fix compilation of tests

CHANGELOG.md

@@ -2,6 +2,14 @@
 
 ## unreleased
 
+### Added
+
+- Add `ShapeCastOptions` that includes two new options for (linear) shape-casting.
+  `ShapeCastOptions::target_distance` which will return a hit as soon as the moving
+  shapes are closer than this distance; and `compute_impact_geometry_on_penetration`
+  which forces the calculation of proper witness points and normals even if the shapes
+  are initially intersecting (`time_of_impact == 0.0`).
+
 ### Modified
 
 This version modifies many names related to shape-casting:
@@ -17,16 +25,12 @@ This version modifies many names related to shape-casting:
 - Rename `QueryDispatcher::time_of_impact` to `QueryDispatcher::cast_shapes`.
 - The (linear) shape-casting functions like `query::cast_shapes` (previously named
   `query::time_of_impact) now take a `ShapeCastOptions` instead of the `max_toi` and
-  `stop_at_penetration` arguments. This `ShapeCastOptions` includes two new options:
-  `ShapeCastOptions::target_distance` which will return a hit as soon as the moving
-  shapes are closer than this distance; and `compute_impact_geometry_on_penetration`
-  which forces the calculation of proper witness points and normals even if the shapes
-  are initially intersecting (`toi == 0.0`, `time_of_impact == 0.0`).
+  `stop_at_penetration` arguments.
 - Rename `query::nonlinear_time_of_impact` to `query::cast_shapes_nonlinear`.
 - Rename `QueryDispatcher::nonlinear_time_of_impact` to `QueryDispatcher::cast_sahpes_nonlinear`.
 - Rename `NonlinearTOIMode` to `NonlinearShapeCastMode`, and `NonlinearTOIMode::DirectionalTOI` to
   `NonlinearShapeCastMode::Directional`.
-- rename `TimeOfImpactStatus::Penetrating` to `ShapeCastStatus::PenetratingOrWithinTargetDist`.
+- Rename `TimeOfImpactStatus::Penetrating` to `ShapeCastStatus::PenetratingOrWithinTargetDist`.
 
 ## v0.14.0
 

crates/parry2d/examples/time_of_impact_query2d.rs

@@ -1,8 +1,8 @@
 extern crate nalgebra as na;
 
 use na::{Isometry2, Vector2};
-use parry2d::math::Real;
 use parry2d::query;
+use parry2d::query::ShapeCastOptions;
 use parry2d::shape::{Ball, Cuboid};
 
 fn main() {
@@ -27,8 +27,7 @@ fn main() {
         &cuboid_pos,
         &box_vel1,
         &cuboid,
-        Real::MAX,
-        true,
+        ShapeCastOptions::default(),
     )
     .unwrap();
     let toi_will_touch = query::cast_shapes(
@@ -38,8 +37,7 @@ fn main() {
         &cuboid_pos,
         &box_vel2,
         &cuboid,
-        Real::MAX,
-        true,
+        ShapeCastOptions::default(),
     )
     .unwrap();
     let toi_wont_touch = query::cast_shapes(
@@ -49,8 +47,7 @@ fn main() {
         &cuboid_pos,
         &box_vel1,
         &cuboid,
-        Real::MAX,
-        true,
+        ShapeCastOptions::default(),
     )
     .unwrap();
 

crates/parry3d/examples/time_of_impact_query3d.rs

@@ -1,8 +1,7 @@
 extern crate nalgebra as na;
 
 use na::{Isometry3, Vector3};
-use parry3d::math::Real;
-use parry3d::query;
+use parry3d::query::{self, ShapeCastOptions};
 use parry3d::shape::{Ball, Cuboid};
 
 fn main() {
@@ -27,8 +26,7 @@ fn main() {
         &cuboid_pos,
         &cuboid_vel1,
         &cuboid,
-        Real::MAX,
-        true,
+        ShapeCastOptions::default(),
     )
     .unwrap();
     let toi_will_touch = query::cast_shapes(
@@ -38,8 +36,7 @@ fn main() {
         &cuboid_pos,
         &cuboid_vel2,
         &cuboid,
-        Real::MAX,
-        true,
+        ShapeCastOptions::default(),
     )
     .unwrap();
     let toi_wont_touch = query::cast_shapes(
@@ -49,8 +46,7 @@ fn main() {
         &cuboid_pos,
         &cuboid_vel1,
         &cuboid,
-        Real::MAX,
-        true,
+        ShapeCastOptions::default(),
     )
     .unwrap();
 

crates/parry3d/tests/geometry/ball_ball_toi.rs

@@ -1,8 +1,7 @@
 // Issue #35
 
 use na::{self, Isometry3, Vector3};
-use parry3d::math::Real;
-use parry3d::query;
+use parry3d::query::{self, ShapeCastOptions};
 use parry3d::shape::Ball;
 
 #[test]
@@ -13,7 +12,8 @@ fn test_ball_ball_toi() {
     let vel1 = Vector3::new(0.0, 10.0, 0.0);
     let vel2 = Vector3::zeros();
 
-    let cast = query::cast_shapes(&m1, &vel1, &b, &m2, &vel2, &b, Real::MAX, true).unwrap();
+    let cast =
+        query::cast_shapes(&m1, &vel1, &b, &m2, &vel2, &b, ShapeCastOptions::default()).unwrap();
 
     assert_eq!(cast.unwrap().time_of_impact, 0.9);
 }

crates/parry3d/tests/geometry/ball_triangle_toi.rs

@@ -1,7 +1,7 @@
 // Issue #123
 
 use na::{self, Isometry3, Point3, Vector3};
-use parry3d::query;
+use parry3d::query::{self, ShapeCastOptions};
 use parry3d::shape::{Ball, Triangle};
 
 #[test]
@@ -18,7 +18,8 @@ fn ball_triangle_toi_infinite_loop_issue() {
     let vel1 = Vector3::new(0.0, 0.000000000000000000000000000000000000000006925, 0.0);
     let vel2 = Vector3::zeros();
 
-    let cast = query::cast_shapes(&m1, &vel1, &b, &m2, &vel2, &t, std::f32::MAX, true).unwrap();
+    let cast =
+        query::cast_shapes(&m1, &vel1, &b, &m2, &vel2, &t, ShapeCastOptions::default()).unwrap();
 
     println!("ShapeCastHit: {:?}", cast);
     assert!(cast.is_none()); // The provided velocity is too small.

crates/parry3d/tests/geometry/still_objects_toi.rs

@@ -1,5 +1,5 @@
 use na::{self, Isometry3, Vector3};
-use parry3d::query::cast_shapes;
+use parry3d::query::{cast_shapes, ShapeCastOptions};
 use parry3d::shape::Cuboid;
 
 /**
@@ -25,15 +25,14 @@ fn collide(v_y: f32) -> Option<f32> {
     let vel2 = Vector3::zeros();
     let cuboid = Cuboid::new(Vector3::new(0.5, 0.5, 0.5));
 
-    time_of_impact(
+    cast_shapes(
         &pos1,
         &vel1,
         &cuboid,
         &pos2,
         &vel2,
         &cuboid,
-        std::f32::MAX,
-        true,
+        ShapeCastOptions::default(),
     )
     .unwrap()
     .map(|time_of_impact| time_of_impact.time_of_impact)

crates/parry3d/tests/geometry/time_of_impact3.rs

@@ -1,6 +1,6 @@
 use na::{self, Isometry3, Vector3};
 use parry3d::math::Real;
-use parry3d::query;
+use parry3d::query::{self, ShapeCastOptions};
 use parry3d::shape::{Ball, Cuboid};
 
 #[test]
@@ -26,8 +26,7 @@ fn ball_cuboid_toi() {
         &cuboid_pos,
         &cuboid_vel1,
         &cuboid,
-        Real::MAX,
-        true,
+        ShapeCastOptions::default(),
     )
     .unwrap()
     .map(|time_of_impact| time_of_impact.time_of_impact);
@@ -38,8 +37,7 @@ fn ball_cuboid_toi() {
         &cuboid_pos,
         &cuboid_vel2,
         &cuboid,
-        Real::MAX,
-        true,
+        ShapeCastOptions::default(),
     )
     .unwrap()
     .map(|time_of_impact| time_of_impact.time_of_impact);
@@ -50,8 +48,7 @@ fn ball_cuboid_toi() {
         &cuboid_pos,
         &cuboid_vel1,
         &cuboid,
-        Real::MAX,
-        true,
+        ShapeCastOptions::default(),
     )
     .unwrap()
     .map(|time_of_impact| time_of_impact.time_of_impact);

crates/parry3d/tests/geometry/trimesh_trimesh_toi.rs

@@ -2,7 +2,7 @@
 
 use na::{zero, Isometry3, Point3, Vector3};
 use parry3d::math::Real;
-use parry3d::query;
+use parry3d::query::{self, ShapeCastOptions};
 use parry3d::shape::TriMesh;
 
 fn build_pyramid() -> TriMesh {
@@ -40,8 +40,7 @@ fn do_toi_test() -> Option<Real> {
         &transform_two,
         &vel_two,
         &shape_two,
-        Real::MAX,
-        true,
+        ShapeCastOptions::default(),
     )
     .unwrap()
     .map(|time_of_impact| time_of_impact.time_of_impact)