Outsource the Shape trait, wquadtree, and shape types.

23 files changed, 85 insertions, 1584 deletions

diff --git a/src/geometry/ball.rs b/src/geometry/ball.rs
index 7f4ad03..2d9f7be 100644
--- a/src/geometry/ball.rs
+++ b/src/geometry/ball.rs
@@ -1,16 +1,16 @@
 #[cfg(feature = "simd-is-enabled")]
-use crate::math::{Point, SimdFloat};
+use crate::math::{Point, SimdReal};
 
 #[cfg(feature = "simd-is-enabled")]
 #[derive(Copy, Clone, Debug)]
 pub(crate) struct WBall {
-    pub center: Point<SimdFloat>,
-    pub radius: SimdFloat,
+    pub center: Point<SimdReal>,
+    pub radius: SimdReal,
 }
 
 #[cfg(feature = "simd-is-enabled")]
 impl WBall {
-    pub fn new(center: Point<SimdFloat>, radius: SimdFloat) -> Self {
+    pub fn new(center: Point<SimdReal>, radius: SimdReal) -> Self {
         WBall { center, radius }
     }
 }
diff --git a/src/geometry/collider.rs b/src/geometry/collider.rs
index 8154554..1275358 100644
--- a/src/geometry/collider.rs
+++ b/src/geometry/collider.rs
@@ -1,12 +1,13 @@
+use crate::buckler::shape::HalfSpace;
 use crate::dynamics::{MassProperties, RigidBodyHandle, RigidBodySet};
-use crate::geometry::{
-    Ball, Capsule, Cuboid, HeightField, InteractionGroups, Segment, Shape, ShapeType, Triangle,
-    Trimesh,
-};
-#[cfg(feature = "dim3")]
-use crate::geometry::{Cone, Cylinder, RoundCylinder};
+use crate::geometry::InteractionGroups;
 use crate::math::{AngVector, Isometry, Point, Rotation, Vector};
 use buckler::bounding_volume::AABB;
+use buckler::shape::{
+    Ball, Capsule, Cuboid, HeightField, Segment, Shape, ShapeType, TriMesh, Triangle,
+};
+#[cfg(feature = "dim3")]
+use buckler::shape::{Cone, Cylinder, RoundCylinder};
 use na::Point3;
 use std::ops::Deref;
 use std::sync::Arc;
@@ -77,7 +78,7 @@ impl ColliderShape {
 
     /// Initializes a triangle mesh shape defined by its vertex and index buffers.
     pub fn trimesh(vertices: Vec<Point<f32>>, indices: Vec<Point3<u32>>) -> Self {
-        ColliderShape(Arc::new(Trimesh::new(vertices, indices)))
+        ColliderShape(Arc::new(TriMesh::new(vertices, indices)))
     }
 
     /// Initializes an heightfield shape defined by its set of height and a scale
@@ -165,8 +166,9 @@ impl<'de> serde::Deserialize<'de> for ColliderShape {
                     Some(ShapeType::Capsule) => deser::<A, Capsule>(&mut seq)?,
                     Some(ShapeType::Triangle) => deser::<A, Triangle>(&mut seq)?,
                     Some(ShapeType::Segment) => deser::<A, Segment>(&mut seq)?,
-                    Some(ShapeType::Trimesh) => deser::<A, Trimesh>(&mut seq)?,
+                    Some(ShapeType::TriMesh) => deser::<A, TriMesh>(&mut seq)?,
                     Some(ShapeType::HeightField) => deser::<A, HeightField>(&mut seq)?,
+                    Some(ShapeType::HalfSpace) => deser::<A, HalfSpace>(&mut seq)?,
                     #[cfg(feature = "dim3")]
                     Some(ShapeType::Cylinder) => deser::<A, Cylinder>(&mut seq)?,
                     #[cfg(feature = "dim3")]
diff --git a/src/geometry/contact.rs b/src/geometry/contact.rs
index 1f0a902..14646d9 100644
--- a/src/geometry/contact.rs
+++ b/src/geometry/contact.rs
@@ -6,7 +6,7 @@ use crate::geometry::{Collider, ColliderPair, ColliderSet, Contact, ContactManif
 use crate::math::{Isometry, Point, Vector};
 #[cfg(feature = "simd-is-enabled")]
 use {
-    crate::math::{SimdFloat, SIMD_WIDTH},
+    crate::math::{SimdReal, SIMD_WIDTH},
     simba::simd::SimdValue,
 };
 
@@ -22,11 +22,11 @@ bitflags::bitflags! {
 
 #[cfg(feature = "simd-is-enabled")]
 pub(crate) struct WContact {
-    pub local_p1: Point<SimdFloat>,
-    pub local_p2: Point<SimdFloat>,
-    pub local_n1: Vector<SimdFloat>,
-    pub local_n2: Vector<SimdFloat>,
-    pub dist: SimdFloat,
+    pub local_p1: Point<SimdReal>,
+    pub local_p2: Point<SimdReal>,
+    pub local_n1: Vector<SimdReal>,
+    pub local_n2: Vector<SimdReal>,
+    pub dist: SimdReal,
     pub fid1: [u8; SIMD_WIDTH],
     pub fid2: [u8; SIMD_WIDTH],
 }
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,
         ))
     }
diff --git a/src/geometry/mod.rs b/src/geometry/mod.rs
index caa229a..46fe360 100644
--- a/src/geometry/mod.rs
+++ b/src/geometry/mod.rs
@@ -13,9 +13,6 @@ pub use self::narrow_phase::NarrowPhase;
 pub use self::polygon::Polygon;
 pub use self::proximity::ProximityPair;
 pub use self::proximity_detector::{DefaultProximityDispatcher, ProximityDispatcher};
-#[cfg(feature = "dim3")]
-pub use self::round_cylinder::RoundCylinder;
-pub use self::trimesh::Trimesh;
 pub use self::user_callbacks::{ContactPairFilter, PairFilterContext, ProximityPairFilter};
 pub use buckler::query::Proximity;
 
@@ -106,11 +103,10 @@ pub(crate) use self::collider_set::RemovedCollider;
 #[cfg(feature = "simd-is-enabled")]
 pub(crate) use self::contact::WContact;
 pub(crate) use self::narrow_phase::ContactManifoldIndex;
-pub(crate) use self::waabb::{WRay, WAABB};
-pub(crate) use self::wquadtree::WQuadtree;
+pub(crate) use buckler::partitioning::WQuadtree;
 //pub(crate) use self::z_order::z_cmp_floats;
 pub use self::interaction_groups::InteractionGroups;
-pub use self::shape::{Shape, ShapeType};
+pub use buckler::shape::*;
 
 mod ball;
 mod broad_phase_multi_sap;
@@ -125,12 +121,6 @@ mod proximity;
 mod proximity_detector;
 pub(crate) mod sat;
 pub(crate) mod triangle;
-mod trimesh;
-mod waabb;
-mod wquadtree;
 //mod z_order;
 mod interaction_groups;
-#[cfg(feature = "dim3")]
-mod round_cylinder;
-mod shape;
 mod user_callbacks;
diff --git a/src/geometry/narrow_phase.rs b/src/geometry/narrow_phase.rs
index 463dd99..ad2d514 100644
--- a/src/geometry/narrow_phase.rs
+++ b/src/geometry/narrow_phase.rs
@@ -20,7 +20,7 @@ use crate::geometry::{
 };
 use crate::geometry::{ColliderSet, ContactManifold, ContactPair, InteractionGraph};
 //#[cfg(feature = "simd-is-enabled")]
-//use crate::math::{SimdFloat, SIMD_WIDTH};
+//use crate::math::{SimdReal, SIMD_WIDTH};
 use crate::buckler::query::Proximity;
 use crate::data::pubsub::Subscription;
 use crate::data::Coarena;
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;
diff --git a/src/geometry/round_cylinder.rs b/src/geometry/round_cylinder.rs
deleted file mode 100644
index 450a9fc..0000000
--- a/src/geometry/round_cylinder.rs
+++ /dev/null
@@ -1,92 +0,0 @@
-use crate::geometry::Cylinder;
-use crate::math::{Isometry, Point, Vector};
-use buckler::query::{
-    gjk::VoronoiSimplex, PointProjection, PointQuery, Ray, RayCast, RayIntersection,
-};
-use buckler::shape::{FeatureId, SupportMap};
-use na::Unit;
-
-/// A rounded cylinder.
-#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
-#[derive(Copy, Clone, Debug)]
-pub struct RoundCylinder {
-    /// The cylinder being rounded.
-    pub cylinder: Cylinder,
-    /// The rounding radius.
-    pub border_radius: f32,
-}
-
-impl RoundCylinder {
-    /// Create sa new cylinder where all its edges and vertices are rounded by a radius of `radius`.
-    ///
-    /// This is done by applying a dilation of the given radius to the cylinder.
-    pub fn new(half_height: f32, radius: f32, border_radius: f32) -> Self {
-        Self {
-            cylinder: Cylinder::new(half_height, radius),
-            border_radius,
-        }
-    }
-}
-
-impl SupportMap for RoundCylinder {
-    fn local_support_point(&self, dir: &Vector<f32>) -> Point<f32> {
-        self.local_support_point_toward(&Unit::new_normalize(*dir))
-    }
-
-    fn local_support_point_toward(&self, dir: &Unit<Vector<f32>>) -> Point<f32> {
-        self.cylinder.local_support_point_toward(dir) + **dir * self.border_radius
-    }
-