Perform contact sorting in the narrow-phase directly.

3 files changed, 2 insertions, 16 deletions

diff --git a/src/pipeline/collision_pipeline.rs b/src/pipeline/collision_pipeline.rs
index e80b9e8..06c581b 100644
--- a/src/pipeline/collision_pipeline.rs
+++ b/src/pipeline/collision_pipeline.rs
@@ -64,13 +64,7 @@ impl CollisionPipeline {
             contact_pair_filter,
             events,
         );
-        narrow_phase.compute_intersections(
-            prediction_distance,
-            bodies,
-            colliders,
-            proximity_pair_filter,
-            events,
-        );
+        narrow_phase.compute_intersections(bodies, colliders, proximity_pair_filter, events);
 
         bodies.update_active_set_with_contacts(
             colliders,
diff --git a/src/pipeline/physics_pipeline.rs b/src/pipeline/physics_pipeline.rs
index ccc60e0..e56f8e0 100644
--- a/src/pipeline/physics_pipeline.rs
+++ b/src/pipeline/physics_pipeline.rs
@@ -118,13 +118,7 @@ impl PhysicsPipeline {
             contact_pair_filter,
             events,
         );
-        narrow_phase.compute_intersections(
-            integration_parameters.prediction_distance,
-            bodies,
-            colliders,
-            proximity_pair_filter,
-            events,
-        );
+        narrow_phase.compute_intersections(bodies, colliders, proximity_pair_filter, events);
         //        println!("Compute contact time: {}", instant::now() - t);
 
         self.counters.stages.island_construction_time.start();
diff --git a/src/pipeline/query_pipeline.rs b/src/pipeline/query_pipeline.rs
index ea5fe89..9943099 100644
--- a/src/pipeline/query_pipeline.rs
+++ b/src/pipeline/query_pipeline.rs
@@ -2,8 +2,6 @@ use crate::dynamics::RigidBodySet;
 use crate::geometry::{
     Collider, ColliderHandle, ColliderSet, InteractionGroups, Ray, RayIntersection, SimdQuadTree,
 };
-use cdl::query::TOI;
-use cdl::shape::Shape;
 
 /// A pipeline for performing queries on all the colliders of a scene.
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]