Rename cdl to parry.

src/pipeline/collision_pipeline.rs

@@ -2,8 +2,8 @@
 
 use crate::dynamics::{JointSet, RigidBodySet};
 use crate::geometry::{
-    BroadPhase, BroadPhasePairEvent, ColliderPair, ColliderSet, ContactPairFilter, NarrowPhase,
-    ProximityPairFilter,
+    BroadPhase, BroadPhasePairEvent, ColliderPair, ColliderSet, ContactPairFilter,
+    IntersectionPairFilter, NarrowPhase,
 };
 use crate::math::Real;
 use crate::pipeline::EventHandler;
@@ -45,7 +45,7 @@ impl CollisionPipeline {
         bodies: &mut RigidBodySet,
         colliders: &mut ColliderSet,
         contact_pair_filter: Option<&dyn ContactPairFilter>,
-        proximity_pair_filter: Option<&dyn ProximityPairFilter>,
+        proximity_pair_filter: Option<&dyn IntersectionPairFilter>,
         events: &dyn EventHandler,
     ) {
         bodies.maintain(colliders);

src/pipeline/physics_pipeline.rs

@@ -8,7 +8,7 @@ use crate::dynamics::{IntegrationParameters, JointSet, RigidBodySet};
 use crate::dynamics::{JointGraphEdge, ParallelIslandSolver as IslandSolver};
 use crate::geometry::{
     BroadPhase, BroadPhasePairEvent, ColliderPair, ColliderSet, ContactManifoldIndex,
-    ContactPairFilter, NarrowPhase, ProximityPairFilter,
+    ContactPairFilter, IntersectionPairFilter, NarrowPhase,
 };
 use crate::math::{Real, Vector};
 use crate::pipeline::EventHandler;
@@ -70,7 +70,7 @@ impl PhysicsPipeline {
         colliders: &mut ColliderSet,
         joints: &mut JointSet,
         contact_pair_filter: Option<&dyn ContactPairFilter>,
-        proximity_pair_filter: Option<&dyn ProximityPairFilter>,
+        proximity_pair_filter: Option<&dyn IntersectionPairFilter>,
         events: &dyn EventHandler,
     ) {
         self.counters.step_started();

src/pipeline/query_pipeline.rs

@@ -1,22 +1,22 @@
-use crate::cdl::motion::RigidMotion;
 use crate::dynamics::RigidBodySet;
 use crate::geometry::{
     Collider, ColliderHandle, ColliderSet, InteractionGroups, PointProjection, Ray,
     RayIntersection, SimdQuadTree,
 };
 use crate::math::{Isometry, Point, Real, Vector};
-use cdl::query::details::{
+use crate::parry::motion::RigidMotion;
+use parry::query::details::{
     IntersectionCompositeShapeShapeBestFirstVisitor,
     NonlinearTOICompositeShapeShapeBestFirstVisitor, PointCompositeShapeProjBestFirstVisitor,
     PointCompositeShapeProjWithFeatureBestFirstVisitor,
     RayCompositeShapeToiAndNormalBestFirstVisitor, RayCompositeShapeToiBestFirstVisitor,
     TOICompositeShapeShapeBestFirstVisitor,
 };
-use cdl::query::visitors::{
+use parry::query::visitors::{
     BoundingVolumeIntersectionsVisitor, PointIntersectionsVisitor, RayIntersectionsVisitor,
 };
-use cdl::query::{DefaultQueryDispatcher, QueryDispatcher, TOI};
-use cdl::shape::{FeatureId, Shape, TypedSimdCompositeShape};
+use parry::query::{DefaultQueryDispatcher, QueryDispatcher, TOI};
+use parry::shape::{FeatureId, Shape, TypedSimdCompositeShape};
 use std::sync::Arc;
 
 /// A pipeline for performing queries on all the colliders of a scene.