feat: add the DefaultBroadPhase type alias

CHANGELOG.md

@@ -16,7 +16,8 @@
 ### Modified
 
 - Renamed `BroadPhase` to `BroadPhaseMultiSap`. The `BroadPhase` is no a trait that can be
-  implemented for providing a custom broad-phase to rapier.
+  implemented for providing a custom broad-phase to rapier. Equivalently, the `DefaultBroadPhase` type
+  alias can be used in place of `BroadPhaseMultiSap`.
 
 ## v0.18.0 (24 Jan. 2024)
 

examples3d-f64/debug_serialized3.rs

@@ -4,7 +4,7 @@ use rapier_testbed3d::Testbed;
 #[derive(serde::Deserialize)]
 struct State {
     pub islands: IslandManager,
-    pub broad_phase: BroadPhaseMultiSap,
+    pub broad_phase: DefaultBroadPhase,
     pub narrow_phase: NarrowPhase,
     pub bodies: RigidBodySet,
     pub colliders: ColliderSet,

examples3d/debug_deserialize3.rs

@@ -6,7 +6,7 @@ struct PhysicsState {
     pub gravity: Vector<f32>,
     pub integration_parameters: IntegrationParameters,
     pub islands: IslandManager,
-    pub broad_phase: BroadPhaseMultiSap,
+    pub broad_phase: DefaultBroadPhase,
     pub narrow_phase: NarrowPhase,
     pub bodies: RigidBodySet,
     pub colliders: ColliderSet,

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,

src_testbed/harness/mod.rs

@@ -9,7 +9,7 @@ use rapier::dynamics::{
     CCDSolver, ImpulseJointSet, IntegrationParameters, IslandManager, MultibodyJointSet,
     RigidBodySet,
 };
-use rapier::geometry::{BroadPhaseMultiSap, ColliderSet, NarrowPhase};
+use rapier::geometry::{ColliderSet, DefaultBroadPhase, NarrowPhase};
 use rapier::math::{Real, Vector};
 use rapier::pipeline::{ChannelEventCollector, PhysicsHooks, PhysicsPipeline, QueryPipeline};
 
@@ -179,7 +179,7 @@ impl Harness {
         self.physics.hooks = Box::new(hooks);
 
         self.physics.islands = IslandManager::new();
-        self.physics.broad_phase = BroadPhaseMultiSap::new();
+        self.physics.broad_phase = DefaultBroadPhase::new();
         self.physics.narrow_phase = NarrowPhase::new();
         self.state.timestep_id = 0;
         self.state.time = 0.0;

src_testbed/physics/mod.rs

@@ -4,7 +4,7 @@ use rapier::dynamics::{
     RigidBodySet,
 };
 use rapier::geometry::{
-    BroadPhaseMultiSap, ColliderSet, CollisionEvent, ContactForceEvent, NarrowPhase,
+    ColliderSet, CollisionEvent, ContactForceEvent, DefaultBroadPhase, NarrowPhase,
 };
 use rapier::math::{Real, Vector};
 use rapier::pipeline::{PhysicsHooks, PhysicsPipeline, QueryPipeline};
@@ -22,7 +22,7 @@ pub struct PhysicsSnapshot {
 
 pub struct DeserializedPhysicsSnapshot {
     pub timestep_id: usize,
-    pub broad_phase: BroadPhaseMultiSap,
+    pub broad_phase: DefaultBroadPhase,
     pub narrow_phase: NarrowPhase,
     pub island_manager: IslandManager,
     pub bodies: RigidBodySet,
@@ -34,7 +34,7 @@ pub struct DeserializedPhysicsSnapshot {
 impl PhysicsSnapshot {
     pub fn new(
         timestep_id: usize,
-        broad_phase: &BroadPhaseMultiSap,
+        broad_phase: &DefaultBroadPhase,
         narrow_phase: &NarrowPhase,
         island_manager: &IslandManager,
         bodies: &RigidBodySet,
@@ -88,7 +88,7 @@ impl PhysicsSnapshot {
 
 pub struct PhysicsState {
     pub islands: IslandManager,
-    pub broad_phase: BroadPhaseMultiSap,
+    pub broad_phase: DefaultBroadPhase,
     pub narrow_phase: NarrowPhase,
     pub bodies: RigidBodySet,
     pub colliders: ColliderSet,
@@ -112,7 +112,7 @@ impl PhysicsState {
     pub fn new() -> Self {
         Self {
             islands: IslandManager::new(),
-            broad_phase: BroadPhaseMultiSap::new(),
+            broad_phase: DefaultBroadPhase::new(),
             narrow_phase: NarrowPhase::new(),
             bodies: RigidBodySet::new(),
             colliders: ColliderSet::new(),