspace_arr: ArrayVec<
-                    [Option<&mut (dyn Any + Send + Sync)>; SIMD_WIDTH],
-                > = ArrayVec::new();
-
-                for pair in context.pairs.iter_mut() {
-                    let collider1 = &context.colliders[pair.pair.collider1];
-                    let collider2 = &context.colliders[pair.pair.collider2];
-                    colliders_arr.push((collider1, collider2));
-                    workspace_arr.push(pair.detector_workspace.as_mut().map(|w| &mut **w));
-                }
-
-                let max_index = colliders_arr.len() - 1;
-                let colliders1 = array![|ii| colliders_arr[ii.min(max_index)].0; SIMD_WIDTH];
-                let colliders2 = array![|ii| colliders_arr[ii.min(max_index)].1; SIMD_WIDTH];
-
-                let mut context2 = PrimitiveProximityDetectionContextSimd {
-                    prediction_distance: context.prediction_distance,
-                    colliders1,
-                    colliders2,
-                    shapes1: array![|ii| colliders1[ii].shape(); SIMD_WIDTH],
-                    shapes2: array![|ii| colliders2[ii].shape(); SIMD_WIDTH],
-                    positions1: &Isometry::from(
-                        array![|ii| *colliders1[ii].position(); SIMD_WIDTH],
-                    ),
-                    positions2: &Isometry::from(
-                        array![|ii| *colliders2[ii].position(); SIMD_WIDTH],
-                    ),
-                    workspaces: workspace_arr.as_mut_slice(),
-                };
-
-                (gen.detect_proximity_simd)(&mut context2)
-            }
-        };
-
-        for (i, pair) in context.pairs.iter_mut().enumerate() {
-            if pair.proximity != proximities[i] {
-                events.handle_proximity_event(ProximityEvent::new(
-                    pair.pair.collider1,
-                    pair.pair.collider2,
-                    pair.proximity,
-                    proximities[i],
-                ))
-            }
-            pair.proximity = proximities[i];
-        }
-    }
-}
-
-pub struct PrimitiveProximityDetectionContext<'a> {
-    pub prediction_distance: f32,
-    pub collider1: &'a Collider,
-    pub collider2: &'a Collider,
-    pub shape1: &'a dyn Shape,
-    pub shape2: &'a dyn Shape,
-    pub position1: &'a Isometry<f32>,
-    pub position2: &'a Isometry<f32>,
-    pub workspace: Option<&'a mut (dyn Any + Send + Sync)>,
-}
-
-#[cfg(feature = "simd-is-enabled")]
-pub struct PrimitiveProximityDetectionContextSimd<'a, 'b> {
-    pub prediction_distance: f32,
-    pub colliders1: [&'a Collider; SIMD_WIDTH],
-    pub colliders2: [&'a Collider; SIMD_WIDTH],
-    pub shapes1: [&'a dyn Shape; SIMD_WIDTH],
-    pub shapes2: [&'a dyn Shape; SIMD_WIDTH],
-    pub positions1: &'a Isometry<SimdReal>,
-    pub positions2: &'a Isometry<SimdReal>,
-    pub workspaces: &'a mut [Option<&'b mut (dyn Any + Send + Sync)>],
-}
-
-#[derive(Copy, Clone)]
-pub struct PrimitiveProximityDetector {
-    pub detect_proximity: fn(&mut PrimitiveProximityDetectionContext) -> Proximity,
-    #[cfg(feature = "simd-is-enabled")]
-    pub detect_proximity_simd:
-        fn(&mut PrimitiveProximityDetectionContextSimd) -> [Proximity; SIMD_WIDTH],
-}
-
-impl PrimitiveProximityDetector {
-    fn unimplemented_fn(_ctxt: &mut PrimitiveProximityDetectionContext) -> Proximity {
-        Proximity::Disjoint
-    }
-    #[cfg(feature = "simd-is-enabled")]
-    fn unimplemented_simd_fn(
-        _ctxt: &mut PrimitiveProximityDetectionContextSimd,
-    ) -> [Proximity; SIMD_WIDTH] {
-        [Proximity::Disjoint; SIMD_WIDTH]
-    }
-}
-
-impl Default for PrimitiveProximityDetector {
-    fn default() -> Self {
-        Self {
-            detect_proximity: Self::unimplemented_fn,
-            #[cfg(feature = "simd-is-enabled")]
-            detect_proximity_simd: Self::unimplemented_simd_fn,
-        }
-    }
-}
-
-pub struct ProximityDetectionContext<'a> {
-    pub dispatcher: &'a dyn ProximityDispatcher,
-    pub prediction_distance: f32,
-    pub colliders: &'a ColliderSet,
-    pub pair: &'a mut ProximityPair,
-}
-
-#[cfg(feature = "simd-is-enabled")]
-pub struct ProximityDetectionContextSimd<'a, 'b> {
-    pub dispatcher: &'a dyn ProximityDispatcher,
-    pub prediction_distance: f32,
-    pub colliders: &'a ColliderSet,
-    pub pairs: &'a mut [&'b mut ProximityPair],
-}
-
-#[derive(Copy, Clone)]
-pub struct ProximityDetector {
-    pub detect_proximity: fn(&mut ProximityDetectionContext) -> Proximity,
-    #[cfg(feature = "simd-is-enabled")]
-    pub detect_proximity_simd: fn(&mut ProximityDetectionContextSimd) -> [Proximity; SIMD_WIDTH],
-}
-
-impl ProximityDetector {
-    fn unimplemented_fn(_ctxt: &mut ProximityDetectionContext) -> Proximity {
-        Proximity::Disjoint
-    }
-    #[cfg(feature = "simd-is-enabled")]
-    fn unimplemented_simd_fn(_ctxt: &mut ProximityDetectionContextSimd) -> [Proximity; SIMD_WIDTH] {
-        [Proximity::Disjoint; SIMD_WIDTH]
-    }
-}
-
-impl Default for ProximityDetector {
-    fn default() -> Self {
-        Self {
-            detect_proximity: Self::unimplemented_fn,
-            #[cfg(feature = "simd-is-enabled")]
-            detect_proximity_simd: Self::unimplemented_simd_fn,
-        }
-    }
-}
diff --git a/src/geometry/proximity_detector/proximity_dispatcher.rs b/src/geometry/proximity_detector/proximity_dispatcher.rs
deleted file mode 100644
index 709521e..0000000
--- a/src/geometry/proximity_detector/proximity_dispatcher.rs
+++ /dev/null
@@ -1,136 +0,0 @@
-use crate::geometry::proximity_detector::{
-    PrimitiveProximityDetector, ProximityDetector, ProximityPhase,
-    TriMeshShapeProximityDetectorWorkspace,
-};
-use crate::geometry::ShapeType;
-use std::any::Any;
-
-/// Trait implemented by structures responsible for selecting a collision-detection algorithm
-/// for a given pair of shapes.
-pub trait ProximityDispatcher {
-    /// Select the proximity detection algorithm for the given pair of primitive shapes.
-    fn dispatch_primitives(
-        &self,
-        shape1: ShapeType,
-        shape2: ShapeType,
-    ) -> (
-        PrimitiveProximityDetector,
-        Option<Box<dyn Any + Send + Sync>>,
-    );
-    /// Select the proximity detection algorithm for the given pair of non-primitive shapes.
-    fn dispatch(
-        &self,
-        shape1: ShapeType,
-        shape2: ShapeType,
-    ) -> (ProximityPhase, Option<Box<dyn Any + Send + Sync>>);
-}
-
-/// The default proximity dispatcher used by Rapier.
-pub struct DefaultProximityDispatcher;
-
-impl ProximityDispatcher for DefaultProximityDispatcher {
-    fn dispatch_primitives(
-        &self,
-        shape1: ShapeType,
-        shape2: ShapeType,
-    ) -> (
-        PrimitiveProximityDetector,
-        Option<Box<dyn Any + Send + Sync>>,
-    ) {
-        match (shape1, shape2) {
-            (ShapeType::Ball, ShapeType::Ball) => (
-                PrimitiveProximityDetector {
-                    #[cfg(feature = "simd-is-enabled")]
-                    detect_proximity_simd: super::detect_proximity_ball_ball_simd,
-                    detect_proximity: super::detect_proximity_ball_ball,
-                    ..PrimitiveProximityDetector::default()
-                },
-                None,
-            ),
-            (ShapeType::Cuboid, ShapeType::Cuboid) => (
-                PrimitiveProximityDetector {
-                    detect_proximity: super::detect_proximity_cuboid_cuboid,
-                    ..PrimitiveProximityDetector::default()
-                },
-                None,
-            ),
-            (ShapeType::Polygon, ShapeType::Polygon) => (
-                PrimitiveProximityDetector {
-                    detect_proximity: super::detect_proximity_polygon_polygon,
-                    ..PrimitiveProximityDetector::default()
-                },
-                None,
-            ),
-            (ShapeType::Triangle, ShapeType::Ball) => (
-                PrimitiveProximityDetector {
-                    detect_proximity: super::detect_proximity_ball_convex,
-                    ..PrimitiveProximityDetector::default()
-                },
-                None,
-            ),
-            (ShapeType::Ball, ShapeType::Triangle) => (
-                PrimitiveProximityDetector {
-                    detect_proximity: super::detect_proximity_ball_convex,
-                    ..PrimitiveProximityDetector::default()
-                },
-                None,
-            ),
-            (ShapeType::Cuboid, ShapeType::Ball) => (
-                PrimitiveProximityDetector {
-                    detect_proximity: super::detect_proximity_ball_convex,
-                    ..PrimitiveProximityDetector::default()
-                },
-                None,
-            ),
-            (ShapeType::Ball, ShapeType::Cuboid) => (
-                PrimitiveProximityDetector {
-                    detect_proximity: super::detect_proximity_ball_convex,
-                    ..PrimitiveProximityDetector::default()
-                },
-                None,
-            ),
-            (ShapeType::Triangle, ShapeType::Cuboid) => (
-                PrimitiveProximityDetector {
-                    detect_proximity: super::detect_proximity_cuboid_triangle,
-                    ..PrimitiveProximityDetector::default()
-                },
-                None,
-            ),
-            (ShapeType::Cuboid, ShapeType::Triangle) => (
-                PrimitiveProximityDetector {
-                    detect_proximity: super::detect_proximity_cuboid_triangle,
-                    ..PrimitiveProximityDetector::default()
-                },
-                None,
-            ),
-            _ => (PrimitiveProximityDetector::default(), None),
-        }
-    }
-
-    fn dispatch(
-        &self,
-        shape1: ShapeType,
-        shape2: ShapeType,
-    ) -> (ProximityPhase, Option<Box<dyn Any + Send + Sync>>) {
-        match (shape1, shape2) {
-            (ShapeType::TriMesh, _) => (
-                ProximityPhase::NearPhase(ProximityDetector {
-                    detect_proximity: super::detect_proximity_trimesh_shape,
-                    ..ProximityDetector::default()
-                }),
-                Some(Box::new(TriMeshShapeProximityDetectorWorkspace::new())),
-            ),
-            (_, ShapeType::TriMesh) => (
-                ProximityPhase::NearPhase(ProximityDetector {
-                    detect_proximity: super::detect_proximity_trimesh_shape,
-                    ..ProximityDetector::default()
-                }),
-                Some(Box::new(TriMeshShapeProximityDetectorWorkspace::new())),
-            ),
-            _ => {
-                let (gen, workspace) = self.dispatch_primitives(shape1, shape2);
-                (ProximityPhase::ExactPhase(gen), workspace)
-            }
-        }
-    }
-}
diff --git a/src/geometry/proximity_detector/trimesh_shape_proximity_detector.rs b/src/geometry/proximity_detector/trimesh_shape_proximity_detector.rs
deleted file mode 100644
index 961de3b..0000000
--- a/src/geometry/proximity_detector/trimesh_shape_proximity_detector.rs
+++ /dev/null
@@ -1,135 +0,0 @@
-use crate::eagl::bounding_volume::{BoundingVolume, AABB};
-use crate::geometry::proximity_detector::{
-    PrimitiveProximityDetectionContext, ProximityDetectionContext,
-};
-use crate::geometry::{Collider, Proximity, ShapeType, TriMesh};
-
-pub struct TriMeshShapeProximityDetectorWorkspace {
-    interferences: Vec<u32>,
-    local_aabb2: AABB,
-    old_interferences: Vec<u32>,
-}
-
-impl TriMeshShapeProximityDetectorWorkspace {
-    pub fn new() -> Self {
-        Self {
-            interferences: Vec::new(),
-            local_aabb2: AABB::new_invalid(),
-            old_interferences: Vec::new(),
-        }
-    }
-}
-
-pub fn detect_proximity_trimesh_shape(ctxt: &mut ProximityDetectionContext) -> Proximity {
-    let collider1 = &ctxt.colliders[ctxt.pair.pair.collider1];
-    let collider2 = &ctxt.colliders[ctxt.pair.pair.collider2];
-
-    if let Some(trimesh1) = collider1.shape().as_trimesh() {
-        do_detect_proximity(trimesh1, collider1, collider2, ctxt)
-    } else if let Some(trimesh2) = collider2.shape().as_trimesh() {
-        do_detect_proximity(trimesh2, collider2, collider1, ctxt)
-    } else {
-        panic!("Invalid shape types provided.")
-    }
-}
-
-fn do_detect_proximity(
-    trimesh1: &TriMesh,
-    collider1: &Collider,
-    collider2: &Collider,
-    ctxt: &mut ProximityDetectionContext,
-) -> Proximity {
-    let workspace: &mut TriMeshShapeProximityDetectorWorkspace = ctxt
-        .pair
-        .detector_workspace
-        .as_mut()
-        .expect("The TriMeshShapeProximityDetectorWorkspace is missing.")
-        .downcast_mut()
-        .expect("Invalid workspace type, expected a TriMeshShapeProximityDetectorWorkspace.");
-
-    /*
-     * Compute interferences.
-     */
-    let pos12 = collider1.position.inverse() * collider2.position;
-    // TODO: somehow precompute the AABB and reuse it?
-    let mut new_local_aabb2 = collider2
-        .shape()
-        .compute_aabb(&pos12)
-        .loosened(ctxt.prediction_distance);
-    let same_local_aabb2 = workspace.local_aabb2.contains(&new_local_aabb2);
-
-    if !same_local_aabb2 {
-        let extra_margin =
-            (new_local_aabb2.maxs - new_local_aabb2.mins).map(|e| (e / 10.0).min(0.1));
-        new_local_aabb2.mins -= extra_margin;
-        new_local_aabb2.maxs += extra_margin;
-
-        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,
-            &mut workspace.interferences,
-        );
-
-        workspace.interferences.clear();
-        trimesh1
-            .quadtree()
-            .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;
-    let mut old_inter_it = workspace.old_interferences.drain(..).peekable();
-    let mut best_proximity = Proximity::Disjoint;
-    let shape_type2 = collider2.shape().shape_type();
-
-    for triangle_id in new_interferences.iter() {
-        if *triangle_id >= trimesh1.num_triangles() as u32 {
-            // Because of SIMD padding, the broad-phase may return triangle indices greater
-            // than the max.
-            continue;
-        }
-