feat: rework QueryPipeline update API to take less parameters (#647)

* chore: rework QueryPipeline API to take a generic qbvh updater

This allows to pass less parameters depending on the updating mode.

* chore: rework struct and functions names, and docs

---------

Co-authored-by: Sébastien Crozet <sebcrozet@dimforge.com>

src/pipeline/query_pipeline/generators.rs

@@ -0,0 +1,109 @@
+//! Structs implementing [`QbvhDataGenerator<ColliderHandle>`] to be used with [`QueryPipeline::update_with_generator`].
+
+use parry::partitioning::QbvhDataGenerator;
+
+use crate::math::Real;
+use crate::prelude::{Aabb, ColliderHandle, ColliderSet, RigidBodySet};
+
+#[cfg(doc)]
+use crate::{
+    dynamics::{IntegrationParameters, RigidBodyPosition},
+    pipeline::QueryPipeline,
+};
+
+/// Generates collider AABBs based on the union of their current AABB and the AABB predicted
+/// from the velocity and forces of their parent rigid-body.
+///
+/// The main purpose of this struct is to be passed as a parameters to
+/// [`QueryPipeline::update_with_generator`] to update the [`QueryPipeline`].
+///
+/// The predicted position is calculated as
+/// `RigidBody::predict_position_using_velocity_and_forces * Collider::position_wrt_parent`.
+pub struct SweptAabbWithPredictedPosition<'a> {
+    /// The rigid bodies of your simulation.
+    pub bodies: &'a RigidBodySet,
+    /// The colliders of your simulation.
+    pub colliders: &'a ColliderSet,
+    /// The delta time to compute predicted position.
+    ///
+    /// You probably want to set it to [`IntegrationParameter::dt`].
+    pub dt: Real,
+}
+impl<'a> QbvhDataGenerator<ColliderHandle> for SweptAabbWithPredictedPosition<'a> {
+    fn size_hint(&self) -> usize {
+        self.colliders.len()
+    }
+
+    #[inline(always)]
+    fn for_each(&mut self, mut f: impl FnMut(ColliderHandle, Aabb)) {
+        for (h, co) in self.colliders.iter_enabled() {
+            if let Some(co_parent) = co.parent {
+                let rb = &self.bodies[co_parent.handle];
+                let predicted_pos = rb
+                    .pos
+                    .integrate_forces_and_velocities(self.dt, &rb.forces, &rb.vels, &rb.mprops);
+
+                let next_position = predicted_pos * co_parent.pos_wrt_parent;
+                f(h, co.shape.compute_swept_aabb(&co.pos, &next_position))
+            } else {
+                f(h, co.shape.compute_aabb(&co.pos))
+            }
+        }
+    }
+}
+
+/// Generates collider AABBs based on the union of their AABB at their current [`Collider::position`]
+/// and the AABB predicted from their parent’s [`RigidBody::next_position`].
+///
+/// The main purpose of this struct is to be passed as a parameters to
+/// [`QueryPipeline::update_with_generator`] to update the [`QueryPipeline`].
+///
+/// The predicted position is calculated as
+/// `RigidBody::next_position * Collider::position_wrt_parent`.
+pub struct SweptAabbWithNextPosition<'a> {
+    /// The rigid bodies of your simulation.
+    pub bodies: &'a RigidBodySet,
+    /// The colliders of your simulation.
+    pub colliders: &'a ColliderSet,
+}
+
+impl<'a> QbvhDataGenerator<ColliderHandle> for SweptAabbWithNextPosition<'a> {
+    fn size_hint(&self) -> usize {
+        self.colliders.len()
+    }
+
+    #[inline(always)]
+    fn for_each(&mut self, mut f: impl FnMut(ColliderHandle, Aabb)) {
+        for (h, co) in self.colliders.iter_enabled() {
+            if let Some(co_parent) = co.parent {
+                let rb_next_pos = &self.bodies[co_parent.handle].pos.next_position;
+                let next_position = rb_next_pos * co_parent.pos_wrt_parent;
+                f(h, co.shape.compute_swept_aabb(&co.pos, &next_position))
+            } else {
+                f(h, co.shape.compute_aabb(&co.pos))
+            }
+        }
+    }
+}
+
+/// Generates collider AABBs based on the AABB at their current [`Collider::position`].
+///
+/// The main purpose of this struct is to be passed as a parameters to
+/// [`QueryPipeline::update_with_generator`] to update the [`QueryPipeline`].
+pub struct CurrentAabb<'a> {
+    /// The colliders of your simulation.
+    pub colliders: &'a ColliderSet,
+}
+
+impl<'a> QbvhDataGenerator<ColliderHandle> for CurrentAabb<'a> {
+    fn size_hint(&self) -> usize {
+        self.colliders.len()
+    }
+
+    #[inline(always)]
+    fn for_each(&mut self, mut f: impl FnMut(ColliderHandle, Aabb)) {
+        for (h, co) in self.colliders.iter_enabled() {
+            f(h, co.shape.compute_aabb(&co.pos))
+        }
+    }
+}