Outsource the Shape trait, wquadtree, and shape types.

5 files changed, 24 insertions, 24 deletions

diff --git a/src/geometry/proximity_detector/ball_ball_proximity_detector.rs b/src/geometry/proximity_detector/ball_ball_proximity_detector.rs
index 2106c9f..65c141c 100644
--- a/src/geometry/proximity_detector/ball_ball_proximity_detector.rs
+++ b/src/geometry/proximity_detector/ball_ball_proximity_detector.rs
@@ -5,12 +5,12 @@ use crate::math::Point;
 #[cfg(feature = "simd-is-enabled")]
 use {
     crate::geometry::{proximity_detector::PrimitiveProximityDetectionContextSimd, WBall},
-    crate::math::{SimdFloat, SIMD_WIDTH},
+    crate::math::{SimdReal, SIMD_WIDTH},
     simba::simd::SimdValue,
 };
 
 #[cfg(feature = "simd-is-enabled")]
-fn ball_distance_simd(ball1: &WBall, ball2: &WBall) -> SimdFloat {
+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
@@ -22,9 +22,9 @@ pub fn detect_proximity_ball_ball_simd(
 ) -> [Proximity; SIMD_WIDTH] {
     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/proximity_detector/mod.rs b/src/geometry/proximity_detector/mod.rs
index a99372f..fc904da 100644
--- a/src/geometry/proximity_detector/mod.rs
+++ b/src/geometry/proximity_detector/mod.rs
@@ -15,7 +15,7 @@ pub use self::proximity_detector::{
 };
 pub use self::proximity_dispatcher::{DefaultProximityDispatcher, ProximityDispatcher};
 pub use self::trimesh_shape_proximity_detector::{
-    detect_proximity_trimesh_shape, TrimeshShapeProximityDetectorWorkspace,
+    detect_proximity_trimesh_shape, TriMeshShapeProximityDetectorWorkspace,
 };
 
 mod ball_ball_proximity_detector;
diff --git a/src/geometry/proximity_detector/proximity_detector.rs b/src/geometry/proximity_detector/proximity_detector.rs
index 7c8ad20..ea362de 100644
--- a/src/geometry/proximity_detector/proximity_detector.rs
+++ b/src/geometry/proximity_detector/proximity_detector.rs
@@ -3,7 +3,7 @@ use crate::geometry::{
 };
 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;
 use std::any::Any;
 
@@ -134,8 +134,8 @@ pub struct PrimitiveProximityDetectionContextSimd<'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 workspaces: &'a mut [Option<&'b mut (dyn Any + Send + Sync)>],
 }
 
diff --git a/src/geometry/proximity_detector/proximity_dispatcher.rs b/src/geometry/proximity_detector/proximity_dispatcher.rs
index 768aca6..709521e 100644
--- a/src/geometry/proximity_detector/proximity_dispatcher.rs
+++ b/src/geometry/proximity_detector/proximity_dispatcher.rs
@@ -1,6 +1,6 @@
 use crate::geometry::proximity_detector::{
     PrimitiveProximityDetector, ProximityDetector, ProximityPhase,
-    TrimeshShapeProximityDetectorWorkspace,
+    TriMeshShapeProximityDetectorWorkspace,
 };
 use crate::geometry::ShapeType;
 use std::any::Any;
@@ -113,19 +113,19 @@ impl ProximityDispatcher for DefaultProximityDispatcher {
         shape2: ShapeType,
     ) -> (ProximityPhase, Option<Box<dyn Any + Send + Sync>>) {
         match (shape1, shape2) {
-            (ShapeType::Trimesh, _) => (
+            (ShapeType::TriMesh, _) => (
                 ProximityPhase::NearPhase(ProximityDetector {
                     detect_proximity: super::detect_proximity_trimesh_shape,
                     ..ProximityDetector::default()
                 }),
-                Some(Box::new(TrimeshShapeProximityDetectorWorkspace::new())),
+                Some(Box::new(TriMeshShapeProximityDetectorWorkspace::new())),
             ),
-            (_, ShapeType::Trimesh) => (
+            (_, ShapeType::TriMesh) => (
                 ProximityPhase::NearPhase(ProximityDetector {
                     detect_proximity: super::detect_proximity_trimesh_shape,
                     ..ProximityDetector::default()
                 }),
-                Some(Box::new(TrimeshShapeProximityDetectorWorkspace::new())),
+                Some(Box::new(TriMeshShapeProximityDetectorWorkspace::new())),
             ),
             _ => {
                 let (gen, workspace) = self.dispatch_primitives(shape1, shape2);
diff --git a/src/geometry/proximity_detector/trimesh_shape_proximity_detector.rs b/src/geometry/proximity_detector/trimesh_shape_proximity_detector.rs
index 5366b39..dbb20f5 100644
--- a/src/geometry/proximity_detector/trimesh_shape_proximity_detector.rs
+++ b/src/geometry/proximity_detector/trimesh_shape_proximity_detector.rs
@@ -2,15 +2,15 @@ use crate::buckler::bounding_volume::{BoundingVolume, AABB};
 use crate::geometry::proximity_detector::{
     PrimitiveProximityDetectionContext, ProximityDetectionContext,
 };
-use crate::geometry::{Collider, Proximity, ShapeType, Trimesh};
+use crate::geometry::{Collider, Proximity, ShapeType, TriMesh};
 
-pub struct TrimeshShapeProximityDetectorWorkspace {
-    interferences: Vec<usize>,
+pub struct TriMeshShapeProximityDetectorWorkspace {
+    interferences: Vec<u32>,
     local_aabb2: AABB,
-    old_interferences: Vec<usize>,
+    old_interferences: Vec<u32>,
 }
 
-impl TrimeshShapeProximityDetectorWorkspace {
+impl TriMeshShapeProximityDetectorWorkspace {
     pub fn new() -> Self {
         Self {
             interferences: Vec::new(),
@@ -34,18 +34,18 @@ pub fn detect_proximity_trimesh_shape(ctxt: &mut ProximityDetectionContext) -> P
 }
 
 fn do_detect_proximity(
-    trimesh1: &Trimesh,
+    trimesh1: &TriMesh,
     collider1: &Collider,
     collider2: &Collider,
     ctxt: &mut ProximityDetectionContext,
 ) -> Proximity {
-    let workspace: &mut TrimeshShapeProximityDetectorWorkspace = ctxt
+    let workspace: &mut TriMeshShapeProximityDetectorWorkspace = ctxt
         .pair
         .detector_workspace
         .as_mut()
-        .expect("The TrimeshShapeProximityDetectorWorkspace is missing.")
+        .expect("The TriMeshShapeProximityDetectorWorkspace is missing.")
         .downcast_mut()
-        .expect("Invalid workspace type, expected a TrimeshShapeProximityDetectorWorkspace.");
+        .expect("Invalid workspace type, expected a TriMeshShapeProximityDetectorWorkspace.");
 
     /*
      * Compute interferences.
@@ -72,7 +72,7 @@ fn do_detect_proximity(
 
         workspace.interferences.clear();
         trimesh1
-            .waabbs()
+            .quadtree()
             .intersect_aabb(&local_aabb2, &mut workspace.interferences);
         workspace.local_aabb2 = local_aabb2;
     }
@@ -86,7 +86,7 @@ fn do_detect_proximity(
     let shape_type2 = collider2.shape().shape_type();
 
     for triangle_id in new_interferences.iter() {
-        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;