chore: update to the latest parry api

src/control/ray_cast_vehicle_controller.rs

@@ -341,7 +341,7 @@ impl DynamicRayCastVehicleController {
         wheel.raycast_info.ground_object = None;
 
         if let Some((collider_hit, mut hit)) = hit {
-            if hit.toi == 0.0 {
+            if hit.time_of_impact == 0.0 {
                 let collider = &colliders[collider_hit];
                 let up_ray = Ray::new(source + rayvector, -rayvector);
                 if let Some(hit2) =
@@ -362,7 +362,7 @@ impl DynamicRayCastVehicleController {
             wheel.raycast_info.is_in_contact = true;
             wheel.raycast_info.ground_object = Some(collider_hit);
 
-            let hit_distance = hit.toi * raylen;
+            let hit_distance = hit.time_of_impact * raylen;
             wheel.raycast_info.suspension_length = hit_distance - wheel.radius;
 
             // clamp on max suspension travel
@@ -372,7 +372,7 @@ impl DynamicRayCastVehicleController {
                 .raycast_info
                 .suspension_length
                 .clamp(min_suspension_length, max_suspension_length);
-            wheel.raycast_info.contact_point_ws = ray.point_at(hit.toi);
+            wheel.raycast_info.contact_point_ws = ray.point_at(hit.time_of_impact);
 
             let denominator = wheel
                 .raycast_info

src/dynamics/ccd/toi_entry.rs

@@ -129,7 +129,7 @@ impl TOIEntry {
         //     .ok();
 
         let res_toi = query_dispatcher
-            .nonlinear_time_of_impact(
+            .cast_shapes_nonlinear(
                 &motion_c1,
                 co1.shape.as_ref(),
                 &motion_c2,
@@ -143,7 +143,7 @@ impl TOIEntry {
         let toi = res_toi??;
 
         Some(Self::new(
-            toi.toi,
+            toi.time_of_impact,
             ch1,
             co1.parent.map(|p| p.handle),
             ch2,

src/geometry/broad_phase.rs

@@ -12,7 +12,7 @@ pub type BroadPhaseProxyIndex = u32;
 /// two objects don’t actually touch, but it is incorrect to remove a pair between two objects
 /// that are still touching. In other words, it can have false-positive (though these induce
 /// some computational overhead on the narrow-phase), but cannot have false-negative.
-pub trait BroadPhase {
+pub trait BroadPhase: Send + Sync + 'static {
     /// Updates the broad-phase.
     ///
     /// The results must be output through the `events` struct. The broad-phase algorithm is only

src/geometry/mod.rs

@@ -51,8 +51,8 @@ pub type Ray = parry::query::Ray;
 pub type RayIntersection = parry::query::RayIntersection;
 /// The projection of a point on a collider.
 pub type PointProjection = parry::query::PointProjection;
-/// The time of impact between two shapes.
+/// The result of a shape-cast between two shapes.
-pub type TOI = parry::query::TOI;
+pub type ShapeCastHit = parry::query::ShapeCastHit;
 /// The default broad-phase implementation recommended for general-purpose usage.
 pub type DefaultBroadPhase = BroadPhaseMultiSap;
 

src/pipeline/query_pipeline.rs

@@ -9,12 +9,12 @@ use parry::query::details::{
     NonlinearTOICompositeShapeShapeBestFirstVisitor, NormalConstraints,
     PointCompositeShapeProjBestFirstVisitor, PointCompositeShapeProjWithFeatureBestFirstVisitor,
     RayCompositeShapeToiAndNormalBestFirstVisitor, RayCompositeShapeToiBestFirstVisitor,
-    TOICompositeShapeShapeBestFirstVisitor,
+    ShapeCastOptions, TOICompositeShapeShapeBestFirstVisitor,
 };
 use parry::query::visitors::{
     BoundingVolumeIntersectionsVisitor, PointIntersectionsVisitor, RayIntersectionsVisitor,
 };
-use parry::query::{DefaultQueryDispatcher, NonlinearRigidMotion, QueryDispatcher, TOI};
+use parry::query::{DefaultQueryDispatcher, NonlinearRigidMotion, QueryDispatcher, ShapeCastHit};
 use parry::shape::{FeatureId, Shape, TypedSimdCompositeShape};
 use std::sync::Arc;
 
@@ -679,10 +679,9 @@ impl QueryPipeline {
         shape_pos: &Isometry<Real>,
         shape_vel: &Vector<Real>,
         shape: &dyn Shape,
-        max_toi: Real,
+        options: ShapeCastOptions,
-        stop_at_penetration: bool,
         filter: QueryFilter,
-    ) -> Option<(ColliderHandle, TOI)> {
+    ) -> Option<(ColliderHandle, ShapeCastHit)> {
         let pipeline_shape = self.as_composite_shape(bodies, colliders, filter);
         let mut visitor = TOICompositeShapeShapeBestFirstVisitor::new(
             &*self.query_dispatcher,
@@ -690,8 +689,7 @@ impl QueryPipeline {
             shape_vel,
             &pipeline_shape,
             shape,
-            max_toi,
+            options,
-            stop_at_penetration,
         );
         self.qbvh.traverse_best_first(&mut visitor).map(|h| h.1)
     }
@@ -725,7 +723,7 @@ impl QueryPipeline {
         end_time: Real,
         stop_at_penetration: bool,
         filter: QueryFilter,
-    ) -> Option<(ColliderHandle, TOI)> {
+    ) -> Option<(ColliderHandle, ShapeCastHit)> {
         let pipeline_shape = self.as_composite_shape(bodies, colliders, filter);
         let pipeline_motion = NonlinearRigidMotion::identity();
         let mut visitor = NonlinearTOICompositeShapeShapeBestFirstVisitor::new(