Remove the default-sets feature

crates/rapier2d-f64/Cargo.toml

@@ -16,10 +16,9 @@ edition = "2021"
 maintenance = { status = "actively-developed" }
 
 [features]
-default = [ "dim2", "f64", "default-sets" ]
+default = [ "dim2", "f64" ]
 dim2    = [ ]
 f64     = [ ]
-default-sets = [ ]
 parallel = [ "rayon" ]
 simd-stable = [ "simba/wide", "simd-is-enabled" ]
 simd-nightly = [ "simba/packed_simd", "simd-is-enabled" ]

crates/rapier2d/Cargo.toml

@@ -16,10 +16,9 @@ edition = "2021"
 maintenance = { status = "actively-developed" }
 
 [features]
-default = [ "dim2", "f32", "default-sets" ]
+default = [ "dim2", "f32" ]
 dim2    = [ ]
 f32     = [ ]
-default-sets = [ ]
 parallel = [ "rayon" ]
 simd-stable = [ "simba/wide", "simd-is-enabled" ]
 simd-nightly = [ "simba/packed_simd", "simd-is-enabled" ]

crates/rapier3d-f64/Cargo.toml

@@ -16,10 +16,9 @@ edition = "2021"
 maintenance = { status = "actively-developed" }
 
 [features]
-default = [ "dim3", "f64", "default-sets" ]
+default = [ "dim3", "f64" ]
 dim3    = [ ]
 f64     = [ ]
-default-sets = [ ]
 parallel = [ "rayon" ]
 simd-stable = [ "parry3d-f64/simd-stable", "simba/wide", "simd-is-enabled" ]
 simd-nightly = [ "parry3d-f64/simd-nightly", "simba/packed_simd", "simd-is-enabled" ]

crates/rapier3d/Cargo.toml

@@ -16,10 +16,9 @@ edition = "2021"
 maintenance = { status = "actively-developed" }
 
 [features]
-default = [ "dim3", "f32", "default-sets" ]
+default = [ "dim3", "f32" ]
 dim3    = [ ]
 f32     = [ ]
-default-sets = [ ]
 parallel = [ "rayon" ]
 simd-stable = [ "parry3d/simd-stable", "simba/wide", "simd-is-enabled" ]
 simd-nightly = [ "parry3d/simd-nightly", "simba/packed_simd", "simd-is-enabled" ]

src/dynamics/mod.rs

@@ -14,9 +14,7 @@ pub(crate) use self::solver::IslandSolver;
 pub(crate) use self::solver::ParallelIslandSolver;
 pub use parry::mass_properties::MassProperties;
 
-#[cfg(feature = "default-sets")]
 pub use self::rigid_body::{RigidBody, RigidBodyBuilder};
-#[cfg(feature = "default-sets")]
 pub use self::rigid_body_set::{BodyPair, RigidBodySet};
 
 mod ccd;
@@ -27,7 +25,5 @@ mod joint;
 mod rigid_body_components;
 mod solver;
 
-#[cfg(feature = "default-sets")]
 mod rigid_body;
-#[cfg(feature = "default-sets")]
 mod rigid_body_set;

src/geometry/mod.rs

@@ -11,9 +11,7 @@ pub use self::interaction_graph::{
 pub use self::interaction_groups::InteractionGroups;
 pub use self::narrow_phase::NarrowPhase;
 
-#[cfg(feature = "default-sets")]
 pub use self::collider::{Collider, ColliderBuilder};
-#[cfg(feature = "default-sets")]
 pub use self::collider_set::ColliderSet;
 
 pub use parry::query::TrackedContact;
@@ -121,7 +119,5 @@ mod interaction_graph;
 mod interaction_groups;
 mod narrow_phase;
 
-#[cfg(feature = "default-sets")]
 mod collider;
-#[cfg(feature = "default-sets")]
 mod collider_set;

src/pipeline/collision_pipeline.rs

@@ -6,8 +6,6 @@ use crate::geometry::{
 };
 use crate::math::Real;
 use crate::pipeline::{EventHandler, PhysicsHooks};
-
-#[cfg(feature = "default-sets")]
 use crate::{dynamics::RigidBodySet, geometry::ColliderSet};
 
 /// The collision pipeline, responsible for performing collision detection between colliders.
@@ -102,7 +100,6 @@ impl CollisionPipeline {
     }
 
     /// Executes one step of the collision detection.
-    #[cfg(feature = "default-sets")]
     pub fn step(
         &mut self,
         prediction_distance: Real,
@@ -117,34 +114,6 @@ impl CollisionPipeline {
         let mut modified_colliders = colliders.take_modified();
         let mut removed_colliders = colliders.take_removed();
 
-        self.step_generic(
-            prediction_distance,
-            broad_phase,
-            narrow_phase,
-            bodies,
-            colliders,
-            &mut modified_bodies,
-            &mut modified_colliders,
-            &mut removed_colliders,
-            hooks,
-            events,
-        );
-    }
-
-    /// Executes one step of the collision detection.
-    pub fn step_generic(
-        &mut self,
-        prediction_distance: Real,
-        broad_phase: &mut BroadPhase,
-        narrow_phase: &mut NarrowPhase,
-        bodies: &mut RigidBodySet,
-        colliders: &mut ColliderSet,
-        modified_bodies: &mut Vec<RigidBodyHandle>,
-        modified_colliders: &mut Vec<ColliderHandle>,
-        removed_colliders: &mut Vec<ColliderHandle>,
-        hooks: &dyn PhysicsHooks,
-        events: &dyn EventHandler,
-    ) {
         super::user_changes::handle_user_changes_to_colliders(
             bodies,
             colliders,
@@ -155,7 +124,7 @@ impl CollisionPipeline {
             bodies,
             colliders,
             &modified_bodies,
-            modified_colliders,
+            &mut modified_colliders,
         );
         self.detect_collisions(
             prediction_distance,
@@ -164,13 +133,13 @@ impl CollisionPipeline {
             bodies,
             colliders,
             &modified_colliders[..],
-            removed_colliders,
+            &mut removed_colliders,
             hooks,
             events,
             true,
         );
 
-        self.clear_modified_colliders(colliders, modified_colliders);
+        self.clear_modified_colliders(colliders, &mut modified_colliders);
         removed_colliders.clear();
     }
 }

src/pipeline/physics_pipeline.rs

@@ -5,7 +5,7 @@ use crate::counters::Counters;
 use crate::dynamics::IslandSolver;
 use crate::dynamics::{
     CCDSolver, ImpulseJointSet, IntegrationParameters, IslandManager, MultibodyJointSet,
-    RigidBodyHandle, RigidBodyPosition, RigidBodyType,
+    RigidBodyPosition, RigidBodyType,
 };
 #[cfg(feature = "parallel")]
 use crate::dynamics::{JointGraphEdge, ParallelIslandSolver as IslandSolver};
@@ -15,8 +15,6 @@ use crate::geometry::{
 };
 use crate::math::{Real, Vector};
 use crate::pipeline::{EventHandler, PhysicsHooks};
-
-#[cfg(feature = "default-sets")]
 use {crate::dynamics::RigidBodySet, crate::geometry::ColliderSet};
 
 /// The physics pipeline, responsible for stepping the whole physics simulation.
@@ -358,7 +356,6 @@ impl PhysicsPipeline {
     ///
     /// This is the same as `self.step_generic`, except that it is specialized
     /// to work with `RigidBodySet` and `ColliderSet`.
-    #[cfg(feature = "default-sets")]
     pub fn step(
         &mut self,
         gravity: &Vector<Real>,
@@ -374,48 +371,10 @@ impl PhysicsPipeline {
         hooks: &dyn PhysicsHooks,
         events: &dyn EventHandler,
     ) {
-        let mut modified_bodies = bodies.take_modified();
+        let modified_bodies = bodies.take_modified();
         let mut modified_colliders = colliders.take_modified();
         let mut removed_colliders = colliders.take_removed();
 
-        self.step_generic(
-            gravity,
-            integration_parameters,
-            islands,
-            broad_phase,
-            narrow_phase,
-            bodies,
-            colliders,
-            &mut modified_bodies,
-            &mut modified_colliders,
-            &mut removed_colliders,
-            impulse_joints,
-            multibody_joints,
-            ccd_solver,
-            hooks,
-            events,
-        );
-    }
-
-    /// Executes one timestep of the physics simulation.
-    pub fn step_generic(
-        &mut self,
-        gravity: &Vector<Real>,
-        integration_parameters: &IntegrationParameters,
-        islands: &mut IslandManager,
-        broad_phase: &mut BroadPhase,
-        narrow_phase: &mut NarrowPhase,
-        bodies: &mut RigidBodySet,
-        colliders: &mut ColliderSet,
-        modified_bodies: &mut Vec<RigidBodyHandle>,
-        modified_colliders: &mut Vec<ColliderHandle>,
-        removed_colliders: &mut Vec<ColliderHandle>,
-        impulse_joints: &mut ImpulseJointSet,
-        multibody_joints: &mut MultibodyJointSet,
-        ccd_solver: &mut CCDSolver,
-        hooks: &dyn PhysicsHooks,
-        events: &dyn EventHandler,
-    ) {
         self.counters.reset();
         self.counters.step_started();
 
@@ -429,7 +388,7 @@ impl PhysicsPipeline {
             bodies,
             colliders,
             &modified_bodies,
-            modified_colliders,
+            &mut modified_colliders,
         );
 
         // TODO: do this only on user-change.
@@ -449,13 +408,13 @@ impl PhysicsPipeline {
             bodies,
             colliders,
             &modified_colliders[..],
-            removed_colliders,
+            &mut removed_colliders,
             hooks,
             events,
             true,
         );
 
-        self.clear_modified_colliders(colliders, modified_colliders);
+        self.clear_modified_colliders(colliders, &mut modified_colliders);
         removed_colliders.clear();
 
         let mut remaining_time = integration_parameters.dt;
@@ -563,7 +522,7 @@ impl PhysicsPipeline {
                 }
             }
 
-            self.advance_to_final_positions(islands, bodies, colliders, modified_colliders);
+            self.advance_to_final_positions(islands, bodies, colliders, &mut modified_colliders);
 
             self.detect_collisions(
                 &integration_parameters,
@@ -572,14 +531,14 @@ impl PhysicsPipeline {
                 narrow_phase,
                 bodies,
                 colliders,
-                modified_colliders,
+                &mut modified_colliders,
-                removed_colliders,
+                &mut removed_colliders,
                 hooks,
                 events,
                 false,
             );
 
-            self.clear_modified_colliders(colliders, modified_colliders);
+            self.clear_modified_colliders(colliders, &mut modified_colliders);
         }
 
         self.counters.step_completed();

src/pipeline/query_pipeline.rs

@@ -3,6 +3,7 @@ use crate::geometry::{
     ColliderHandle, InteractionGroups, PointProjection, Ray, RayIntersection, AABB, QBVH,
 };
 use crate::math::{Isometry, Point, Real, Vector};
+use crate::{dynamics::RigidBodySet, geometry::ColliderSet};
 use parry::partitioning::QBVHDataGenerator;
 use parry::query::details::{
     IntersectionCompositeShapeShapeBestFirstVisitor,
@@ -18,9 +19,6 @@ use parry::query::{DefaultQueryDispatcher, NonlinearRigidMotion, QueryDispatcher
 use parry::shape::{FeatureId, Shape, TypedSimdCompositeShape};
 use std::sync::Arc;
 
-#[cfg(feature = "default-sets")]
-use crate::{dynamics::RigidBodySet, geometry::ColliderSet};
-
 /// A pipeline for performing queries on all the colliders of a scene.
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
 #[derive(Clone)]
@@ -136,23 +134,12 @@ impl QueryPipeline {
         &*self.query_dispatcher
     }
 
-    #[cfg(feature = "default-sets")]
     /// Update the acceleration structure on the query pipeline.
     pub fn update(
         &mut self,
         islands: &IslandManager,
         bodies: &RigidBodySet,
         colliders: &ColliderSet,
-    ) {
-        self.update_generic(islands, bodies, colliders);
-    }
-
-    /// Update the acceleration structure on the query pipeline.
-    pub fn update_generic(
-        &mut self,
-        islands: &IslandManager,
-        bodies: &RigidBodySet,
-        colliders: &ColliderSet,
     ) {
         self.update_with_mode(
             islands,