diff --git a/crates/parry2d/examples/time_of_impact_query2d.rs b/crates/parry2d/examples/time_of_impact_query2d.rs
index 8f4cfeee..d96e1d07 100644
--- a/crates/parry2d/examples/time_of_impact_query2d.rs
+++ b/crates/parry2d/examples/time_of_impact_query2d.rs
@@ -51,14 +51,8 @@ fn main() {
)
.unwrap();
- assert_eq!(
- toi_intersecting.map(|time_of_impact| time_of_impact.time_of_impact),
- Some(0.0)
- );
+ assert_eq!(toi_intersecting.map(|hit| hit.time_of_impact), Some(0.0));
println!("Toi: {:?}", toi_will_touch);
assert!(toi_will_touch.is_some() && toi_will_touch.unwrap().time_of_impact > 0.0);
- assert_eq!(
- toi_wont_touch.map(|time_of_impact| time_of_impact.time_of_impact),
- None
- );
+ assert_eq!(toi_wont_touch.map(|hit| hit.time_of_impact), None);
}
diff --git a/crates/parry2d/tests/geometry/time_of_impact2.rs b/crates/parry2d/tests/geometry/time_of_impact2.rs
index f2dc5011..bcb47ec2 100644
--- a/crates/parry2d/tests/geometry/time_of_impact2.rs
+++ b/crates/parry2d/tests/geometry/time_of_impact2.rs
@@ -51,18 +51,12 @@ fn ball_cuboid_toi() {
)
.unwrap();
- assert_eq!(
- toi_intersecting.map(|time_of_impact| time_of_impact.time_of_impact),
- Some(0.0)
- );
+ assert_eq!(toi_intersecting.map(|hit| hit.time_of_impact), Some(0.0));
assert!(relative_eq!(
toi_will_touch.unwrap().time_of_impact,
((2.0 as Real).sqrt() - 1.0) / (ball_vel2 - cuboid_vel2).norm()
));
- assert_eq!(
- toi_wont_touch.map(|time_of_impact| time_of_impact.time_of_impact),
- None
- );
+ assert_eq!(toi_wont_touch.map(|hit| hit.time_of_impact), None);
}
#[test]
@@ -76,7 +70,7 @@ fn cuboid_cuboid_toi_issue_214() {
let vel1 = Vector2::new(1.0, 0.0);
let vel2 = Vector2::new(0.0, 0.0);
- let time_of_impact = query::cast_shapes(
+ let hit = query::cast_shapes(
&pos1,
&vel1,
&shape1,
@@ -86,7 +80,7 @@ fn cuboid_cuboid_toi_issue_214() {
ShapeCastOptions::default(),
)
.unwrap();
- assert!(time_of_impact.is_some());
+ assert!(hit.is_some());
}
#[test]
@@ -107,7 +101,7 @@ fn cast_shapes_should_return_toi_for_ball_and_rotated_polyline() {
Point2::new(1.0, 0.99999994)
);
- let time_of_impact = query::cast_shapes(
+ let hit = query::cast_shapes(
&ball_isometry,
&ball_velocity,
&ball,
@@ -118,7 +112,7 @@ fn cast_shapes_should_return_toi_for_ball_and_rotated_polyline() {
)
.unwrap();
- assert_eq!(time_of_impact.unwrap().time_of_impact, 0.5);
+ assert_eq!(hit.unwrap().time_of_impact, 0.5);
}
#[test]
@@ -139,7 +133,7 @@ fn cast_shapes_should_return_toi_for_ball_and_rotated_segment() {
Point2::new(1.0, 0.99999994)
);
- let time_of_impact = query::cast_shapes(
+ let hit = query::cast_shapes(
&ball_isometry,
&ball_velocity,
&ball,
@@ -150,7 +144,7 @@ fn cast_shapes_should_return_toi_for_ball_and_rotated_segment() {
)
.unwrap();
- assert_eq!(time_of_impact.unwrap().time_of_impact, 0.49999994);
+ assert_eq!(hit.unwrap().time_of_impact, 0.49999994);
}
#[test]
@@ -171,7 +165,7 @@ fn cast_shapes_should_return_toi_for_rotated_segment_and_ball() {
Point2::new(1.0, 0.99999994)
);
- let time_of_impact = query::cast_shapes(
+ let hit = query::cast_shapes(
&segment_isometry,
&segment_velocity,
&segment,
@@ -182,5 +176,5 @@ fn cast_shapes_should_return_toi_for_rotated_segment_and_ball() {
)
.unwrap();
- assert_eq!(time_of_impact.unwrap().time_of_impact, 0.5);
+ assert_eq!(hit.unwrap().time_of_impact, 0.5);
}
diff --git a/crates/parry3d/examples/time_of_impact_query3d.rs b/crates/parry3d/examples/time_of_impact_query3d.rs
index 354d986a..20028785 100644
--- a/crates/parry3d/examples/time_of_impact_query3d.rs
+++ b/crates/parry3d/examples/time_of_impact_query3d.rs
@@ -50,13 +50,7 @@ fn main() {
)
.unwrap();
- assert_eq!(
- toi_intersecting.map(|time_of_impact| time_of_impact.time_of_impact),
- Some(0.0)
- );
+ assert_eq!(toi_intersecting.map(|hit| hit.time_of_impact), Some(0.0));
assert!(toi_will_touch.is_some() && toi_will_touch.unwrap().time_of_impact > 0.0);
- assert_eq!(
- toi_wont_touch.map(|time_of_impact| time_of_impact.time_of_impact),
- None
- );
+ assert_eq!(toi_wont_touch.map(|hit| hit.time_of_impact), None);
}
diff --git a/crates/parry3d/tests/geometry/still_objects_toi.rs b/crates/parry3d/tests/geometry/still_objects_toi.rs
index d353a8e5..3c9bad02 100644
--- a/crates/parry3d/tests/geometry/still_objects_toi.rs
+++ b/crates/parry3d/tests/geometry/still_objects_toi.rs
@@ -35,7 +35,7 @@ fn collide(v_y: f32) -> Option<f32> {
ShapeCastOptions::default(),
)
.unwrap()
- .map(|time_of_impact| time_of_impact.time_of_impact)
+ .map(|hit| hit.time_of_impact)
}
#[test]
diff --git a/crates/parry3d/tests/geometry/time_of_impact3.rs b/crates/parry3d/tests/geometry/time_of_impact3.rs
index e2907dec..71cbcf45 100644
--- a/crates/parry3d/tests/geometry/time_of_impact3.rs
+++ b/crates/parry3d/tests/geometry/time_of_impact3.rs
@@ -29,7 +29,7 @@ fn ball_cuboid_toi() {
ShapeCastOptions::default(),
)
.unwrap()
- .map(|time_of_impact| time_of_impact.time_of_impact);
+ .map(|hit| hit.time_of_impact);
let toi_will_touch = query::cast_shapes(
&ball_pos_will_touch,
&ball_vel2,
@@ -40,7 +40,7 @@ fn ball_cuboid_toi() {
ShapeCastOptions::default(),
)
.unwrap()
- .map(|time_of_impact| time_of_impact.time_of_impact);
+ .map(|hit| hit.time_of_impact);
let toi_wont_touch = query::cast_shapes(
&ball_pos_wont_touch,
&ball_vel1,
@@ -51,7 +51,7 @@ fn ball_cuboid_toi() {
ShapeCastOptions::default(),
)
.unwrap()
- .map(|time_of_impact| time_of_impact.time_of_impact);
+ .map(|hit| hit.time_of_impact);
assert_eq!(toi_intersecting, Some(0.0));
assert!(relative_eq!(
diff --git a/crates/parry3d/tests/geometry/trimesh_trimesh_toi.rs b/crates/parry3d/tests/geometry/trimesh_trimesh_toi.rs
index d676bd73..22493edb 100644
--- a/crates/parry3d/tests/geometry/trimesh_trimesh_toi.rs
+++ b/crates/parry3d/tests/geometry/trimesh_trimesh_toi.rs
@@ -43,7 +43,7 @@ fn do_toi_test() -> Option<Real> {
ShapeCastOptions::default(),
)
.unwrap()
- .map(|time_of_impact| time_of_impact.time_of_impact)
+ .map(|hit| hit.time_of_impact)
}
#[test]
diff --git a/src/query/nonlinear_shape_cast/nonlinear_shape_cast_composite_shape_shape.rs b/src/query/nonlinear_shape_cast/nonlinear_shape_cast_composite_shape_shape.rs
index 03402609..959d37de 100644
--- a/src/query/nonlinear_shape_cast/nonlinear_shape_cast_composite_shape_shape.rs
+++ b/src/query/nonlinear_shape_cast/nonlinear_shape_cast_composite_shape_shape.rs
@@ -63,7 +63,7 @@ where
end_time,
stop_at_penetration,
)
- .map(|time_of_impact| time_of_impact.swapped())
+ .map(|hit| hit.swapped())
}
/// A visitor used to determine the non-linear time of impact between a composite shape and another shape.
@@ -141,25 +141,23 @@ where
let ball_motion1 = self.motion1.prepend_translation(center1.coords);
let ball_motion2 = self.motion2.prepend_translation(self.sphere2.center.coords);
- if let Some(time_of_impact) =
- query::details::cast_shapes_nonlinear_support_map_support_map(
- self.dispatcher,
- &ball_motion1,
- &ball1,
- &ball1,
- &ball_motion2,
- &ball2,
- &ball2,
- self.start_time,
- self.end_time,
- NonlinearShapeCastMode::StopAtPenetration,
- )
- {
+ if let Some(hit) = query::details::cast_shapes_nonlinear_support_map_support_map(
+ self.dispatcher,
+ &ball_motion1,
+ &ball1,
+ &ball1,
+ &ball_motion2,
+ &ball2,
+ &ball2,
+ self.start_time,
+ self.end_time,
+ NonlinearShapeCastMode::StopAtPenetration,
+ ) {
if let Some(data) = data {
- if time_of_impact.time_of_impact < best && data[ii].is_some() {
+ if hit.time_of_impact < best && data[ii].is_some() {
let part_id = *data[ii].unwrap();
self.g1.map_untyped_part_at(part_id, |part_pos1, g1, _| {
- let time_of_impact = if let Some(part_pos1) = part_pos1 {
+ let hit = if let Some(part_pos1) = part_pos1 {
self.dispatcher
.cast_shapes_nonlinear(
&self.motion1.prepend(*part_pos1),
@@ -171,7 +169,7 @@ where
self.stop_at_penetration,
)
.unwrap_or(None)
- .map(|time_of_impact| time_of_impact.transform1_by(part_pos1))
+ .map(|hit| hit.transform1_by(part_pos1))
} else {
self.dispatcher
.cast_shapes_nonlinear(
@@ -188,16 +186,16 @@ where
// println!("Found time_of_impact: {:?}", time_of_impact);
- if let Some(time_of_impact) = time_of_impact {
- weights[ii] = time_of_impact.time_of_impact;
- mask[ii] = time_of_impact.time_of_impact < best;
- results[ii] = Some((part_id, time_of_impact));
+ if let Some(hit) = hit {
+ weights[ii] = hit.time_of_impact;
+ mask[ii] = hit.time_of_impact < best;
+ results[ii] = Some((part_id, hit));
}
});
}
} else {
- weights[ii] = time_of_impact.time_of_impact;
- mask[ii] = time_of_impact.time_of_impact < best;
+ weights[ii] = hit.time_of_impact;
+ mask[ii] = hit.time_of_impact < best;
}
}
}
diff --git a/src/query/nonlinear_shape_cast/nonlinear_shape_cast_support_map_support_map.rs b/src/query/nonlinear_shape_cast/nonlinear_shape_cast_support_map_support_map.rs
index b000e3f0..bb04772f 100644
--- a/src/query/nonlinear_shape_cast/nonlinear_shape_cast_support_map_support_map.rs
+++ b/src/query/nonlinear_shape_cast/nonlinear_shape_cast_support_map_support_map.rs
@@ -87,7 +87,7 @@ where
compute_toi(
dispatcher, motion2, sm2, g2, motion1, sm1, g1, start_time, end_time, mode,
)
- .map(|time_of_impact| time_of_impact.swapped())
+ .map(|hit| hit.swapped())
}
}
diff --git a/src/query/shape_cast/shape_cast_composite_shape_shape.rs b/src/query/shape_cast/shape_cast_composite_shape_shape.rs
index 55e008f8..915a5e6d 100644
--- a/src/query/shape_cast/shape_cast_composite_shape_shape.rs
+++ b/src/query/shape_cast/shape_cast_composite_shape_shape.rs
@@ -132,10 +132,10 @@ where
for ii in 0..SIMD_WIDTH {
if (bitmask & (1 << ii)) != 0 && data[ii].is_some() {
let part_id = *data[ii].unwrap();
- let mut time_of_impact = None;
+ let mut hit = None;
self.g1.map_untyped_part_at(part_id, |part_pos1, g1, _| {
if let Some(part_pos1) = part_pos1 {
- time_of_impact = self
+ hit = self
.dispatcher
.cast_shapes(
&part_pos1.inv_mul(self.pos12),
@@ -145,19 +145,19 @@ where
self.options,
)
.unwrap_or(None)
- .map(|time_of_impact| time_of_impact.transform1_by(part_pos1));
+ .map(|hit| hit.transform1_by(part_pos1));
} else {
- time_of_impact = self
+ hit = self
.dispatcher
.cast_shapes(self.pos12, self.vel12, g1, self.g2, self.options)
.unwrap_or(None);
}
});
- if let Some(time_of_impact) = time_of_impact {
- results[ii] = Some((part_id, time_of_impact));
- mask[ii] = time_of_impact.time_of_impact < best;
- weights[ii] = time_of_impact.time_of_impact;
+ if let Some(hit) = hit {
+ results[ii] = Some((part_id, hit));
+ mask[ii] = hit.time_of_impact < best;
+ weights[ii] = hit.time_of_impact;
}
}
}
diff --git a/src/query/shape_cast/shape_cast_halfspace_support_map.rs b/src/query/shape_cast/shape_cast_halfspace_support_map.rs
index 23932ba3..8d866cd2 100644
--- a/src/query/shape_cast/shape_cast_halfspace_support_map.rs
+++ b/src/query/shape_cast/shape_cast_halfspace_support_map.rs
@@ -80,5 +80,5 @@ where
other,
options,
)
- .map(|time_of_impact| time_of_impact.swapped())
+ .map(|hit| hit.swapped())
}
diff --git a/src/query/shape_cast/shape_cast_heightfield_shape.rs b/src/query/shape_cast/shape_cast_heightfield_shape.rs
index da32b299..d963722e 100644
--- a/src/query/shape_cast/shape_cast_heightfield_shape.rs
+++ b/src/query/shape_cast/shape_cast_heightfield_shape.rs
@@ -43,11 +43,7 @@ where
if let Some(seg) = heightfield1.segment_at(curr) {
// TODO: pre-check using a ray-cast on the Aabbs first?
if let Some(hit) = dispatcher.cast_shapes(pos12, vel12, &seg, g2, options)? {
- if hit.time_of_impact
- < best_hit
- .map(|time_of_impact| time_of_impact.time_of_impact)
- .unwrap_or(Real::MAX)
- {
+ if hit.time_of_impact < best_hit.map(|h| h.time_of_impact).unwrap_or(Real::MAX) {
best_hit = Some(hit);
}
}
@@ -92,11 +88,7 @@ where
if let Some(seg) = heightfield1.segment_at(curr_elt as usize) {
// TODO: pre-check using a ray-cast on the Aabbs first?
if let Some(hit) = dispatcher.cast_shapes(pos12, vel12, &seg, g2, options)? {
- if hit.time_of_impact
- < best_hit
- .map(|time_of_impact| time_of_impact.time_of_impact)
- .unwrap_or(Real::MAX)
- {
+ if hit.time_of_impact < best_hit.map(|h| h.time_of_impact).unwrap_or(Real::MAX) {
best_hit = Some(hit);
}
}
@@ -168,10 +160,7 @@ where
for tri in [tri_a, tri_b].into_iter().flatten() {
// TODO: pre-check using a ray-cast on the Aabbs first?
if let Some(hit) = dispatcher.cast_shapes(pos12, vel12, &tri, g2, options)? {
- if hit.time_of_impact
- < best_hit
- .map(|time_of_impact| time_of_impact.time_of_impact)
- .unwrap_or(Real::MAX)
+ if hit.time_of_impact < best_hit.map(|h| h.time_of_impact).unwrap_or(Real::MAX)
{
best_hit = Some(hit);
}
@@ -297,5 +286,5 @@ where
g1,
options,
)?
- .map(|time_of_impact| time_of_impact.swapped()))
+ .map(|hit| hit.swapped()))
}