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

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* 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
This commit is contained in:
Sébastien Crozet
2025-08-08 18:15:34 +02:00
committed by GitHub
parent 038eb34aba
commit 317322b31b
43 changed files with 351 additions and 328 deletions
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20
src_testbed/harness/mod.rs
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@@ -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,