feat: reduce the amount of duplicate work the broad-phase is doing for user changes and CCD + release v0.28.0 (#872)

* feat: reduce the amount of duplicate work the broad-phase is doing for user changes and CCD

* Release v0.28.0

* chore: fix warnings

* chore: clippy fixes

* chore: more clippy fixes

src_testbed/graphics.rs

@@ -14,7 +14,6 @@ use rapier::math::{Isometry, Real, Vector};
 //use crate::objects::polyline::Polyline;
 // use crate::objects::mesh::Mesh;
 use crate::testbed::TestbedStateFlags;
-use rand::{Rng, SeedableRng};
 use rand_pcg::Pcg32;
 use std::collections::HashMap;
 
@@ -97,7 +96,7 @@ pub struct GraphicsManager {
 impl GraphicsManager {
     pub fn new() -> GraphicsManager {
         GraphicsManager {
-            rand: Pcg32::seed_from_u64(0),
+            rand: Pcg32::new(0, 1),
             b2sn: HashMap::new(),
             b2color: HashMap::new(),
             c2color: HashMap::new(),
@@ -128,7 +127,7 @@ impl GraphicsManager {
         self.c2color.clear();
         self.b2color.clear();
         self.b2wireframe.clear();
-        self.rand = Pcg32::seed_from_u64(0);
+        self.rand = Pcg32::new(0, 1);
     }
 
     pub fn remove_collider_nodes(
@@ -236,7 +235,8 @@ impl GraphicsManager {
     }
 
     fn gen_color(rng: &mut Pcg32) -> Point3<f32> {
-        let mut color: Point3<f32> = rng.r#gen();
+        use rand::Rng;
+        let mut color: Point3<f32> = rng.random();
 
         // Quantize the colors a bit to get some amount of auto-instancing from bevy.
         color.x = (color.x * 5.0).round() / 5.0;

src_testbed/harness/mod.rs

@@ -9,9 +9,7 @@ use rapier::dynamics::{
     CCDSolver, ImpulseJointSet, IntegrationParameters, IslandManager, MultibodyJointSet,
     RigidBodySet,
 };
-use rapier::geometry::{
-    BroadPhase, BroadPhaseBvh, BvhOptimizationStrategy, ColliderSet, NarrowPhase,
-};
+use rapier::geometry::{BroadPhaseBvh, BvhOptimizationStrategy, ColliderSet, NarrowPhase};
 use rapier::math::{Real, Vector};
 use rapier::pipeline::{ChannelEventCollector, PhysicsHooks, PhysicsPipeline};
 
@@ -25,16 +23,14 @@ pub enum RapierBroadPhaseType {
 }
 
 impl RapierBroadPhaseType {
-    pub fn init_broad_phase(self) -> Box<dyn BroadPhase> {
+    pub fn init_broad_phase(self) -> BroadPhaseBvh {
         match self {
             RapierBroadPhaseType::BvhSubtreeOptimizer => {
-                Box::new(BroadPhaseBvh::with_optimization_strategy(
-                    BvhOptimizationStrategy::SubtreeOptimizer,
-                ))
+                BroadPhaseBvh::with_optimization_strategy(BvhOptimizationStrategy::SubtreeOptimizer)
+            }
+            RapierBroadPhaseType::BvhWithoutOptimization => {
+                BroadPhaseBvh::with_optimization_strategy(BvhOptimizationStrategy::None)
             }
-            RapierBroadPhaseType::BvhWithoutOptimization => Box::new(
-                BroadPhaseBvh::with_optimization_strategy(BvhOptimizationStrategy::None),
-            ),
         }
     }
 }
@@ -250,7 +246,7 @@ impl Harness {
                     &physics.gravity,
                     &physics.integration_parameters,
                     &mut physics.islands,
-                    &mut *physics.broad_phase,
+                    &mut physics.broad_phase,
                     &mut physics.narrow_phase,
                     &mut physics.bodies,
                     &mut physics.colliders,
@@ -268,7 +264,7 @@ impl Harness {
             &self.physics.gravity,
             &self.physics.integration_parameters,
             &mut self.physics.islands,
-            &mut *self.physics.broad_phase,
+            &mut self.physics.broad_phase,
             &mut self.physics.narrow_phase,
             &mut self.physics.bodies,
             &mut self.physics.colliders,

src_testbed/physics/mod.rs

@@ -3,7 +3,7 @@ use rapier::dynamics::{
     RigidBodySet,
 };
 use rapier::geometry::{
-    BroadPhase, ColliderSet, CollisionEvent, ContactForceEvent, DefaultBroadPhase, NarrowPhase,
+    BroadPhaseBvh, ColliderSet, CollisionEvent, ContactForceEvent, DefaultBroadPhase, NarrowPhase,
 };
 use rapier::math::{Real, Vector};
 use rapier::pipeline::{PhysicsHooks, PhysicsPipeline};
@@ -89,7 +89,7 @@ impl PhysicsSnapshot {
 
 pub struct PhysicsState {
     pub islands: IslandManager,
-    pub broad_phase: Box<dyn BroadPhase>,
+    pub broad_phase: BroadPhaseBvh,
     pub narrow_phase: NarrowPhase,
     pub bodies: RigidBodySet,
     pub colliders: ColliderSet,
@@ -112,7 +112,7 @@ impl PhysicsState {
     pub fn new() -> Self {
         Self {
             islands: IslandManager::new(),
-            broad_phase: Box::new(DefaultBroadPhase::default()),
+            broad_phase: DefaultBroadPhase::default(),
             narrow_phase: NarrowPhase::new(),
             bodies: RigidBodySet::new(),
             colliders: ColliderSet::new(),

src_testbed/testbed.rs

@@ -23,7 +23,7 @@ use rapier::dynamics::{
     RigidBodyHandle, RigidBodySet,
 };
 #[cfg(feature = "dim3")]
-use rapier::geometry::{BroadPhaseBvh, Ray};
+use rapier::geometry::Ray;
 use rapier::geometry::{ColliderHandle, ColliderSet, NarrowPhase};
 use rapier::math::{Real, Vector};
 use rapier::pipeline::PhysicsHooks;
@@ -814,21 +814,12 @@ impl Testbed<'_, '_, '_, '_, '_, '_, '_, '_, '_, '_, '_, '_, '_> {
             wheels[1].engine_force = engine_force;
             wheels[1].steering = steering_angle;
 
-            let query_pipeline = if let Some(bf) = self
-                .harness
-                .physics
-                .broad_phase
-                .downcast_ref::<BroadPhaseBvh>()
-            {
-                bf.as_query_pipeline_mut(
-                    self.harness.physics.narrow_phase.query_dispatcher(),
-                    &mut self.harness.physics.bodies,
-                    &mut self.harness.physics.colliders,
-                    QueryFilter::exclude_dynamic().exclude_rigid_body(vehicle.chassis),
-                )
-            } else {
-                return;
-            };
+            let query_pipeline = self.harness.physics.broad_phase.as_query_pipeline_mut(
+                self.harness.physics.narrow_phase.query_dispatcher(),
+                &mut self.harness.physics.bodies,
+                &mut self.harness.physics.colliders,
+                QueryFilter::exclude_dynamic().exclude_rigid_body(vehicle.chassis),
+            );
 
             vehicle.update_vehicle(
                 self.harness.physics.integration_parameters.dt,
@@ -1353,7 +1344,7 @@ fn update_testbed(
                 }
 
                 harness.state.timestep_id = timestep_id;
-                harness.physics.broad_phase = Box::new(broad_phase);
+                harness.physics.broad_phase = broad_phase;
                 harness.physics.narrow_phase = narrow_phase;
                 harness.physics.islands = island_manager;
                 harness.physics.bodies = bodies;
@@ -1630,16 +1621,12 @@ fn highlight_hovered_body(
         let ray_dir = Vector3::new(ray_dir.x as Real, ray_dir.y as Real, ray_dir.z as Real);
 
         let ray = Ray::new(ray_origin, ray_dir);
-        let query_pipeline = if let Some(bf) = physics.broad_phase.downcast_ref::<BroadPhaseBvh>() {
-            bf.as_query_pipeline(
-                physics.narrow_phase.query_dispatcher(),
-                &physics.bodies,
-                &physics.colliders,
-                QueryFilter::only_dynamic(),
-            )
-        } else {
-            return;
-        };
+        let query_pipeline = physics.broad_phase.as_query_pipeline(
+            physics.narrow_phase.query_dispatcher(),
+            &physics.bodies,
+            &physics.colliders,
+            QueryFilter::only_dynamic(),
+        );
 
         let hit = query_pipeline.cast_ray(&ray, Real::MAX, true);