feat: rename collision_skin to contact_skin

examples2d/trimesh2.rs

@@ -85,7 +85,7 @@ pub fn init_world(testbed: &mut Testbed) {
 
                 for k in 0..5 {
                     let collider = ColliderBuilder::trimesh(vertices.clone(), indices.clone())
-                        .collision_skin(0.2);
+                        .contact_skin(0.2);
                     let rigid_body = RigidBodyBuilder::dynamic()
                         .translation(vector![ith as f32 * 8.0 - 20.0, 20.0 + k as f32 * 11.0])
                         .rotation(angle);

examples3d/dynamic_trimesh3.rs

@@ -36,8 +36,7 @@ pub fn do_init_world(testbed: &mut Testbed, use_convex_decomposition: bool) {
         -(i as f32 * 40.0 / (nsubdivs as f32) / 2.0).cos()
             - (j as f32 * 40.0 / (nsubdivs as f32) / 2.0).cos()
     });
-    let heightfield =
+    let heightfield = HeightField::new(heights, vector![100.0, 2.0, 100.0]);
-        HeightField::new(heights, vector![100.0, 2.0, 100.0]);
     let mut trimesh = TriMesh::from(heightfield);
     trimesh.set_flags(TriMeshFlags::FIX_INTERNAL_EDGES);
     colliders.insert(ColliderBuilder::new(SharedShape::new(trimesh.clone())));
@@ -101,7 +100,8 @@ pub fn do_init_world(testbed: &mut Testbed, use_convex_decomposition: bool) {
             // let compound = SharedShape::compound(compound_parts);
 
             for k in 1..num_duplications + 1 {
-                let x = (igeom % width) as f32 * shift_xz - num_duplications as f32 * shift_xz / 2.0;
+                let x =
+                    (igeom % width) as f32 * shift_xz - num_duplications as f32 * shift_xz / 2.0;
                 let y = (igeom / width) as f32 * shift_y + 7.0;
                 let z = k as f32 * shift_xz - num_duplications as f32 * shift_xz / 2.0;
 
@@ -109,7 +109,7 @@ pub fn do_init_world(testbed: &mut Testbed, use_convex_decomposition: bool) {
                 let handle = bodies.insert(body);
 
                 for shape in &shapes {
-                    let collider = ColliderBuilder::new(shape.clone()).collision_skin(0.1);
+                    let collider = ColliderBuilder::new(shape.clone()).contact_skin(0.1);
                     colliders.insert_with_parent(collider, handle, &mut bodies);
                 }
             }

src/geometry/broad_phase_multi_sap/broad_phase_multi_sap.rs

@@ -362,7 +362,7 @@ impl BroadPhaseMultiSap {
             let next_aabb = collider
                 .shape
                 .compute_aabb(next_position)
-                .loosened(collider.collision_skin() + prediction_distance / 2.0);
+                .loosened(collider.contact_skin() + prediction_distance / 2.0);
             aabb.merge(&next_aabb);
         }
 

src/geometry/collider.rs

@@ -30,7 +30,7 @@ pub struct Collider {
     pub(crate) material: ColliderMaterial,
     pub(crate) flags: ColliderFlags,
     pub(crate) bf_data: ColliderBroadPhaseData,
-    collision_skin: Real,
+    contact_skin: Real,
     contact_force_event_threshold: Real,
     /// User-defined data associated to this collider.
     pub user_data: u128,
@@ -110,7 +110,7 @@ impl Collider {
             bf_data: _bf_data, // Internal ids must not be overwritten.
             contact_force_event_threshold,
             user_data,
-            collision_skin,
+            contact_skin,
         } = other;
 
         if self.parent.is_none() {
@@ -125,7 +125,7 @@ impl Collider {
         self.user_data = *user_data;
         self.flags = *flags;
         self.changes = ColliderChanges::all();
-        self.collision_skin = *collision_skin;
+        self.contact_skin = *contact_skin;
     }
 
     /// The physics hooks enabled for this collider.
@@ -159,13 +159,13 @@ impl Collider {
     }
 
     /// The collision skin of this collider.
-    pub fn collision_skin(&self) -> Real {
+    pub fn contact_skin(&self) -> Real {
-        self.collision_skin
+        self.contact_skin
     }
 
     /// Sets the collision skin of this collider.
-    pub fn set_collision_skin(&mut self, skin_thickness: Real) {
+    pub fn set_contact_skin(&mut self, skin_thickness: Real) {
-        self.collision_skin = skin_thickness;
+        self.contact_skin = skin_thickness;
     }
 
     /// The friction coefficient of this collider.
@@ -452,17 +452,17 @@ impl Collider {
     /// Compute the axis-aligned bounding box of this collider.
     ///
     /// This AABB doesn’t take into account the collider’s collision skin.
-    /// [`Collider::collision_skin`].
+    /// [`Collider::contact_skin`].
     pub fn compute_aabb(&self) -> Aabb {
         self.shape.compute_aabb(&self.pos)
     }
 
     /// Compute the axis-aligned bounding box of this collider, taking into account the
-    /// [`Collider::collision_skin`] and prediction distance.
+    /// [`Collider::contact_skin`] and prediction distance.
     pub fn compute_collision_aabb(&self, prediction: Real) -> Aabb {
         self.shape
             .compute_aabb(&self.pos)
-            .loosened(self.collision_skin + prediction)
+            .loosened(self.contact_skin + prediction)
     }
 
     /// Compute the axis-aligned bounding box of this collider moving from its current position
@@ -520,7 +520,7 @@ pub struct ColliderBuilder {
     /// The total force magnitude beyond which a contact force event can be emitted.
     pub contact_force_event_threshold: Real,
     /// An extract thickness around the collider shape to keep them further apart when in collision.
-    pub collision_skin: Real,
+    pub contact_skin: Real,
 }
 
 impl ColliderBuilder {
@@ -543,7 +543,7 @@ impl ColliderBuilder {
             active_events: ActiveEvents::empty(),
             enabled: true,
             contact_force_event_threshold: 0.0,
-            collision_skin: 0.0,
+            contact_skin: 0.0,
         }
     }
 
@@ -982,8 +982,8 @@ impl ColliderBuilder {
     /// it creates a small gap between colliding object (equal to the sum of their skin). If the
     /// skin is sufficiently small, this might not be visually significant or can be hidden by the
     /// rendering assets.
-    pub fn collision_skin(mut self, skin_thickness: Real) -> Self {
+    pub fn contact_skin(mut self, skin_thickness: Real) -> Self {
-        self.collision_skin = skin_thickness;
+        self.contact_skin = skin_thickness;
         self
     }
 
@@ -1034,7 +1034,7 @@ impl ColliderBuilder {
             flags,
             coll_type,
             contact_force_event_threshold: self.contact_force_event_threshold,
-            collision_skin: self.collision_skin,
+            contact_skin: self.contact_skin,
             user_data: self.user_data,
         }
     }

src/geometry/contact_pair.rs

@@ -117,7 +117,7 @@ pub struct ContactPair {
     ///
     /// All contact manifold contain themselves contact points between the colliders.
     /// Note that contact points in the contact manifold do not take into account the
-    /// [`Collider::collision_skin`] which only affects the constraint solver and the
+    /// [`Collider::contact_skin`] which only affects the constraint solver and the
     /// [`SolverContact`].
     pub manifolds: Vec<ContactManifold>,
     /// Is there any active contact in this contact pair?

src/geometry/narrow_phase.rs

@@ -898,7 +898,7 @@ impl NarrowPhase {
 
                 let pos12 = co1.pos.inv_mul(&co2.pos);
 
-                let collision_skin_sum = co1.collision_skin() + co2.collision_skin();
+                let contact_skin_sum = co1.contact_skin() + co2.contact_skin();
                 let soft_ccd_prediction1 = rb1.map(|rb| rb.soft_ccd_prediction()).unwrap_or(0.0);
                 let soft_ccd_prediction2 = rb2.map(|rb| rb.soft_ccd_prediction()).unwrap_or(0.0);
                 let effective_prediction_distance = if soft_ccd_prediction1 > 0.0 || soft_ccd_prediction2 > 0.0 {
@@ -918,9 +918,9 @@ impl NarrowPhase {
 
 
                     prediction_distance.max(
-                        dt * (linvel1 - linvel2).norm()) + collision_skin_sum
+                        dt * (linvel1 - linvel2).norm()) + contact_skin_sum
                 } else {
-                    prediction_distance + collision_skin_sum
+                    prediction_distance + contact_skin_sum
                 };
 
                 let _ = query_dispatcher.contact_manifolds(
@@ -969,7 +969,7 @@ impl NarrowPhase {
                             break;
                         }
 
-                        let effective_contact_dist = contact.dist - co1.collision_skin() - co2.collision_skin();
+                        let effective_contact_dist = contact.dist - co1.contact_skin() - co2.contact_skin();
 
                         let keep_solver_contact = effective_contact_dist < prediction_distance || {
                             let world_pt1 = world_pos1 * contact.local_p1;