Address a few TODOs (dimforge#273)

CHANGELOG.md

@@ -14,6 +14,7 @@
   - `TriMesh::intersection_with_aabb`
   - `SharedShape::trimesh`
   - `SharedShape::trimesh_with_flags`
+- `point_cloud_bounding_sphere_with_center` now returns a `BoundingSphere`.
 
 ## v0.17.1
 

src/bounding_volume/bounding_sphere_convex.rs

@@ -14,8 +14,6 @@ impl ConvexPolyhedron {
     /// Computes the local-space bounding sphere of this convex polyhedron.
     #[inline]
     pub fn local_bounding_sphere(&self) -> BoundingSphere {
-        let (center, radius) = bounding_volume::details::point_cloud_bounding_sphere(self.points());
-
-        BoundingSphere::new(center, radius)
+        bounding_volume::details::point_cloud_bounding_sphere(self.points())
     }
 }

src/bounding_volume/bounding_sphere_convex_polygon.rs

@@ -14,8 +14,6 @@ impl ConvexPolygon {
     /// Computes the local-space bounding sphere of this convex polygon.
     #[inline]
     pub fn local_bounding_sphere(&self) -> BoundingSphere {
-        let (center, radius) = bounding_volume::details::point_cloud_bounding_sphere(self.points());
-
-        BoundingSphere::new(center, radius)
+        bounding_volume::details::point_cloud_bounding_sphere(self.points())
     }
 }

src/bounding_volume/bounding_sphere_segment.rs

@@ -15,8 +15,6 @@ impl Segment {
     #[inline]
     pub fn local_bounding_sphere(&self) -> BoundingSphere {
         let pts = [self.a, self.b];
-        let (center, radius) = bounding_volume::details::point_cloud_bounding_sphere(&pts[..]);
-
-        BoundingSphere::new(center, radius)
+        bounding_volume::details::point_cloud_bounding_sphere(&pts[..])
     }
 }

src/bounding_volume/bounding_sphere_triangle.rs

@@ -15,8 +15,6 @@ impl Triangle {
     #[inline]
     pub fn local_bounding_sphere(&self) -> BoundingSphere {
         let pts = [self.a, self.b, self.c];
-        let (center, radius) = bounding_volume::details::point_cloud_bounding_sphere(&pts[..]);
-
-        BoundingSphere::new(center, radius)
+        bounding_volume::details::point_cloud_bounding_sphere(&pts[..])
     }
 }

src/bounding_volume/bounding_sphere_utils.rs

@@ -2,13 +2,14 @@ use crate::math::{Point, Real};
 use crate::utils;
 use na::{self, ComplexField};
 
+use super::BoundingSphere;
+
 /// Computes the bounding sphere of a set of point, given its center.
-// TODO: return a bounding sphere?
 #[inline]
 pub fn point_cloud_bounding_sphere_with_center(
     pts: &[Point<Real>],
     center: Point<Real>,
-) -> (Point<Real>, Real) {
+) -> BoundingSphere {
     let mut sqradius = 0.0;
 
     for pt in pts.iter() {
@@ -18,13 +19,11 @@ pub fn point_cloud_bounding_sphere_with_center(
             sqradius = distance_squared
         }
     }
-
-    (center, ComplexField::sqrt(sqradius))
+    BoundingSphere::new(center, ComplexField::sqrt(sqradius))
 }
 
 /// Computes a bounding sphere of the specified set of point.
-// TODO: return a bounding sphere?
 #[inline]
-pub fn point_cloud_bounding_sphere(pts: &[Point<Real>]) -> (Point<Real>, Real) {
+pub fn point_cloud_bounding_sphere(pts: &[Point<Real>]) -> BoundingSphere {
     point_cloud_bounding_sphere_with_center(pts, utils::center(pts))
 }

src/lib.rs

@@ -11,7 +11,7 @@ the rust programming language.
 #![deny(unused_parens)]
 #![deny(non_upper_case_globals)]
 #![deny(unused_results)]
-#![warn(missing_docs)] // TODO: deny this
+#![warn(missing_docs)]
 #![warn(unused_imports)]
 #![allow(missing_copy_implementations)]
 #![allow(clippy::too_many_arguments)] // Maybe revisit this one later.
@@ -20,7 +20,7 @@ the rust programming language.
 #![allow(clippy::type_complexity)] // Complains about closures that are fairly simple.
 #![doc(html_root_url = "http://docs.rs/parry/0.1.1")]
 #![cfg_attr(not(feature = "std"), no_std)]
-#![cfg_attr(not(feature = "rkyv"), deny(unused_qualifications))] // TODO: deny that everytime
+#![deny(unused_qualifications)]
 
 #[cfg(all(
     feature = "simd-is-enabled",

src/mass_properties/mass_properties_convex_polygon.rs

@@ -1,5 +1,3 @@
-#![allow(dead_code)] // TODO: remove this
-
 use crate::mass_properties::MassProperties;
 use crate::math::{Point, Real};
 use crate::shape::Triangle;

src/query/closest_points/closest_points_line_line.rs

@@ -71,7 +71,7 @@ pub fn closest_points_line_line_parameters_eps<const D: usize>(
     }
 }
 
-// TODO: can we re-used this for the segment/segment case?
+// TODO: can we re-use this for the segment/segment case?
 /// Closest points between two segments.
 #[inline]
 pub fn closest_points_line_line(

src/query/epa/epa3.rs

@@ -373,20 +373,16 @@ impl EPA {
             for edge in &self.silhouette {
                 if !self.faces[edge.face_id].deleted {
                     let new_face_id = self.faces.len();
-                    let new_face;
 
-                    // TODO: NLL
-                    {
-                        let face_adj = &mut self.faces[edge.face_id];
-                        let pt_id1 = face_adj.pts[(edge.opp_pt_id + 2) % 3];
-                        let pt_id2 = face_adj.pts[(edge.opp_pt_id + 1) % 3];
+                    let face_adj = &mut self.faces[edge.face_id];
+                    let pt_id1 = face_adj.pts[(edge.opp_pt_id + 2) % 3];
+                    let pt_id2 = face_adj.pts[(edge.opp_pt_id + 1) % 3];
 
-                        let pts = [pt_id1, pt_id2, support_point_id];
-                        let adj = [edge.face_id, new_face_id + 1, new_face_id - 1];
-                        new_face = Face::new(&self.vertices, pts, adj);
+                    let pts = [pt_id1, pt_id2, support_point_id];
+                    let adj = [edge.face_id, new_face_id + 1, new_face_id - 1];
+                    let new_face = Face::new(&self.vertices, pts, adj);
 
-                        face_adj.adj[(edge.opp_pt_id + 1) % 3] = new_face_id;
-                    }
+                    face_adj.adj[(edge.opp_pt_id + 1) % 3] = new_face_id;
 
                     self.faces.push(new_face.0);
 

src/query/gjk/voronoi_simplex2.rs

@@ -98,11 +98,8 @@ impl VoronoiSimplex {
             self.proj[0] = 1.0;
             self.vertices[0].point
         } else if self.dim == 1 {
-            // TODO: NLL
-            let (proj, location) = {
-                let seg = Segment::new(self.vertices[0].point, self.vertices[1].point);
-                seg.project_local_point_and_get_location(&Point::<Real>::origin(), true)
-            };
+            let (proj, location) = Segment::new(self.vertices[0].point, self.vertices[1].point)
+                .project_local_point_and_get_location(&Point::<Real>::origin(), true);
 
             match location {
                 SegmentPointLocation::OnVertex(0) => {
@@ -123,15 +120,12 @@ impl VoronoiSimplex {
             proj.point
         } else {
             assert!(self.dim == 2);
-            // TODO: NLL
-            let (proj, location) = {
-                let tri = Triangle::new(
-                    self.vertices[0].point,
-                    self.vertices[1].point,
-                    self.vertices[2].point,
-                );
-                tri.project_local_point_and_get_location(&Point::<Real>::origin(), true)
-            };
+            let (proj, location) = Triangle::new(
+                self.vertices[0].point,
+                self.vertices[1].point,
+                self.vertices[2].point,
+            )
+            .project_local_point_and_get_location(&Point::<Real>::origin(), true);
 
             match location {
                 TrianglePointLocation::OnVertex(i) => {

src/query/gjk/voronoi_simplex3.rs

@@ -125,11 +125,8 @@ impl VoronoiSimplex {
             self.proj[0] = 1.0;
             self.vertices[0].point
         } else if self.dim == 1 {
-            // TODO: NLL
-            let (proj, location) = {
-                let seg = Segment::new(self.vertices[0].point, self.vertices[1].point);
-                seg.project_local_point_and_get_location(&Point::<Real>::origin(), true)
-            };
+            let (proj, location) = Segment::new(self.vertices[0].point, self.vertices[1].point)
+                .project_local_point_and_get_location(&Point::<Real>::origin(), true);
 
             match location {
                 SegmentPointLocation::OnVertex(0) => {
@@ -150,15 +147,12 @@ impl VoronoiSimplex {
 
             proj.point
         } else if self.dim == 2 {
-            // TODO: NLL
-            let (proj, location) = {
-                let tri = Triangle::new(
-                    self.vertices[0].point,
-                    self.vertices[1].point,
-                    self.vertices[2].point,
-                );
-                tri.project_local_point_and_get_location(&Point::<Real>::origin(), true)
-            };
+            let (proj, location) = Triangle::new(
+                self.vertices[0].point,
+                self.vertices[1].point,
+                self.vertices[2].point,
+            )
+            .project_local_point_and_get_location(&Point::<Real>::origin(), true);
 
             match location {
                 TrianglePointLocation::OnVertex(i) => {
@@ -192,16 +186,13 @@ impl VoronoiSimplex {
             proj.point
         } else {
             assert!(self.dim == 3);
-            // TODO: NLL
-            let (proj, location) = {
-                let tetr = Tetrahedron::new(
-                    self.vertices[0].point,
-                    self.vertices[1].point,
-                    self.vertices[2].point,
-                    self.vertices[3].point,
-                );
-                tetr.project_local_point_and_get_location(&Point::<Real>::origin(), true)
-            };
+            let (proj, location) = Tetrahedron::new(
+                self.vertices[0].point,
+                self.vertices[1].point,
+                self.vertices[2].point,
+                self.vertices[3].point,
+            )
+            .project_local_point_and_get_location(&Point::<Real>::origin(), true);
 
             match location {
                 TetrahedronPointLocation::OnVertex(i) => {

src/query/intersection_test/intersection_test_composite_shape_shape.rs

@@ -1,14 +1,10 @@
-#![allow(deprecated)] // Silence warning until we actually remove IntersectionCompositeShapeShapeBestFirstVisitor
-
 use crate::bounding_volume::SimdAabb;
-use crate::math::{Isometry, Real, SimdReal, Vector, SIMD_WIDTH};
-use crate::partitioning::{
-    SimdBestFirstVisitStatus, SimdBestFirstVisitor, SimdVisitStatus, SimdVisitor,
-};
+use crate::math::{Isometry, Real, SIMD_WIDTH};
+use crate::partitioning::{SimdVisitStatus, SimdVisitor};
 use crate::query::QueryDispatcher;
 use crate::shape::{Shape, TypedSimdCompositeShape};
 use crate::utils::IsometryOpt;
-use simba::simd::{SimdBool as _, SimdPartialOrd, SimdValue};
+use simba::simd::SimdBool as _;
 
 /// Intersection test between a composite shape (`Mesh`, `Compound`) and any other shape.
 pub fn intersection_test_composite_shape_shape<D, G1>(
@@ -118,92 +114,3 @@ where
         SimdVisitStatus::MaybeContinue(mask)
     }
 }
-
-/// A visitor for checking if a composite-shape and a shape intersect.
-#[deprecated(note = "Use IntersectionCompositeShapeShapeVisitor instead.")]
-pub struct IntersectionCompositeShapeShapeBestFirstVisitor<'a, D: ?Sized, G1: ?Sized + 'a> {
-    msum_shift: Vector<SimdReal>,
-    msum_margin: Vector<SimdReal>,
-
-    dispatcher: &'a D,
-    pos12: &'a Isometry<Real>,
-    g1: &'a G1,
-    g2: &'a dyn Shape,
-}
-
-impl<'a, D, G1> IntersectionCompositeShapeShapeBestFirstVisitor<'a, D, G1>
-where
-    D: ?Sized + QueryDispatcher,
-    G1: ?Sized + TypedSimdCompositeShape,
-{
-    /// Initialize a visitor for checking if a composite-shape and a shape intersect.
-    pub fn new(
-        dispatcher: &'a D,
-        pos12: &'a Isometry<Real>,
-        g1: &'a G1,
-        g2: &'a dyn Shape,
-    ) -> IntersectionCompositeShapeShapeBestFirstVisitor<'a, D, G1> {
-        let ls_aabb2 = g2.compute_aabb(pos12);
-
-        IntersectionCompositeShapeShapeBestFirstVisitor {
-            dispatcher,
-            msum_shift: Vector::splat(-ls_aabb2.center().coords),
-            msum_margin: Vector::splat(ls_aabb2.half_extents()),
-            pos12,
-            g1,
-            g2,
-        }
-    }
-}
-
-impl<'a, D, G1> SimdBestFirstVisitor<G1::PartId, SimdAabb>
-    for IntersectionCompositeShapeShapeBestFirstVisitor<'a, D, G1>
-where
-    D: ?Sized + QueryDispatcher,
-    G1: ?Sized + TypedSimdCompositeShape,
-{
-    type Result = (G1::PartId, bool);
-
-    fn visit(
-        &mut self,
-        best: Real,
-        bv: &SimdAabb,
-        data: Option<[Option<&G1::PartId>; SIMD_WIDTH]>,
-    ) -> SimdBestFirstVisitStatus<Self::Result> {
-        // Compute the minkowski sum of the two Aabbs.
-        let msum = SimdAabb {
-            mins: bv.mins + self.msum_shift + (-self.msum_margin),
-            maxs: bv.maxs + self.msum_shift + self.msum_margin,
-        };
-        let dist = msum.distance_to_origin();
-        let mask = dist.simd_lt(SimdReal::splat(best));
-
-        if let Some(data) = data {
-            let bitmask = mask.bitmask();
-            let mut found_intersection = false;
-
-            for (ii, data) in data.into_iter().enumerate() {
-                if (bitmask & (1 << ii)) != 0 && data.is_some() {
-                    let part_id = *data.unwrap();
-                    self.g1.map_untyped_part_at(part_id, |part_pos1, g1, _| {
-                        found_intersection = self.dispatcher.intersection_test(
-                            &part_pos1.inv_mul(self.pos12),
-                            g1,
-                            self.g2,
-                        ) == Ok(true);
-                    });
-
-                    if found_intersection {
-                        return SimdBestFirstVisitStatus::ExitEarly(Some((part_id, true)));
-                    }
-                }
-            }
-        }
-
-        SimdBestFirstVisitStatus::MaybeContinue {
-            weights: dist,
-            mask,
-            results: [None; SIMD_WIDTH],
-        }
-    }
-}

src/query/intersection_test/mod.rs

@@ -6,11 +6,9 @@ pub use self::intersection_test_ball_point_query::{
     intersection_test_ball_point_query, intersection_test_point_query_ball,
 };
 #[cfg(feature = "std")]
-// TODO: remove this once we get rid of IntersectionCompositeShapeShapeBestFirstVisitor
-#[allow(deprecated)]
 pub use self::intersection_test_composite_shape_shape::{
     intersection_test_composite_shape_shape, intersection_test_shape_composite_shape,
-    IntersectionCompositeShapeShapeBestFirstVisitor, IntersectionCompositeShapeShapeVisitor,
+    IntersectionCompositeShapeShapeVisitor,
 };
 pub use self::intersection_test_cuboid_cuboid::intersection_test_cuboid_cuboid;
 pub use self::intersection_test_cuboid_segment::{