Add a parameter to indicate if collider removal should wake-up its parent.

src/dynamics/rigid_body_set.rs

@@ -207,7 +207,7 @@ impl RigidBodySet {
          * Remove colliders attached to this rigid-body.
          */
         for collider in &rb.colliders {
-            colliders.remove(*collider, self);
+            colliders.remove(*collider, self, false);
         }
 
         /*

src/geometry/collider_set.rs

@@ -78,10 +78,14 @@ impl ColliderSet {
     }
 
     /// Remove a collider from this set and update its parent accordingly.
+    ///
+    /// If `wake_up` is `true`, the rigid-body the removed collider is attached to
+    /// will be woken up.
     pub fn remove(
         &mut self,
         handle: ColliderHandle,
         bodies: &mut RigidBodySet,
+        wake_up: bool,
     ) -> Option<Collider> {
         let collider = self.colliders.remove(handle)?;
 
@@ -90,7 +94,10 @@ impl ColliderSet {
          */
         if let Some(parent) = bodies.get_mut_internal(collider.parent) {
             parent.remove_collider_internal(handle, &collider);
-            bodies.wake_up(collider.parent, true);
+
+            if wake_up {
+                bodies.wake_up(collider.parent, true);
+            }
         }
 
         /*

src_testbed/testbed.rs

@@ -758,7 +758,7 @@ impl Testbed {
                 for to_delete in &colliders[..num_to_delete] {
                     self.physics
                         .colliders
-                        .remove(to_delete[0], &mut self.physics.bodies);
+                        .remove(to_delete[0], &mut self.physics.bodies, true);
                 }
             }
             WindowEvent::Key(Key::D, Action::Release, _) => {
@@ -1576,11 +1576,13 @@ CCD: {:.2}ms
         }
 
         if self.state.flags.contains(TestbedStateFlags::DEBUG) {
+            let t = instant::now();
             let bf = bincode::serialize(&self.physics.broad_phase).unwrap();
             let nf = bincode::serialize(&self.physics.narrow_phase).unwrap();
             let bs = bincode::serialize(&self.physics.bodies).unwrap();
             let cs = bincode::serialize(&self.physics.colliders).unwrap();
             let js = bincode::serialize(&self.physics.joints).unwrap();
+            let serialization_time = instant::now() - t;
             let hash_bf = md5::compute(&bf);
             let hash_nf = md5::compute(&nf);
             let hash_bodies = md5::compute(&bs);
@@ -1588,6 +1590,7 @@ CCD: {:.2}ms
             let hash_joints = md5::compute(&js);
             profile = format!(
                 r#"{}
+Serialization time: {:.2}ms
 Hashes at frame: {}
 |_ Broad phase [{:.1}KB]: {:?}
 |_ Narrow phase [{:.1}KB]: {:?}
@@ -1595,6 +1598,7 @@ Hashes at frame: {}
 |_ Colliders [{:.1}KB]: {:?}
 |_ Joints [{:.1}KB]: {:?}"#,
                 profile,
+                serialization_time,
                 self.state.timestep_id,
                 bf.len() as f32 / 1000.0,
                 hash_bf,