feat: add the DefaultBroadPhase type alias

src/geometry/mod.rs

@@ -49,10 +49,12 @@ pub type Aabb = parry::bounding_volume::Aabb;
 pub type Ray = parry::query::Ray;
 /// The intersection between a ray and a  collider.
 pub type RayIntersection = parry::query::RayIntersection;
-/// The the projection of a point on a collider.
+/// The projection of a point on a collider.
 pub type PointProjection = parry::query::PointProjection;
-/// The the time of impact between two shapes.
+/// The time of impact between two shapes.
 pub type TOI = parry::query::TOI;
+/// The default broad-phase implementation provided by Rapier.
+pub type DefaultBroadPhase = BroadPhaseMultiSap;
 
 bitflags::bitflags! {
     /// Flags providing more information regarding a collision event.

src/pipeline/collision_pipeline.rs

@@ -2,8 +2,7 @@
 
 use crate::dynamics::{ImpulseJointSet, MultibodyJointSet};
 use crate::geometry::{
-    BroadPhase, BroadPhaseMultiSap, BroadPhasePairEvent, ColliderChanges, ColliderHandle,
-    ColliderPair, NarrowPhase,
+    BroadPhase, BroadPhasePairEvent, ColliderChanges, ColliderHandle, ColliderPair, NarrowPhase,
 };
 use crate::math::Real;
 use crate::pipeline::{EventHandler, PhysicsHooks, QueryPipeline};
@@ -108,7 +107,7 @@ impl CollisionPipeline {
     pub fn step(
         &mut self,
         prediction_distance: Real,
-        broad_phase: &mut BroadPhaseMultiSap,
+        broad_phase: &mut dyn BroadPhase,
         narrow_phase: &mut NarrowPhase,
         bodies: &mut RigidBodySet,
         colliders: &mut ColliderSet,