Improve SpatialQuery APIs and docs, and add more configuration

crates/avian2d/examples/dynamic_character_2d/plugin.rs

@@ -106,7 +106,7 @@ impl CharacterControllerBundle {
             rigid_body: RigidBody::Dynamic,
             collider,
             ground_caster: ShapeCaster::new(caster_shape, Vector::ZERO, 0.0, Dir2::NEG_Y)
-                .with_max_time_of_impact(10.0),
+                .with_max_distance(10.0),
             locked_axes: LockedAxes::ROTATION_LOCKED,
             movement: MovementBundle::default(),
         }

crates/avian2d/examples/kinematic_character_2d/plugin.rs

@@ -120,7 +120,7 @@ impl CharacterControllerBundle {
             rigid_body: RigidBody::Kinematic,
             collider,
             ground_caster: ShapeCaster::new(caster_shape, Vector::ZERO, 0.0, Dir2::NEG_Y)
-                .with_max_time_of_impact(10.0),
+                .with_max_distance(10.0),
             gravity: ControllerGravity(gravity),
             movement: MovementBundle::default(),
         }

crates/avian2d/examples/ray_caster.rs

@@ -74,11 +74,7 @@ fn render_rays(mut rays: Query<(&mut RayCaster, &mut RayHits)>, mut gizmos: Gizm
         let direction = ray.global_direction().f32();
 
         for hit in hits.iter() {
-            gizmos.line_2d(
-                origin,
-                origin + direction * hit.time_of_impact as f32,
-                GREEN,
-            );
+            gizmos.line_2d(origin, origin + direction * hit.distance as f32, GREEN);
         }
         if hits.is_empty() {
             gizmos.line_2d(origin, origin + direction * 1_000_000.0, ORANGE_RED);

crates/avian3d/examples/cast_ray_predicate.rs

@@ -166,19 +166,14 @@ fn raycast(
 
     let mut ray_indicator_transform = indicator_transform.single_mut();
 
-    if let Some(ray_hit_data) = query.cast_ray_predicate(
-        origin,
-        direction,
-        Scalar::MAX,
-        true,
-        &SpatialQueryFilter::default(),
-        &|entity| {
+    if let Some(ray_hit_data) =
+        query.cast_ray_predicate(origin, direction, &RayCastConfig::default(), &|entity| {
             if let Ok((_, out_of_glass)) = cubes.get(entity) {
                 return !out_of_glass.0; // only look at cubes not out of glass
             }
             true // if the collider has no OutOfGlass component, then check it nevertheless
-        },
-    ) {
+        })
+    {
         // set color of hit object to red
         if let Ok((material_handle, _)) = cubes.get(ray_hit_data.entity) {
             if let Some(material) = materials.get_mut(material_handle) {
@@ -187,7 +182,7 @@ fn raycast(
         }
 
         // set length of ray indicator to look more like a laser
-        let contact_point = (origin + direction.adjust_precision() * ray_hit_data.time_of_impact).x;
+        let contact_point = (origin + direction.adjust_precision() * ray_hit_data.distance).x;
         let target_scale = 1000.0 + contact_point * 2.0;
         ray_indicator_transform.scale.x = target_scale as f32;
     } else {

crates/avian3d/examples/dynamic_character_3d/plugin.rs

@@ -111,7 +111,7 @@ impl CharacterControllerBundle {
                 Quaternion::default(),
                 Dir3::NEG_Y,
             )
-            .with_max_time_of_impact(0.2),
+            .with_max_distance(0.2),
             locked_axes: LockedAxes::ROTATION_LOCKED,
             movement: MovementBundle::default(),
         }

crates/avian3d/examples/kinematic_character_3d/plugin.rs

@@ -125,7 +125,7 @@ impl CharacterControllerBundle {
                 Quaternion::default(),
                 Dir3::NEG_Y,
             )
-            .with_max_time_of_impact(0.2),
+            .with_max_distance(0.2),
             gravity: ControllerGravity(gravity),
             movement: MovementBundle::default(),
         }

src/collision/collider/parry/mod.rs

@@ -606,16 +606,16 @@ impl Collider {
             .contains_point(&make_isometry(translation, rotation), &point.into())
     }
 
-    /// Computes the time of impact and normal between the given ray and `self`
+    /// Computes the distance and normal between the given ray and `self`
     /// transformed by `translation` and `rotation`.
     ///
-    /// The returned tuple is in the format `(time_of_impact, normal)`.
+    /// The returned tuple is in the format `(distance, normal)`.
     ///
     /// ## Arguments
     ///
     /// - `ray_origin`: Where the ray is cast from.
     /// - `ray_direction`: What direction the ray is cast in.
-    /// - `max_time_of_impact`: The maximum distance that the ray can travel.
+    /// - `max_distance`: The maximum distance the ray can travel.
     /// - `solid`: If true and the ray origin is inside of a collider, the hit point will be the ray origin itself.
     ///   Otherwise, the collider will be treated as hollow, and the hit point will be at the collider's boundary.
     pub fn cast_ray(
@@ -624,13 +624,13 @@ impl Collider {
         rotation: impl Into<Rotation>,
         ray_origin: Vector,
         ray_direction: Vector,
-        max_time_of_impact: Scalar,
+        max_distance: Scalar,
         solid: bool,
     ) -> Option<(Scalar, Vector)> {
         let hit = self.shape_scaled().cast_ray_and_get_normal(
             &make_isometry(translation, rotation),
             &parry::query::Ray::new(ray_origin.into(), ray_direction.into()),
-            max_time_of_impact,
+            max_distance,
             solid,
         );
         hit.map(|hit| (hit.time_of_impact, hit.normal.into()))
@@ -642,19 +642,19 @@ impl Collider {
     ///
     /// - `ray_origin`: Where the ray is cast from.
     /// - `ray_direction`: What direction the ray is cast in.
-    /// - `max_time_of_impact`: The maximum distance that the ray can travel.
+    /// - `max_distance`: The maximum distance the ray can travel.
     pub fn intersects_ray(
         &self,
         translation: impl Into<Position>,
         rotation: impl Into<Rotation>,
         ray_origin: Vector,
         ray_direction: Vector,
-        max_time_of_impact: Scalar,
+        max_distance: Scalar,
     ) -> bool {
         self.shape_scaled().intersects_ray(
             &make_isometry(translation, rotation),
             &parry::query::Ray::new(ray_origin.into(), ray_direction.into()),
-            max_time_of_impact,
+            max_distance,
         )
     }
 

src/debug_render/gizmos.rs

@@ -55,7 +55,7 @@ pub trait PhysicsGizmoExt {
         &mut self,
         origin: Vector,
         direction: Dir,
-        max_time_of_impact: Scalar,
+        max_distance: Scalar,
         hits: &[RayHitData],
         ray_color: Color,
         point_color: Color,
@@ -75,7 +75,7 @@ pub trait PhysicsGizmoExt {
         origin: Vector,
         shape_rotation: impl Into<Rotation>,
         direction: Dir,
-        max_time_of_impact: Scalar,
+        max_distance: Scalar,
         hits: &[ShapeHitData],
         ray_color: Color,
         shape_color: Color,
@@ -459,29 +459,29 @@ impl<'w, 's> PhysicsGizmoExt for Gizmos<'w, 's, PhysicsGizmos> {
         &mut self,
         origin: Vector,
         direction: Dir,
-        max_time_of_impact: Scalar,
+        max_distance: Scalar,
         hits: &[RayHitData],
         ray_color: Color,
         point_color: Color,
         normal_color: Color,
         length_unit: Scalar,
     ) {
-        let max_toi = hits
+        let max_distance = hits
             .iter()
-            .max_by(|a, b| a.time_of_impact.total_cmp(&b.time_of_impact))
-            .map_or(max_time_of_impact, |hit| hit.time_of_impact);
+            .max_by(|a, b| a.distance.total_cmp(&b.distance))
+            .map_or(max_distance, |hit| hit.distance);
 
         // Draw ray as arrow
         self.draw_arrow(
             origin,
-            origin + direction.adjust_precision() * max_toi,
+            origin + direction.adjust_precision() * max_distance,
             0.1 * length_unit,
             ray_color,
         );
 
         // Draw all hit points and normals
         for hit in hits {
-            let point = origin + direction.adjust_precision() * hit.time_of_impact;
+            let point = origin + direction.adjust_precision() * hit.distance;
 
             // Draw hit point
             #[cfg(feature = "2d")]
@@ -516,7 +516,7 @@ impl<'w, 's> PhysicsGizmoExt for Gizmos<'w, 's, PhysicsGizmos> {
         origin: Vector,
         shape_rotation: impl Into<Rotation>,
         direction: Dir,
-        max_time_of_impact: Scalar,
+        max_distance: Scalar,
         hits: &[ShapeHitData],
         ray_color: Color,
         shape_color: Color,
@@ -528,10 +528,10 @@ impl<'w, 's> PhysicsGizmoExt for Gizmos<'w, 's, PhysicsGizmos> {
         #[cfg(feature = "3d")]
         let shape_rotation = Rotation(shape_rotation.normalize());
 
-        let max_toi = hits
+        let max_distance = hits
             .iter()
-            .max_by(|a, b| a.time_of_impact.total_cmp(&b.time_of_impact))
-            .map_or(max_time_of_impact, |hit| hit.time_of_impact);
+            .max_by(|a, b| a.distance.total_cmp(&b.distance))
+            .map_or(max_distance, |hit| hit.distance);
 
         // Draw collider at origin
         self.draw_collider(shape, origin, shape_rotation, shape_color);
@@ -540,7 +540,7 @@ impl<'w, 's> PhysicsGizmoExt for Gizmos<'w, 's, PhysicsGizmos> {
         // TODO: We could render the swept collider outline instead
         self.draw_arrow(
             origin,
-            origin + max_toi * direction.adjust_precision(),
+            origin + max_distance * direction.adjust_precision(),
             0.1 * length_unit,
             ray_color,
         );
@@ -569,7 +569,7 @@ impl<'w, 's> PhysicsGizmoExt for Gizmos<'w, 's, PhysicsGizmos> {
             // Draw collider at hit point
             self.draw_collider(
                 shape,
-                origin + hit.time_of_impact * direction.adjust_precision(),
+                origin + hit.distance * direction.adjust_precision(),
                 shape_rotation,
                 shape_color.with_alpha(0.3),
             );

src/debug_render/mod.rs

@@ -426,7 +426,7 @@ fn debug_render_raycasts(
             ray.global_origin(),
             ray.global_direction(),
             // f32::MAX renders nothing, but this number seems to be fine :P
-            ray.max_time_of_impact.min(1_000_000_000_000_000_000.0),
+            ray.max_distance.min(1_000_000_000_000_000_000.0),
             hits.as_slice(),
             ray_color,
             point_color,
@@ -459,7 +459,7 @@ fn debug_render_shapecasts(
             shape_caster.global_shape_rotation(),
             shape_caster.global_direction(),
             // f32::MAX renders nothing, but this number seems to be fine :P
-            shape_caster.max_time_of_impact.min(1_000_000_000_000_000.0),
+            shape_caster.max_distance.min(1_000_000_000_000_000.0),
             hits.as_slice(),
             ray_color,
             shape_color,

src/spatial_query/mod.rs

@@ -20,9 +20,8 @@
 //! a variety of things like getting information about the environment for character controllers and AI,
 //! and even rendering using ray tracing.
 //!
-//! For each hit during raycasting, the hit entity, a *time of impact* and a normal will be stored in [`RayHitData`].
-//! The time of impact refers to how long the ray travelled, which is essentially the distance from the ray origin to
-//! the point of intersection.
+//! For each hit during raycasting, the hit entity, a distance, and a normal will be stored in [`RayHitData`].
+//! The distance is the distance from the ray origin to the point of intersection, indicating how far the ray travelled.
 //!
 //! There are two ways to perform raycasts.
 //!
@@ -59,7 +58,7 @@
 //!             println!(
 //!                 "Hit entity {:?} at {} with normal {}",
 //!                 hit.entity,
-//!                 ray.origin + *ray.direction * hit.time_of_impact,
+//!                 ray.origin + *ray.direction * hit.distance,
 //!                 hit.normal,
 //!             );
 //!         }
@@ -76,9 +75,8 @@
 //! we have an entire shape travelling along a half-line. One use case is determining how far an object can move
 //! before it hits the environment.
 //!
-//! For each hit during shapecasting, the hit entity, the *time of impact*, two local points of intersection and two local
-//! normals will be stored in [`ShapeHitData`]. The time of impact refers to how long the shape travelled before the initial
-//! hit, which is essentially the distance from the shape origin to the global point of intersection.
+//! For each hit during shapecasting, the hit entity, a distance, two world-space points of intersection and two world-space
+//! normals will be stored in [`ShapeHitData`]. The distance refers to how long the shape travelled before the initial hit.
 //!
 //! There are two ways to perform shapecasts.
 //!
@@ -107,7 +105,7 @@
 //!         Collider::sphere(0.5), // Shape
 //!         Vec3::ZERO,            // Origin
 //!         Quat::default(),       // Shape rotation
-//!         Dir3::X         // Direction
+//!         Dir3::X                // Direction
 //!     ));
 //!     // ...spawn colliders and other things
 //! }