Rename cdl to parry.

src/dynamics/mod.rs

@@ -9,7 +9,7 @@ pub use self::joint::{
 };
 pub use self::rigid_body::{ActivationStatus, BodyStatus, RigidBody, RigidBodyBuilder};
 pub use self::rigid_body_set::{BodyPair, RigidBodyHandle, RigidBodySet};
-pub use cdl::mass_properties::MassProperties;
+pub use parry::mass_properties::MassProperties;
 // #[cfg(not(feature = "parallel"))]
 pub use self::coefficient_combine_rule::CoefficientCombineRule;
 pub(crate) use self::joint::JointGraphEdge;

src/dynamics/rigid_body.rs

@@ -678,11 +678,9 @@ impl RigidBodyBuilder {
     }
 
     /// Prevents this rigid-body from translating because of forces.
-    ///
-    /// This is equivalent to `self.mass(0.0, false)`. See the
-    /// documentation of [`RigidBodyBuilder::mass`] for more details.
-    pub fn lock_translations(self) -> Self {
-        self.mass(0.0, false)
+    pub fn lock_translations(mut self) -> Self {
+        self.flags.set(RigidBodyFlags::TRANSLATION_LOCKED, true);
+        self
     }
 
     /// Prevents this rigid-body from rotating because of forces.
@@ -711,22 +709,8 @@ impl RigidBodyBuilder {
     }
 
     /// Sets the mass of the rigid-body being built.
-    ///
-    /// In order to lock the translations of this rigid-body (by
-    /// making them kinematic), call `.mass(0.0, false)`.
-    ///
-    /// If `colliders_contribution_enabled` is `false`, then the mass specified here
-    /// will be the final mass of the rigid-body created by this builder.
-    /// If `colliders_contribution_enabled` is `true`, then the final mass of the rigid-body
-    /// will depends on the initial mass set by this method to which is added
-    /// the contributions of all the colliders with non-zero density attached to
-    /// this rigid-body.
-    pub fn mass(mut self, mass: Real, colliders_contribution_enabled: bool) -> Self {
+    pub fn mass(mut self, mass: Real) -> Self {
         self.mass_properties.inv_mass = utils::inv(mass);
-        self.flags.set(
-            RigidBodyFlags::TRANSLATION_LOCKED,
-            !colliders_contribution_enabled,
-        );
         self
     }
     /// Sets the angular inertia of this rigid-body.

src/dynamics/rigid_body_set.rs

@@ -4,7 +4,7 @@ use rayon::prelude::*;
 use crate::data::arena::Arena;
 use crate::dynamics::{Joint, JointSet, RigidBody, RigidBodyChanges};
 use crate::geometry::{ColliderSet, InteractionGraph, NarrowPhase};
-use cdl::partitioning::IndexedData;
+use parry::partitioning::IndexedData;
 use std::ops::{Index, IndexMut};
 
 /// The unique handle of a rigid body added to a `RigidBodySet`.

src/dynamics/solver/joint_constraint/fixed_velocity_constraint_wide.rs

@@ -13,8 +13,8 @@ use crate::utils::{WAngularInertia, WCross, WCrossMatrix};
 use na::{Cholesky, Matrix6, Vector6, U3};
 #[cfg(feature = "dim2")]
 use {
-    cdl::utils::SdpMatrix3,
     na::{Matrix3, Vector3},
+    parry::utils::SdpMatrix3,
 };
 
 #[derive(Debug)]

src/dynamics/solver/joint_constraint/prismatic_velocity_constraint.rs

@@ -8,8 +8,8 @@ use crate::utils::{WAngularInertia, WCross, WCrossMatrix};
 use na::{Cholesky, Matrix3x2, Matrix5, Vector5, U2, U3};
 #[cfg(feature = "dim2")]
 use {
-    cdl::utils::SdpMatrix2,
     na::{Matrix2, Vector2},
+    parry::utils::SdpMatrix2,
 };
 
 #[cfg(feature = "dim2")]

src/dynamics/solver/joint_constraint/prismatic_velocity_constraint_wide.rs

@@ -12,8 +12,8 @@ use crate::utils::{WAngularInertia, WCross, WCrossMatrix};
 use na::{Cholesky, Matrix3x2, Matrix5, Vector5, U2, U3};
 #[cfg(feature = "dim2")]
 use {
-    cdl::utils::SdpMatrix2,
     na::{Matrix2, Vector2},
+    parry::utils::SdpMatrix2,
 };
 
 #[cfg(feature = "dim2")]