QueryPipeline: add shape casting, point projection, and intersection queries.

src/geometry/mod.rs

@@ -86,6 +86,15 @@ pub(crate) use self::narrow_phase::ContactManifoldIndex;
 pub(crate) use cdl::partitioning::SimdQuadTree;
 pub use cdl::shape::*;
 
+pub(crate) fn default_persistent_query_dispatcher(
+) -> std::sync::Arc<dyn cdl::query::PersistentQueryDispatcher<ContactManifoldData, ContactData>> {
+    std::sync::Arc::new(cdl::query::DefaultQueryDispatcher)
+}
+
+pub(crate) fn default_query_dispatcher() -> std::sync::Arc<dyn cdl::query::QueryDispatcher> {
+    std::sync::Arc::new(cdl::query::DefaultQueryDispatcher)
+}
+
 mod broad_phase_multi_sap;
 mod collider;
 mod collider_set;

src/geometry/narrow_phase.rs

@@ -38,7 +38,7 @@ impl ColliderGraphIndices {
 pub struct NarrowPhase {
     #[cfg_attr(
         feature = "serde-serialize",
-        serde(skip, default = "default_query_dispatcher")
+        serde(skip, default = "crate::geometry::default_persistent_query_dispatcher")
     )]
     query_dispatcher: Arc<dyn PersistentQueryDispatcher<ContactManifoldData, ContactData>>,
     contact_graph: InteractionGraph<ContactPair>,
@@ -47,11 +47,6 @@ pub struct NarrowPhase {
     removed_colliders: Option<Subscription<RemovedCollider>>,
 }
 
-fn default_query_dispatcher() -> Arc<dyn PersistentQueryDispatcher<ContactManifoldData, ContactData>>
-{
-    Arc::new(DefaultQueryDispatcher)
-}
-
 pub(crate) type ContactManifoldIndex = usize;
 
 impl NarrowPhase {