feat!: rename BroadPhase to BroadPhaseMultiSap

src/geometry/broad_phase_multi_sap/broad_phase_multi_sap.rs

@@ -74,7 +74,7 @@ use parry::utils::hashmap::HashMap;
 ///   broad-phase, as well as the Aabbs of all the regions part of this broad-phase.
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
 #[derive(Clone)]
-pub struct BroadPhase {
+pub struct BroadPhaseMultiSap {
     proxies: SAPProxies,
     layers: Vec<SAPLayer>,
     smallest_layer: u8,
@@ -114,16 +114,16 @@ pub struct BroadPhase {
     reporting: HashMap<(u32, u32), bool>, // Workspace
 }
 
-impl Default for BroadPhase {
+impl Default for BroadPhaseMultiSap {
     fn default() -> Self {
         Self::new()
     }
 }
 
-impl BroadPhase {
+impl BroadPhaseMultiSap {
     /// Create a new empty broad-phase.
     pub fn new() -> Self {
-        BroadPhase {
+        BroadPhaseMultiSap {
             proxies: SAPProxies::new(),
             layers: Vec::new(),
             smallest_layer: 0,
@@ -138,7 +138,7 @@ impl BroadPhase {
     ///
     /// For each colliders marked as removed, we make their containing layer mark
     /// its proxy as pre-deleted. The actual proxy removal will happen at the end
-    /// of the `BroadPhase::update`.
+    /// of the `BroadPhaseMultiSap::update`.
     fn handle_removed_colliders(&mut self, removed_colliders: &[ColliderHandle]) {
         // For each removed collider, remove the corresponding proxy.
         for removed in removed_colliders {
@@ -623,11 +623,11 @@ mod test {
     use crate::dynamics::{
         ImpulseJointSet, IslandManager, MultibodyJointSet, RigidBodyBuilder, RigidBodySet,
     };
-    use crate::geometry::{BroadPhase, ColliderBuilder, ColliderSet};
+    use crate::geometry::{BroadPhaseMultiSap, ColliderBuilder, ColliderSet};
 
     #[test]
     fn test_add_update_remove() {
-        let mut broad_phase = BroadPhase::new();
+        let mut broad_phase = BroadPhaseMultiSap::new();
         let mut bodies = RigidBodySet::new();
         let mut colliders = ColliderSet::new();
         let mut impulse_joints = ImpulseJointSet::new();

src/geometry/broad_phase_multi_sap/mod.rs

@@ -1,4 +1,4 @@
-pub use self::broad_phase::BroadPhase;
+pub use self::broad_phase_multi_sap::BroadPhaseMultiSap;
 pub use self::broad_phase_pair_event::{BroadPhasePairEvent, ColliderPair};
 pub use self::sap_proxy::SAPProxyIndex;
 
@@ -9,7 +9,7 @@ use self::sap_proxy::*;
 use self::sap_region::*;
 use self::sap_utils::*;
 
-mod broad_phase;
+mod broad_phase_multi_sap;
 mod broad_phase_pair_event;
 mod sap_axis;
 mod sap_endpoint;

src/geometry/broad_phase_multi_sap/sap_layer.rs

@@ -71,7 +71,7 @@ impl SAPLayer {
     ///
     /// This method must be called in a bottom-up loop, propagating new regions from the
     /// smallest layer, up to the largest layer. That loop is done by the Phase 3 of the
-    /// BroadPhase::update.
+    /// BroadPhaseMultiSap::update.
     pub fn propagate_created_regions(
         &mut self,
         larger_layer: &mut Self,
@@ -182,7 +182,7 @@ impl SAPLayer {
     /// If the region with the given region key does not exist yet, it is created.
     /// When a region is created, it creates a new proxy for that region, and its
     /// proxy ID is added to `self.created_region` so it can be propagated during
-    /// the Phase 3 of `BroadPhase::update`.
+    /// the Phase 3 of `BroadPhaseMultiSap::update`.
     ///
     /// This returns the proxy ID of the already existing region if it existed, or
     /// of the new region if it did not exist and has been created by this method.

src/geometry/broad_phase_qbvh.rs

@@ -7,20 +7,20 @@ use parry::query::visitors::BoundingVolumeIntersectionsSimultaneousVisitor;
 
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
 #[derive(Clone)]
-pub struct BroadPhase {
+pub struct BroadPhaseQbvh {
     qbvh: Qbvh<ColliderHandle>,
     stack: Vec<(u32, u32)>,
     #[cfg_attr(feature = "serde-serialize", serde(skip))]
     workspace: QbvhUpdateWorkspace,
 }
 
-impl Default for BroadPhase {
+impl Default for BroadPhaseQbvh {
     fn default() -> Self {
         Self::new()
     }
 }
 
-impl BroadPhase {
+impl BroadPhaseQbvh {
     pub fn new() -> Self {
         Self {
             qbvh: Qbvh::new(),

src/geometry/mod.rs

@@ -2,8 +2,8 @@
 
 pub use self::broad_phase_multi_sap::{BroadPhasePairEvent, ColliderPair};
 
-pub use self::broad_phase_multi_sap::BroadPhase;
-// pub use self::broad_phase_qbvh::BroadPhase;
+pub use self::broad_phase_multi_sap::BroadPhaseMultiSap;
+// pub use self::broad_phase_qbvh::BroadPhaseMultiSap;
 pub use self::collider_components::*;
 pub use self::contact_pair::{
     ContactData, ContactManifoldData, ContactPair, IntersectionPair, SolverContact, SolverFlags,

src/pipeline/collision_pipeline.rs

@@ -2,7 +2,8 @@
 
 use crate::dynamics::{ImpulseJointSet, MultibodyJointSet};
 use crate::geometry::{
-    BroadPhase, BroadPhasePairEvent, ColliderChanges, ColliderHandle, ColliderPair, NarrowPhase,
+    BroadPhaseMultiSap, BroadPhasePairEvent, ColliderChanges, ColliderHandle, ColliderPair,
+    NarrowPhase,
 };
 use crate::math::Real;
 use crate::pipeline::{EventHandler, PhysicsHooks, QueryPipeline};
@@ -43,7 +44,7 @@ impl CollisionPipeline {
     fn detect_collisions(
         &mut self,
         prediction_distance: Real,
-        broad_phase: &mut BroadPhase,
+        broad_phase: &mut BroadPhaseMultiSap,
         narrow_phase: &mut NarrowPhase,
         bodies: &mut RigidBodySet,
         colliders: &mut ColliderSet,
@@ -107,7 +108,7 @@ impl CollisionPipeline {
     pub fn step(
         &mut self,
         prediction_distance: Real,
-        broad_phase: &mut BroadPhase,
+        broad_phase: &mut BroadPhaseMultiSap,
         narrow_phase: &mut NarrowPhase,
         bodies: &mut RigidBodySet,
         colliders: &mut ColliderSet,
@@ -192,7 +193,7 @@ mod tests {
         let _ = collider_set.insert(collider_b);
 
         let integration_parameters = IntegrationParameters::default();
-        let mut broad_phase = BroadPhase::new();
+        let mut broad_phase = BroadPhaseMultiSap::new();
         let mut narrow_phase = NarrowPhase::new();
         let mut collision_pipeline = CollisionPipeline::new();
         let physics_hooks = ();
@@ -244,7 +245,7 @@ mod tests {
         let _ = collider_set.insert(collider_b);
 
         let integration_parameters = IntegrationParameters::default();
-        let mut broad_phase = BroadPhase::new();
+        let mut broad_phase = BroadPhaseMultiSap::new();
         let mut narrow_phase = NarrowPhase::new();
         let mut collision_pipeline = CollisionPipeline::new();
         let physics_hooks = ();

src/pipeline/physics_pipeline.rs

@@ -10,7 +10,7 @@ use crate::dynamics::{
     RigidBodyChanges, RigidBodyHandle, RigidBodyPosition, RigidBodyType,
 };
 use crate::geometry::{
-    BroadPhase, BroadPhasePairEvent, ColliderChanges, ColliderHandle, ColliderPair,
+    BroadPhaseMultiSap, BroadPhasePairEvent, ColliderChanges, ColliderHandle, ColliderPair,
     ContactManifoldIndex, NarrowPhase, TemporaryInteractionIndex,
 };
 use crate::math::{Real, Vector};
@@ -93,7 +93,7 @@ impl PhysicsPipeline {
         &mut self,
         integration_parameters: &IntegrationParameters,
         islands: &mut IslandManager,
-        broad_phase: &mut BroadPhase,
+        broad_phase: &mut BroadPhaseMultiSap,
         narrow_phase: &mut NarrowPhase,
         bodies: &mut RigidBodySet,
         colliders: &mut ColliderSet,
@@ -406,7 +406,7 @@ impl PhysicsPipeline {
         gravity: &Vector<Real>,
         integration_parameters: &IntegrationParameters,
         islands: &mut IslandManager,
-        broad_phase: &mut BroadPhase,
+        broad_phase: &mut BroadPhaseMultiSap,
         narrow_phase: &mut NarrowPhase,
         bodies: &mut RigidBodySet,
         colliders: &mut ColliderSet,
@@ -650,7 +650,7 @@ mod test {
         CCDSolver, ImpulseJointSet, IntegrationParameters, IslandManager, RigidBodyBuilder,
         RigidBodySet,
     };
-    use crate::geometry::{BroadPhase, ColliderBuilder, ColliderSet, NarrowPhase};
+    use crate::geometry::{BroadPhaseMultiSap, ColliderBuilder, ColliderSet, NarrowPhase};
     use crate::math::Vector;
     use crate::pipeline::PhysicsPipeline;
     use crate::prelude::{MultibodyJointSet, RigidBodyType};
@@ -661,7 +661,7 @@ mod test {
         let mut impulse_joints = ImpulseJointSet::new();
         let mut multibody_joints = MultibodyJointSet::new();
         let mut pipeline = PhysicsPipeline::new();
-        let mut bf = BroadPhase::new();
+        let mut bf = BroadPhaseMultiSap::new();
         let mut nf = NarrowPhase::new();
         let mut bodies = RigidBodySet::new();
         let mut islands = IslandManager::new();
@@ -699,7 +699,7 @@ mod test {
         let mut impulse_joints = ImpulseJointSet::new();
         let mut multibody_joints = MultibodyJointSet::new();
         let mut pipeline = PhysicsPipeline::new();
-        let mut bf = BroadPhase::new();
+        let mut bf = BroadPhaseMultiSap::new();
         let mut nf = NarrowPhase::new();
         let mut islands = IslandManager::new();
 
@@ -809,7 +809,7 @@ mod test {
         let mut pipeline = PhysicsPipeline::new();
         let gravity = Vector::y() * -9.81;
         let integration_parameters = IntegrationParameters::default();
-        let mut broad_phase = BroadPhase::new();
+        let mut broad_phase = BroadPhaseMultiSap::new();
         let mut narrow_phase = NarrowPhase::new();
         let mut bodies = RigidBodySet::new();
         let mut colliders = ColliderSet::new();
@@ -859,7 +859,7 @@ mod test {
         let mut impulse_joints = ImpulseJointSet::new();
         let mut multibody_joints = MultibodyJointSet::new();
         let mut pipeline = PhysicsPipeline::new();
-        let mut bf = BroadPhase::new();
+        let mut bf = BroadPhaseMultiSap::new();
         let mut nf = NarrowPhase::new();
         let mut islands = IslandManager::new();