feat: update to parry 0.21

src/dynamics/rigid_body_components.rs

@@ -738,7 +738,6 @@ impl RigidBodyVelocity {
 impl std::ops::Mul<Real> for RigidBodyVelocity {
     type Output = Self;
 
-    #[must_use]
     fn mul(self, rhs: Real) -> Self {
         RigidBodyVelocity {
             linvel: self.linvel * rhs,
@@ -750,7 +749,6 @@ impl std::ops::Mul<Real> for RigidBodyVelocity {
 impl std::ops::Add<RigidBodyVelocity> for RigidBodyVelocity {
     type Output = Self;
 
-    #[must_use]
     fn add(self, rhs: Self) -> Self {
         RigidBodyVelocity {
             linvel: self.linvel + rhs.linvel,
@@ -769,7 +767,6 @@ impl std::ops::AddAssign<RigidBodyVelocity> for RigidBodyVelocity {
 impl std::ops::Sub<RigidBodyVelocity> for RigidBodyVelocity {
     type Output = Self;
 
-    #[must_use]
     fn sub(self, rhs: Self) -> Self {
         RigidBodyVelocity {
             linvel: self.linvel - rhs.linvel,

src/geometry/broad_phase_qbvh.rs

@@ -1,4 +1,5 @@
-use crate::geometry::{BroadPhasePairEvent, ColliderHandle, ColliderPair, ColliderSet};
+use crate::dynamics::RigidBodySet;
+use crate::geometry::{BroadPhase, BroadPhasePairEvent, ColliderHandle, ColliderPair, ColliderSet};
 use parry::math::Real;
 use parry::partitioning::Qbvh;
 use parry::partitioning::QbvhUpdateWorkspace;
@@ -27,12 +28,15 @@ impl BroadPhaseQbvh {
             workspace: QbvhUpdateWorkspace::default(),
         }
     }
+}
 
-    #[allow(dead_code)] // This broad-phase is just experimental right now.
-    pub fn update(
+impl BroadPhase for BroadPhaseQbvh {
+    fn update(
         &mut self,
+        dt: Real,
         prediction_distance: Real,
-        colliders: &ColliderSet,
+        colliders: &mut ColliderSet,
+        bodies: &RigidBodySet,
         modified_colliders: &[ColliderHandle],
         removed_colliders: &[ColliderHandle],
         events: &mut Vec<BroadPhasePairEvent>,
@@ -46,7 +50,9 @@ impl BroadPhaseQbvh {
         // Visitor to find collision pairs.
         let mut visitor = BoundingVolumeIntersectionsSimultaneousVisitor::new(
             |co1: &ColliderHandle, co2: &ColliderHandle| {
-                events.push(BroadPhasePairEvent::AddPair(ColliderPair::new(*co1, *co2)));
+                if *co1 != *co2 {
+                    events.push(BroadPhasePairEvent::AddPair(ColliderPair::new(*co1, *co2)));
+                }
                 true
             },
         );
@@ -77,6 +83,8 @@ impl BroadPhaseQbvh {
             let _ = self.qbvh.refit(margin, &mut self.workspace, |handle| {
                 colliders[*handle].compute_collision_aabb(prediction_distance / 2.0)
             });
+            // self.qbvh
+            //     .traverse_bvtt_with_stack(&self.qbvh, &mut visitor, &mut self.stack);
             self.qbvh
                 .traverse_modified_bvtt_with_stack(&self.qbvh, &mut visitor, &mut self.stack);
             self.qbvh.rebalance(margin, &mut self.workspace);

src/geometry/collider.rs

@@ -12,7 +12,7 @@ use crate::pipeline::{ActiveEvents, ActiveHooks};
 use crate::prelude::ColliderEnabled;
 use na::Unit;
 use parry::bounding_volume::{Aabb, BoundingVolume};
-use parry::shape::{Shape, TriMeshBuilderError, TriMeshFlags, VoxelPrimitiveGeometry};
+use parry::shape::{Shape, TriMeshBuilderError, TriMeshFlags};
 use parry::transformation::voxelization::FillMode;
 
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
@@ -580,45 +580,28 @@ impl ColliderBuilder {
     ///
     /// For initializing a voxels shape from points in space, see [`Self::voxels_from_points`].
     /// For initializing a voxels shape from a mesh to voxelize, see [`Self::voxelized_mesh`].
-    pub fn voxels(
-        primitive_geometry: VoxelPrimitiveGeometry,
-        voxel_size: Vector<Real>,
-        voxels: &[Point<i32>],
-    ) -> Self {
-        Self::new(SharedShape::voxels(primitive_geometry, voxel_size, voxels))
+    pub fn voxels(voxel_size: Vector<Real>, voxels: &[Point<i32>]) -> Self {
+        Self::new(SharedShape::voxels(voxel_size, voxels))
     }
 
     /// Initializes a collider made of voxels.
     ///
     /// Each voxel has the size `voxel_size` and contains at least one point from `centers`.
     /// The `primitive_geometry` controls the behavior of collision detection at voxels boundaries.
-    pub fn voxels_from_points(
-        primitive_geometry: VoxelPrimitiveGeometry,
-        voxel_size: Vector<Real>,
-        points: &[Point<Real>],
-    ) -> Self {
-        Self::new(SharedShape::voxels_from_points(
-            primitive_geometry,
-            voxel_size,
-            points,
-        ))
+    pub fn voxels_from_points(voxel_size: Vector<Real>, points: &[Point<Real>]) -> Self {
+        Self::new(SharedShape::voxels_from_points(voxel_size, points))
     }
 
     /// Initializes a voxels obtained from the decomposition of the given trimesh (in 3D)
     /// or polyline (in 2D) into voxelized convex parts.
     pub fn voxelized_mesh(
-        primitive_geometry: VoxelPrimitiveGeometry,
         vertices: &[Point<Real>],
         indices: &[[u32; DIM]],
         voxel_size: Real,
         fill_mode: FillMode,
     ) -> Self {
         Self::new(SharedShape::voxelized_mesh(
-            primitive_geometry,
-            vertices,
-            indices,
-            voxel_size,
-            fill_mode,
+            vertices, indices, voxel_size, fill_mode,
         ))
     }
 

src/geometry/mod.rs

@@ -17,7 +17,7 @@ pub use self::narrow_phase::NarrowPhase;
 
 pub use parry::bounding_volume::BoundingVolume;
 pub use parry::query::{PointQuery, PointQueryWithLocation, RayCast, TrackedContact};
-pub use parry::shape::{SharedShape, VoxelPrimitiveGeometry, VoxelState, VoxelType, Voxels};
+pub use parry::shape::{SharedShape, VoxelState, VoxelType, Voxels};
 
 use crate::math::{Real, Vector};