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

CHANGELOG.md

@@ -1,3 +1,23 @@
+## v0.28.0 (08 August 2025)
+
+### Modified
+
+- Update to nalgebra 0.34 and parry 0.23.
+- Only run the broad-phase once at the beginning of the physics step.
+- Don’t rebuild a BVH from scratch for CCD. Instead, reuse the broad-phase bvh with localized changes.
+- The public methods of `IslandSolver` has changed slightly to take the broad-phase as input.
+- Removed the `BroadPhase` trait and use the BVH broad-phase directly instead of a trait-object.
+
+### Added
+
+- Add `Collider::compute_broad_phase_aabb` to compute the AABB to be used by the broad-phase, taking
+  into account its contact skin, prediction, and soft-ccd.
+
+### Fix
+
+- Fix issue where some solver contacts would disappear from the contact graph before the user
+  had a chance to read them.
+
 ## v0.27.0 (24 July 2025)
 
 ### Modified

benchmarks2d/Cargo.toml

@@ -12,7 +12,7 @@ other-backends = ["rapier_testbed2d/other-backends"]
 enhanced-determinism = ["rapier2d/enhanced-determinism"]
 
 [dependencies]
-rand = "0.8"
+rand = "0.9"
 Inflector = "0.11"
 
 [dependencies.rapier_testbed2d]

benchmarks2d/convex_polygons2.rs

@@ -1,4 +1,4 @@
-use rand::distributions::{Distribution, Standard};
+use rand::distr::{Distribution, StandardUniform};
 use rand::{SeedableRng, rngs::StdRng};
 use rapier_testbed2d::Testbed;
 use rapier2d::prelude::*;
@@ -48,7 +48,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let centery = shift / 2.0;
 
     let mut rng = StdRng::seed_from_u64(0);
-    let distribution = Standard;
+    let distribution = StandardUniform;
 
     for i in 0..num {
         for j in 0usize..num * 5 {

benchmarks3d/Cargo.toml

@@ -12,7 +12,7 @@ other-backends = ["rapier_testbed3d/other-backends"]
 enhanced-determinism = ["rapier3d/enhanced-determinism"]
 
 [dependencies]
-rand = "0.8"
+rand = "0.9"
 Inflector = "0.11"
 oorandom = "11"
 

benchmarks3d/convex_polyhedron3.rs

@@ -1,4 +1,4 @@
-use rand::distributions::{Distribution, Standard};
+use rand::distr::{Distribution, StandardUniform};
 use rand::{SeedableRng, rngs::StdRng};
 use rapier_testbed3d::Testbed;
 use rapier3d::prelude::*;
@@ -39,7 +39,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let mut offset = -(num as f32) * shift * 0.5;
 
     let mut rng = StdRng::seed_from_u64(0);
-    let distribution = Standard;
+    let distribution = StandardUniform;
 
     for j in 0usize..47 {
         for i in 0..num {

benchmarks3d/ray_cast3.rs

@@ -51,10 +51,7 @@ pub fn init_world(testbed: &mut Testbed) {
         let t1 = std::time::Instant::now();
         let max_toi = ray_ball_radius - 1.0;
 
-        let Some(broad_phase) = physics.broad_phase.downcast_ref::<BroadPhaseBvh>() else {
+        let query_pipeline = physics.broad_phase.as_query_pipeline(
-            return;
-        };
-        let query_pipeline = broad_phase.as_query_pipeline(
             physics.narrow_phase.query_dispatcher(),
             &physics.bodies,
             &physics.colliders,

crates/rapier2d-f64/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "rapier2d-f64"
-version = "0.27.0"
+version = "0.28.0"
 authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
 description = "2-dimensional physics engine in Rust."
 documentation = "https://docs.rs/rapier2d"
@@ -68,8 +68,8 @@ required-features = ["dim2", "f64"]
 vec_map = { version = "0.8", optional = true }
 web-time = { version = "1.1", optional = true }
 num-traits = "0.2"
-nalgebra = "0.33"
+nalgebra = "0.34"
-parry2d-f64 = "0.22.0"
+parry2d-f64 = "0.23.0"
 simba = "0.9"
 approx = "0.5"
 rayon = { version = "1", optional = true }

crates/rapier2d/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "rapier2d"
-version = "0.27.0"
+version = "0.28.0"
 authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
 description = "2-dimensional physics engine in Rust."
 documentation = "https://docs.rs/rapier2d"
@@ -69,8 +69,8 @@ required-features = ["dim2", "f32"]
 vec_map = { version = "0.8", optional = true }
 web-time = { version = "1.1", optional = true }
 num-traits = "0.2"
-nalgebra = "0.33"
+nalgebra = "0.34"
-parry2d = "0.22.0"
+parry2d = "0.23.0"
 simba = "0.9"
 approx = "0.5"
 rayon = { version = "1", optional = true }

crates/rapier3d-f64/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "rapier3d-f64"
-version = "0.27.0"
+version = "0.28.0"
 authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
 description = "3-dimensional physics engine in Rust."
 documentation = "https://docs.rs/rapier3d"
@@ -71,8 +71,8 @@ required-features = ["dim3", "f64"]
 vec_map = { version = "0.8", optional = true }
 web-time = { version = "1.1", optional = true }
 num-traits = "0.2"
-nalgebra = "0.33"
+nalgebra = "0.34"
-parry3d-f64 = "0.22.0"
+parry3d-f64 = "0.23.0"
 simba = "0.9"
 approx = "0.5"
 rayon = { version = "1", optional = true }

crates/rapier3d-meshloader/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "rapier3d-meshloader"
-version = "0.8.0"
+version = "0.9.0"
 authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
 description = "STL file loader for the 3D rapier physics engine."
 documentation = "https://docs.rs/rapier3d-meshloader"
@@ -29,4 +29,4 @@ thiserror = "2"
 profiling = "1.0"
 mesh-loader = "0.1.12"
 
-rapier3d = { version = "0.27.0", path = "../rapier3d" }
+rapier3d = { version = "0.28.0", path = "../rapier3d" }

crates/rapier3d-urdf/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "rapier3d-urdf"
-version = "0.8.0"
+version = "0.9.0"
 authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
 description = "URDF file loader for the 3D rapier physics engine."
 documentation = "https://docs.rs/rapier3d-urdf"
@@ -31,5 +31,5 @@ anyhow = "1"
 bitflags = "2"
 urdf-rs = "0.9"
 
-rapier3d = { version = "0.27.0", path = "../rapier3d" }
+rapier3d = { version = "0.28.0", path = "../rapier3d" }
-rapier3d-meshloader = { version = "0.8.0", path = "../rapier3d-meshloader", default-features = false, optional = true }
+rapier3d-meshloader = { version = "0.9.0", path = "../rapier3d-meshloader", default-features = false, optional = true }

crates/rapier3d/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "rapier3d"
-version = "0.27.0"
+version = "0.28.0"
 authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
 description = "3-dimensional physics engine in Rust."
 documentation = "https://docs.rs/rapier3d"
@@ -73,8 +73,8 @@ required-features = ["dim3", "f32"]
 vec_map = { version = "0.8", optional = true }
 web-time = { version = "1.1", optional = true }
 num-traits = "0.2"
-nalgebra = "0.33"
+nalgebra = "0.34"
-parry3d = "0.22.0"
+parry3d = "0.23.0"
 simba = "0.9"
 approx = "0.5"
 rayon = { version = "1", optional = true }

crates/rapier_testbed2d-f64/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "rapier_testbed2d-f64"
-version = "0.27.0"
+version = "0.28.0"
 authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
 description = "Testbed for the Rapier 2-dimensional physics engine in Rust."
 homepage = "http://rapier.rs"
@@ -43,9 +43,9 @@ unstable-puffin-pr-235 = []
 features = ["parallel", "profiler_ui"]
 
 [dependencies]
-nalgebra = { version = "0.33", features = ["rand", "glam029"] }
+nalgebra = { version = "0.34", features = ["rand", "glam029"] }
-rand = "0.8"
+rand = "0.9"
-rand_pcg = "0.3"
+rand_pcg = "0.9"
 web-time = { version = "1.1" }
 bitflags = "2"
 num_cpus = { version = "1", optional = true }
@@ -98,5 +98,5 @@ bevy = { version = "0.15", default-features = false, features = [
 [dependencies.rapier]
 package = "rapier2d-f64"
 path = "../rapier2d-f64"
-version = "0.27.0"
+version = "0.28.0"
 features = ["serde-serialize", "debug-render", "profiler"]

crates/rapier_testbed2d/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "rapier_testbed2d"
-version = "0.27.0"
+version = "0.28.0"
 authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
 description = "Testbed for the Rapier 2-dimensional physics engine in Rust."
 homepage = "http://rapier.rs"
@@ -43,9 +43,9 @@ unstable-puffin-pr-235 = []
 features = ["parallel", "other-backends", "profiler_ui"]
 
 [dependencies]
-nalgebra = { version = "0.33", features = ["rand", "glam029"] }
+nalgebra = { version = "0.34", features = ["rand", "glam029"] }
-rand = "0.8"
+rand = "0.9"
-rand_pcg = "0.3"
+rand_pcg = "0.9"
 web-time = { version = "1.1" }
 bitflags = "2"
 num_cpus = { version = "1", optional = true }
@@ -98,5 +98,5 @@ bevy = { version = "0.15", default-features = false, features = [
 [dependencies.rapier]
 package = "rapier2d"
 path = "../rapier2d"
-version = "0.27.0"
+version = "0.28.0"
 features = ["serde-serialize", "debug-render", "profiler"]

crates/rapier_testbed3d-f64/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "rapier_testbed3d-f64"
-version = "0.27.0"
+version = "0.28.0"
 authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
 description = "Testbed for the Rapier 3-dimensional physics engine in Rust."
 homepage = "http://rapier.rs"
@@ -45,9 +45,9 @@ unstable-puffin-pr-235 = []
 features = ["parallel", "profiler_ui"]
 
 [dependencies]
-nalgebra = { version = "0.33", features = ["rand", "glam029"] }
+nalgebra = { version = "0.34", features = ["rand", "glam029"] }
-rand = "0.8"
+rand = "0.9"
-rand_pcg = "0.3"
+rand_pcg = "0.9"
 web-time = { version = "1.1" }
 bitflags = "2"
 num_cpus = { version = "1", optional = true }
@@ -99,5 +99,5 @@ bevy = { version = "0.15", default-features = false, features = [
 [dependencies.rapier]
 package = "rapier3d-f64"
 path = "../rapier3d-f64"
-version = "0.27.0"
+version = "0.28.0"
 features = ["serde-serialize", "debug-render", "profiler"]

crates/rapier_testbed3d/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "rapier_testbed3d"
-version = "0.27.0"
+version = "0.28.0"
 authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
 description = "Testbed for the Rapier 3-dimensional physics engine in Rust."
 homepage = "http://rapier.rs"
@@ -43,9 +43,9 @@ unstable-puffin-pr-235 = []
 features = ["parallel", "other-backends", "profiler_ui"]
 
 [dependencies]
-nalgebra = { version = "0.33", features = ["rand", "glam029"] }
+nalgebra = { version = "0.34", features = ["rand", "glam029"] }
-rand = "0.8"
+rand = "0.9"
-rand_pcg = "0.3"
+rand_pcg = "0.9"
 web-time = { version = "1.1" }
 bitflags = "2"
 glam = { version = "0.27", optional = true } # For Physx
@@ -97,5 +97,5 @@ bevy = { version = "0.15", default-features = false, features = [
 [dependencies.rapier]
 package = "rapier3d"
 path = "../rapier3d"
-version = "0.27.0"
+version = "0.28.0"
 features = ["serde-serialize", "debug-render", "profiler"]

examples2d/Cargo.toml

@@ -13,7 +13,7 @@ other-backends = ["rapier_testbed2d/other-backends"]
 enhanced-determinism = ["rapier2d/enhanced-determinism"]
 
 [dependencies]
-rand = "0.8"
+rand = "0.9"
 lyon = "0.17"
 usvg = "0.14"
 dot_vox = "5"

examples2d/convex_polygons2.rs

@@ -1,4 +1,4 @@
-use rand::distributions::{Distribution, Standard};
+use rand::distr::{Distribution, StandardUniform};
 use rand::{SeedableRng, rngs::StdRng};
 use rapier_testbed2d::Testbed;
 use rapier2d::prelude::*;
@@ -48,7 +48,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let centery = shift / 2.0;
 
     let mut rng = StdRng::seed_from_u64(0);
-    let distribution = Standard;
+    let distribution = StandardUniform;
 
     for i in 0..num {
         for j in 0usize..num * 4 {

examples2d/debug_intersection2.rs

@@ -42,10 +42,7 @@ pub fn init_world(testbed: &mut Testbed) {
     testbed.add_callback(move |mut graphics, physics, _, run| {
         let slow_time = run.timestep_id as f32 / 3.0;
 
-        let Some(broad_phase) = physics.broad_phase.downcast_ref::<BroadPhaseBvh>() else {
+        let query_pipeline = physics.broad_phase.as_query_pipeline(
-            return;
-        };
-        let query_pipeline = broad_phase.as_query_pipeline(
             physics.narrow_phase.query_dispatcher(),
             &physics.bodies,
             &physics.colliders,

examples2d/utils/character.rs

@@ -137,10 +137,7 @@ fn update_kinematic_controller(
     let character_shape = character_collider.shared_shape().clone();
     let character_mass = character_body.mass();
 
-    let Some(broad_phase) = phx.broad_phase.downcast_ref::<BroadPhaseBvh>() else {
+    let mut query_pipeline = phx.broad_phase.as_query_pipeline_mut(
-        return;
-    };
-    let mut query_pipeline = broad_phase.as_query_pipeline_mut(
         phx.narrow_phase.query_dispatcher(),
         &mut phx.bodies,
         &mut phx.colliders,

examples3d-f64/Cargo.toml

@@ -12,7 +12,7 @@ simd-nightly = ["rapier3d-f64/simd-nightly"]
 enhanced-determinism = ["rapier3d-f64/enhanced-determinism"]
 
 [dependencies]
-rand = "0.8"
+rand = "0.9"
 getrandom = { version = "0.2", features = ["js"] }
 wasm-bindgen = "0.2"
 obj-rs = { version = "0.7", default-features = false }

examples3d-f64/debug_serialized3.rs

@@ -27,7 +27,7 @@ pub fn init_world(testbed: &mut Testbed) {
         state.multibody_joints,
     );
     testbed.harness_mut().physics.islands = state.islands;
-    testbed.harness_mut().physics.broad_phase = Box::new(state.broad_phase);
+    testbed.harness_mut().physics.broad_phase = state.broad_phase;
     testbed.harness_mut().physics.narrow_phase = state.narrow_phase;
     testbed.harness_mut().physics.ccd_solver = state.ccd_solver;
 

examples3d/Cargo.toml

@@ -13,7 +13,7 @@ other-backends = ["rapier_testbed3d/other-backends"]
 enhanced-determinism = ["rapier3d/enhanced-determinism"]
 
 [dependencies]
-rand = "0.8"
+rand = "0.9"
 getrandom = { version = "0.2", features = ["js"] }
 wasm-bindgen = "0.2"
 obj-rs = { version = "0.7", default-features = false }

examples3d/all_examples3.rs

@@ -17,6 +17,7 @@ mod convex_polyhedron3;
 mod damping3;
 mod debug_add_remove_collider3;
 mod debug_articulations3;
+mod debug_balls3;
 mod debug_big_colliders3;
 mod debug_boxes3;
 mod debug_cylinder3;
@@ -101,6 +102,7 @@ pub fn main() {
         ),
         ("(Debug) big colliders", debug_big_colliders3::init_world),
         ("(Debug) boxes", debug_boxes3::init_world),
+        ("(Debug) balls", debug_balls3::init_world),
         ("(Debug) pop", debug_pop3::init_world),
         (
             "(Debug) dyn. coll. add",

examples3d/convex_polyhedron3.rs

@@ -1,4 +1,4 @@
-use rand::distributions::{Distribution, Standard};
+use rand::distr::{Distribution, StandardUniform};
 use rand::{SeedableRng, rngs::StdRng};
 use rapier_testbed3d::Testbed;
 use rapier3d::prelude::*;
@@ -36,7 +36,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let centerz = shift * (num / 2) as f32;
 
     let mut rng = StdRng::seed_from_u64(0);
-    let distribution = Standard;
+    let distribution = StandardUniform;
 
     for j in 0usize..25 {
         for i in 0..num {

examples3d/debug_balls3.rs

@@ -0,0 +1,59 @@
+use rapier_testbed3d::Testbed;
+use rapier3d::prelude::*;
+
+pub fn init_world(testbed: &mut Testbed) {
+    /*
+     * World
+     */
+    let mut bodies = RigidBodySet::new();
+    let mut colliders = ColliderSet::new();
+    let impulse_joints = ImpulseJointSet::new();
+    let multibody_joints = MultibodyJointSet::new();
+
+    /*
+     * Create the balls
+     */
+    let num_j = 10;
+    let num_ik = 10;
+    let rad = 0.5;
+
+    let shift = rad * 2.0;
+    let centerx = shift * (num_ik as f32) / 2.0;
+    let centery = shift / 2.0;
+    let centerz = shift * (num_ik as f32) / 2.0;
+
+    for i in 0..num_ik {
+        for j in 0usize..num_j {
+            for k in 0..num_ik {
+                let x = i as f32 * shift - centerx;
+                let z = k as f32 * shift - centerz;
+
+                let status = if j == 0 || i == 0 || k == 0 || i == num_ik - 1 || k == num_ik - 1 {
+                    RigidBodyType::Fixed
+                } else {
+                    RigidBodyType::Dynamic
+                };
+
+                let y = if status.is_fixed() {
+                    j as f32 * shift + centery
+                } else {
+                    j as f32 * shift * 2.0 + centery
+                };
+
+                // Build the rigid body.
+                let rigid_body = RigidBodyBuilder::new(status)
+                    .translation(vector![x, y, z])
+                    .can_sleep(false);
+                let handle = bodies.insert(rigid_body);
+                let collider = ColliderBuilder::ball(rad).friction(0.0);
+                colliders.insert_with_parent(collider, handle, &mut bodies);
+            }
+        }
+    }
+
+    /*
+     * Set up the testbed.
+     */
+    testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
+    testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
+}

examples3d/debug_deserialize3.rs

@@ -54,7 +54,7 @@ pub fn init_world(testbed: &mut Testbed) {
             );
 
             testbed.harness_mut().physics.islands = state.islands;
-            testbed.harness_mut().physics.broad_phase = Box::new(state.broad_phase);
+            testbed.harness_mut().physics.broad_phase = state.broad_phase;
             testbed.harness_mut().physics.narrow_phase = state.narrow_phase;
             testbed.harness_mut().physics.integration_parameters = state.integration_parameters;
             testbed.harness_mut().physics.gravity = state.gravity;

examples3d/utils/character.rs

@@ -147,10 +147,7 @@ fn update_kinematic_controller(
     let character_shape = character_collider.shared_shape().clone();
     let character_mass = character_body.mass();
 
-    let Some(broad_phase) = phx.broad_phase.downcast_ref::<BroadPhaseBvh>() else {
+    let mut query_pipeline = phx.broad_phase.as_query_pipeline_mut(
-        return;
-    };
-    let mut query_pipeline = broad_phase.as_query_pipeline_mut(
         phx.narrow_phase.query_dispatcher(),
         &mut phx.bodies,
         &mut phx.colliders,

examples3d/voxels3.rs

@@ -211,10 +211,7 @@ pub fn init_world(testbed: &mut Testbed) {
             predicate: Some(&|_, co: &Collider| co.shape().as_voxels().is_some()),
             ..Default::default()
         };
-        let Some(broad_phase) = physics.broad_phase.downcast_ref::<BroadPhaseBvh>() else {
+        let query_pipeline = physics.broad_phase.as_query_pipeline(
-            return;
-        };
-        let query_pipeline = broad_phase.as_query_pipeline(
             physics.narrow_phase.query_dispatcher(),
             &physics.bodies,
             &physics.colliders,

publish-all.sh

@@ -3,12 +3,12 @@
 if [[ "$PUBLISH_MODE" == 1 ]]
 then
     ./scripts/publish-rapier.sh &&
-    ./scripts/publish-testbeds.sh &&
+    ./scripts/publish-extra-formats.sh &&
-    ./scripts/publish-extra-formats.sh
+    ./scripts/publish-testbeds.sh
 else
     echo "Running in dry mode, re-run with \`PUBLISH_MODE=1 publish-all.sh\` to actually publish."
 
     DRY_RUN="--dry-run" ./scripts/publish-rapier.sh &&
-    DRY_RUN="--dry-run" ./scripts/publish-testbeds.sh &&
+    DRY_RUN="--dry-run" ./scripts/publish-extra-formats.sh &&
-    DRY_RUN="--dry-run" ./scripts/publish-extra-formats.sh
+    DRY_RUN="--dry-run" ./scripts/publish-testbeds.sh
 fi

src/dynamics/ccd/ccd_solver.rs

@@ -1,11 +1,10 @@
 use super::TOIEntry;
-use crate::dynamics::{IslandManager, RigidBodyHandle, RigidBodySet};
+use crate::dynamics::{IntegrationParameters, IslandManager, RigidBodyHandle, RigidBodySet};
-use crate::geometry::{ColliderParent, ColliderSet, CollisionEvent, NarrowPhase};
+use crate::geometry::{BroadPhaseBvh, ColliderParent, ColliderSet, CollisionEvent, NarrowPhase};
 use crate::math::Real;
 use crate::parry::utils::SortedPair;
-use crate::pipeline::{EventHandler, QueryFilter, QueryPipeline};
+use crate::pipeline::{EventHandler, QueryFilter};
 use crate::prelude::{ActiveEvents, CollisionEventFlags};
-use parry::partitioning::{Bvh, BvhBuildStrategy};
 use parry::utils::hashmap::HashMap;
 use std::collections::BinaryHeap;
 
@@ -16,26 +15,14 @@ pub enum PredictedImpacts {
 }
 
 /// Solver responsible for performing motion-clamping on fast-moving bodies.
-#[derive(Clone)]
+#[derive(Clone, Default)]
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
-pub struct CCDSolver {
+pub struct CCDSolver;
-    // TODO PERF: for now the CCD solver maintains its own bvh for CCD queries.
-    //            At each frame it get rebuilt.
-    //            We should consider an alternative to directly use the broad-phase’s.
-    #[cfg_attr(feature = "serde-serialize", serde(skip))]
-    bvh: Bvh,
-}
-
-impl Default for CCDSolver {
-    fn default() -> Self {
-        Self::new()
-    }
-}
 
 impl CCDSolver {
     /// Initializes a new CCD solver
     pub fn new() -> Self {
-        Self { bvh: Bvh::new() }
+        Self
     }
 
     /// Apply motion-clamping to the bodies affected by the given `impacts`.
@@ -101,42 +88,35 @@ impl CCDSolver {
     #[profiling::function]
     pub fn find_first_impact(
         &mut self,
-        dt: Real,
+        dt: Real, // NOTE: this doesn’t necessarily match the `params.dt`.
+        params: &IntegrationParameters,
         islands: &IslandManager,
         bodies: &RigidBodySet,
         colliders: &ColliderSet,
+        broad_phase: &mut BroadPhaseBvh,
         narrow_phase: &NarrowPhase,
     ) -> Option<Real> {
         // Update the query pipeline with the colliders’ predicted positions.
-        self.bvh = Bvh::from_iter(
+        for (handle, co) in colliders.iter_enabled() {
-            BvhBuildStrategy::Binned,
+            if let Some(co_parent) = co.parent {
-            colliders.iter_enabled().map(|(co_handle, co)| {
+                let rb = &bodies[co_parent.handle];
-                let id = co_handle.into_raw_parts().0;
+                if rb.is_ccd_active() {
-                if let Some(co_parent) = co.parent {
-                    let rb = &bodies[co_parent.handle];
                     let predicted_pos = rb
                         .pos
                         .integrate_forces_and_velocities(dt, &rb.forces, &rb.vels, &rb.mprops);
-
                     let next_position = predicted_pos * co_parent.pos_wrt_parent;
-                    (
+                    let swept_aabb = co.shape.compute_swept_aabb(&co.pos, &next_position);
-                        id as usize,
+                    broad_phase.set_aabb(params, handle, swept_aabb);
-                        co.shape.compute_swept_aabb(&co.pos, &next_position),
-                    )
-                } else {
-                    (id as usize, co.shape.compute_aabb(&co.pos))
                 }
-            }),
+            }
-        );
+        }
 
-        let query_pipeline = QueryPipeline {
+        let query_pipeline = broad_phase.as_query_pipeline(
-            // NOTE: the upcast needs at least rust 1.86
+            narrow_phase.query_dispatcher(),
-            dispatcher: narrow_phase.query_dispatcher(),
-            bvh: &self.bvh,
             bodies,
             colliders,
-            filter: QueryFilter::default(),
+            QueryFilter::default(),
-        };
+        );
 
         let mut pairs_seen = HashMap::default();
         let mut min_toi = dt;
@@ -234,43 +214,39 @@ impl CCDSolver {
     #[profiling::function]
     pub fn predict_impacts_at_next_positions(
         &mut self,
-        dt: Real,
+        params: &IntegrationParameters,
         islands: &IslandManager,
         bodies: &RigidBodySet,
         colliders: &ColliderSet,
+        broad_phase: &mut BroadPhaseBvh,
         narrow_phase: &NarrowPhase,
         events: &dyn EventHandler,
     ) -> PredictedImpacts {
+        let dt = params.dt;
         let mut frozen = HashMap::<_, Real>::default();
         let mut all_toi = BinaryHeap::new();
         let mut pairs_seen = HashMap::default();
         let mut min_overstep = dt;
 
         // Update the query pipeline with the colliders’ `next_position`.
-        self.bvh = Bvh::from_iter(
+        for (handle, co) in colliders.iter_enabled() {
-            BvhBuildStrategy::Binned,
+            if let Some(co_parent) = co.parent {
-            colliders.iter_enabled().map(|(co_handle, co)| {
+                let rb = &bodies[co_parent.handle];
-                let id = co_handle.into_raw_parts().0;
+                if rb.is_ccd_active() {
-                if let Some(co_parent) = co.parent {
                     let rb_next_pos = &bodies[co_parent.handle].pos.next_position;
                     let next_position = rb_next_pos * co_parent.pos_wrt_parent;
-                    (
+                    let swept_aabb = co.shape.compute_swept_aabb(&co.pos, &next_position);
-                        id as usize,
+                    broad_phase.set_aabb(params, handle, swept_aabb);
-                        co.shape.compute_swept_aabb(&co.pos, &next_position),
-                    )
-                } else {
-                    (id as usize, co.shape.compute_aabb(&co.pos))
                 }
-            }),
+            }
-        );
+        }
 
-        let query_pipeline = QueryPipeline {
+        let query_pipeline = broad_phase.as_query_pipeline(
-            dispatcher: narrow_phase.query_dispatcher(),
+            narrow_phase.query_dispatcher(),
-            bvh: &self.bvh,
             bodies,
             colliders,
-            filter: QueryFilter::default(),
+            QueryFilter::default(),
-        };
+        );
 
         /*
          *

src/geometry/broad_phase.rs

@@ -1,48 +0,0 @@
-use crate::dynamics::RigidBodySet;
-use crate::geometry::{BroadPhasePairEvent, ColliderHandle, ColliderSet};
-use crate::prelude::IntegrationParameters;
-use downcast_rs::DowncastSync;
-
-/// Trait implemented by broad-phase algorithms supported by Rapier.
-///
-/// The task of a broad-phase algorithm is to detect potential collision pairs, usually based on
-/// bounding volumes. The pairs must be conservative: it is OK to create a collision pair if
-/// two objects don’t actually touch, but it is incorrect to remove a pair between two objects
-/// that are still touching. In other words, it can have false-positive (though these induce
-/// some computational overhead on the narrow-phase), but cannot have false-negative.
-pub trait BroadPhase: Send + Sync + 'static + DowncastSync {
-    /// Updates the broad-phase.
-    ///
-    /// The results must be output through the `events` struct. The broad-phase algorithm is only
-    /// required to generate new events (i.e. no need to re-send an `AddPair` event if it was already
-    /// sent previously and no `RemovePair` happened since then). Sending redundant events is allowed
-    /// but can result in a slight computational overhead.
-    ///
-    /// The `colliders` set is mutable only to provide access to
-    /// [`collider.set_internal_broad_phase_proxy_index`]. Other properties of the collider should
-    /// **not** be modified during the broad-phase update.
-    ///
-    /// # Parameters
-    /// - `params`: the integration parameters governing the simulation.
-    /// - `colliders`: the set of colliders. Change detection with `collider.needs_broad_phase_update()`
-    ///   can be relied on at this stage.
-    /// - `modified_colliders`: colliders that are know to be modified since the last update.
-    /// - `removed_colliders`: colliders that got removed since the last update. Any associated data
-    ///   in the broad-phase should be removed by this call to `update`.
-    /// - `events`: the broad-phase’s output. They indicate what collision pairs need to be created
-    ///   and what pairs need to be removed. It is OK to create pairs for colliders that don’t
-    ///   actually collide (though this can increase computational overhead in the narrow-phase)
-    ///   but it is important not to indicate removal of a collision pair if the underlying colliders
-    ///   are still touching or closer than `prediction_distance`.
-    fn update(
-        &mut self,
-        params: &IntegrationParameters,
-        colliders: &ColliderSet,
-        bodies: &RigidBodySet,
-        modified_colliders: &[ColliderHandle],
-        removed_colliders: &[ColliderHandle],
-        events: &mut Vec<BroadPhasePairEvent>,
-    );
-}
-
-downcast_rs::impl_downcast!(sync BroadPhase);

src/geometry/broad_phase_bvh.rs

@@ -1,6 +1,6 @@
 use crate::dynamics::{IntegrationParameters, RigidBodySet};
-use crate::geometry::{BroadPhase, BroadPhasePairEvent, ColliderHandle, ColliderPair, ColliderSet};
+use crate::geometry::{Aabb, BroadPhasePairEvent, ColliderHandle, ColliderPair, ColliderSet};
-use parry::bounding_volume::BoundingVolume;
+use crate::math::Real;
 use parry::partitioning::{Bvh, BvhWorkspace};
 use parry::utils::hashmap::{Entry, HashMap};
 
@@ -36,6 +36,9 @@ pub enum BvhOptimizationStrategy {
 const ENABLE_TREE_VALIDITY_CHECK: bool = false;
 
 impl BroadPhaseBvh {
+    const CHANGE_DETECTION_ENABLED: bool = true;
+    const CHANGE_DETECTION_FACTOR: Real = 1.0e-2;
+
     /// Initializes a new empty broad-phase.
     pub fn new() -> Self {
         Self::default()
@@ -50,7 +53,30 @@ impl BroadPhaseBvh {
         }
     }
 
-    fn update_with_strategy(
+    /// Updates the broad-phase.
+    ///
+    /// The results are output through the `events` struct. The broad-phase algorithm is only
+    /// required to generate new events (i.e. no need to re-send an `AddPair` event if it was already
+    /// sent previously and no `RemovePair` happened since then). Sending redundant events is allowed
+    /// but can result in a slight computational overhead.
+    ///
+    /// The `colliders` set is mutable only to provide access to
+    /// [`collider.set_internal_broad_phase_proxy_index`]. Other properties of the collider should
+    /// **not** be modified during the broad-phase update.
+    ///
+    /// # Parameters
+    /// - `params`: the integration parameters governing the simulation.
+    /// - `colliders`: the set of colliders. Change detection with `collider.needs_broad_phase_update()`
+    ///   can be relied on at this stage.
+    /// - `modified_colliders`: colliders that are know to be modified since the last update.
+    /// - `removed_colliders`: colliders that got removed since the last update. Any associated data
+    ///   in the broad-phase should be removed by this call to `update`.
+    /// - `events`: the broad-phase’s output. They indicate what collision pairs need to be created
+    ///   and what pairs need to be removed. It is OK to create pairs for colliders that don’t
+    ///   actually collide (though this can increase computational overhead in the narrow-phase)
+    ///   but it is important not to indicate removal of a collision pair if the underlying colliders
+    ///   are still touching or closer than `prediction_distance`.
+    pub fn update(
         &mut self,
         params: &IntegrationParameters,
         colliders: &ColliderSet,
@@ -58,10 +84,7 @@ impl BroadPhaseBvh {
         modified_colliders: &[ColliderHandle],
         removed_colliders: &[ColliderHandle],
         events: &mut Vec<BroadPhasePairEvent>,
-        strategy: BvhOptimizationStrategy,
     ) {
-        const CHANGE_DETECTION_ENABLED: bool = true;
-
         self.frame_index = self.frame_index.overflowing_add(1).0;
 
         // Removals must be handled first, in case another collider in
@@ -70,9 +93,9 @@ impl BroadPhaseBvh {
             self.tree.remove(handle.into_raw_parts().0);
         }
 
-        if modified_colliders.is_empty() {
+        // if modified_colliders.is_empty() {
-            return;
+        //     return;
-        }
+        // }
 
         let first_pass = self.tree.is_empty();
 
@@ -83,29 +106,10 @@ impl BroadPhaseBvh {
                     continue;
                 }
 
-                // Take soft-ccd into account by growing the aabb.
+                let aabb = collider.compute_broad_phase_aabb(params, bodies);
-                let next_pose = collider.parent.and_then(|p| {
-                    let parent = bodies.get(p.handle)?;
-                    (parent.soft_ccd_prediction() > 0.0).then(|| {
-                        parent.predict_position_using_velocity_and_forces_with_max_dist(
-                            params.dt,
-                            parent.soft_ccd_prediction(),
-                        ) * p.pos_wrt_parent
-                    })
-                });
 
-                let prediction_distance = params.prediction_distance();
+                let change_detection_skin = if Self::CHANGE_DETECTION_ENABLED {
-                let mut aabb = collider.compute_collision_aabb(prediction_distance / 2.0);
+                    Self::CHANGE_DETECTION_FACTOR * params.length_unit
-                if let Some(next_pose) = next_pose {
-                    let next_aabb = collider
-                        .shape
-                        .compute_aabb(&next_pose)
-                        .loosened(collider.contact_skin() + prediction_distance / 2.0);
-                    aabb.merge(&next_aabb);
-                }
-
-                let change_detection_skin = if CHANGE_DETECTION_ENABLED {
-                    1.0e-2 * params.length_unit
                 } else {
                     0.0
                 };
@@ -127,7 +131,7 @@ impl BroadPhaseBvh {
         }
 
         // let t0 = std::time::Instant::now();
-        match strategy {
+        match self.optimization_strategy {
             BvhOptimizationStrategy::SubtreeOptimizer => {
                 self.tree.optimize_incremental(&mut self.workspace);
             }
@@ -190,7 +194,7 @@ impl BroadPhaseBvh {
 
         // let t0 = std::time::Instant::now();
         self.tree
-            .traverse_bvtt_single_tree::<CHANGE_DETECTION_ENABLED>(
+            .traverse_bvtt_single_tree::<{ Self::CHANGE_DETECTION_ENABLED }>(
                 &mut self.workspace,
                 &mut pairs_collector,
             );
@@ -220,7 +224,7 @@ impl BroadPhaseBvh {
                     return false;
                 };
 
-                if (!CHANGE_DETECTION_ENABLED || node0.is_changed() || node1.is_changed())
+                if (!Self::CHANGE_DETECTION_ENABLED || node0.is_changed() || node1.is_changed())
                     && !node0.intersects(node1)
                 {
                     events.push(BroadPhasePairEvent::DeletePair(ColliderPair::new(*h0, *h1)));
@@ -245,26 +249,21 @@ impl BroadPhaseBvh {
         //     removed_pairs
         // );
     }
-}
 
-impl BroadPhase for BroadPhaseBvh {
+    /// Sets the AABB associated to the given collider.
-    fn update(
+    ///
-        &mut self,
+    /// The AABB change will be immediately applied and propagated through the underlying BVH.
-        params: &IntegrationParameters,
+    /// Change detection will automatically take it into account during the next broad-phase update.
-        colliders: &ColliderSet,
+    pub fn set_aabb(&mut self, params: &IntegrationParameters, handle: ColliderHandle, aabb: Aabb) {
-        bodies: &RigidBodySet,
+        let change_detection_skin = if Self::CHANGE_DETECTION_ENABLED {
-        modified_colliders: &[ColliderHandle],
+            Self::CHANGE_DETECTION_FACTOR * params.length_unit
-        removed_colliders: &[ColliderHandle],
+        } else {
-        events: &mut Vec<BroadPhasePairEvent>,
+            0.0
-    ) {
+        };
-        self.update_with_strategy(
+        self.tree.insert_with_change_detection(
-            params,
+            aabb,
-            colliders,
+            handle.into_raw_parts().0,
-            bodies,
+            change_detection_skin,
-            modified_colliders,
-            removed_colliders,
-            events,
-            self.optimization_strategy,
         );
     }
 }

src/geometry/collider.rs

@@ -1,4 +1,4 @@
-use crate::dynamics::{CoefficientCombineRule, MassProperties, RigidBodyHandle};
+use crate::dynamics::{CoefficientCombineRule, MassProperties, RigidBodyHandle, RigidBodySet};
 #[cfg(feature = "dim3")]
 use crate::geometry::HeightFieldFlags;
 use crate::geometry::{
@@ -9,7 +9,7 @@ use crate::geometry::{
 use crate::math::{AngVector, DIM, Isometry, Point, Real, Rotation, Vector};
 use crate::parry::transformation::vhacd::VHACDParameters;
 use crate::pipeline::{ActiveEvents, ActiveHooks};
-use crate::prelude::ColliderEnabled;
+use crate::prelude::{ColliderEnabled, IntegrationParameters};
 use na::Unit;
 use parry::bounding_volume::{Aabb, BoundingVolume};
 use parry::shape::{Shape, TriMeshBuilderError, TriMeshFlags};
@@ -457,6 +457,40 @@ impl Collider {
         self.shape.compute_swept_aabb(&self.pos, next_position)
     }
 
+    // TODO: we have a lot of different AABB computation functions
+    //       We should group them somehow.
+    /// Computes the collider’s AABB for usage in a broad-phase.
+    ///
+    /// It takes into account soft-ccd, the contact skin, and the contact prediction.
+    pub fn compute_broad_phase_aabb(
+        &self,
+        params: &IntegrationParameters,
+        bodies: &RigidBodySet,
+    ) -> Aabb {
+        // Take soft-ccd into account by growing the aabb.
+        let next_pose = self.parent.and_then(|p| {
+            let parent = bodies.get(p.handle)?;
+            (parent.soft_ccd_prediction() > 0.0).then(|| {
+                parent.predict_position_using_velocity_and_forces_with_max_dist(
+                    params.dt,
+                    parent.soft_ccd_prediction(),
+                ) * p.pos_wrt_parent
+            })
+        });
+
+        let prediction_distance = params.prediction_distance();
+        let mut aabb = self.compute_collision_aabb(prediction_distance / 2.0);
+        if let Some(next_pose) = next_pose {
+            let next_aabb = self
+                .shape
+                .compute_aabb(&next_pose)
+                .loosened(self.contact_skin() + prediction_distance / 2.0);
+            aabb.merge(&next_aabb);
+        }
+
+        aabb
+    }
+
     /// Compute the local-space mass properties of this collider.
     pub fn mass_properties(&self) -> MassProperties {
         self.mprops.mass_properties(&*self.shape)

src/geometry/collider_set.rs

@@ -53,6 +53,10 @@ impl ColliderSet {
         std::mem::take(&mut self.modified_colliders)
     }
 
+    pub(crate) fn set_modified(&mut self, modified: ModifiedColliders) {
+        self.modified_colliders = modified;
+    }
+
     pub(crate) fn take_removed(&mut self) -> Vec<ColliderHandle> {
         std::mem::take(&mut self.removed_colliders)
     }

src/geometry/mod.rs

@@ -1,6 +1,5 @@
 //! Structures related to geometry: colliders, shapes, etc.
 
-pub use self::broad_phase::BroadPhase;
 pub use self::broad_phase_bvh::{BroadPhaseBvh, BvhOptimizationStrategy};
 pub use self::broad_phase_pair_event::{BroadPhasePairEvent, ColliderPair};
 pub use self::collider::{Collider, ColliderBuilder};
@@ -199,7 +198,6 @@ mod interaction_graph;
 mod interaction_groups;
 mod narrow_phase;
 
-mod broad_phase;
 mod broad_phase_bvh;
 mod broad_phase_pair_event;
 mod collider;

src/geometry/narrow_phase.rs

@@ -697,14 +697,9 @@ impl NarrowPhase {
         &mut self,
         bodies: &RigidBodySet,
         colliders: &ColliderSet,
-        modified_colliders: &[ColliderHandle],
         hooks: &dyn PhysicsHooks,
         events: &dyn EventHandler,
     ) {
-        if modified_colliders.is_empty() {
-            return;
-        }
-
         let nodes = &self.intersection_graph.graph.nodes;
         let query_dispatcher = &*self.query_dispatcher;
 
@@ -806,14 +801,9 @@ impl NarrowPhase {
         colliders: &ColliderSet,
         impulse_joints: &ImpulseJointSet,
         multibody_joints: &MultibodyJointSet,
-        modified_colliders: &[ColliderHandle],
         hooks: &dyn PhysicsHooks,
         events: &dyn EventHandler,
     ) {
-        if modified_colliders.is_empty() {
-            return;
-        }
-
         let query_dispatcher = &*self.query_dispatcher;
 
         // TODO: don't iterate on all the edges.

src/pipeline/collision_pipeline.rs

@@ -2,7 +2,7 @@
 
 use crate::dynamics::{ImpulseJointSet, IntegrationParameters, MultibodyJointSet};
 use crate::geometry::{
-    BroadPhase, BroadPhasePairEvent, ColliderChanges, ColliderHandle, ColliderPair,
+    BroadPhaseBvh, BroadPhasePairEvent, ColliderChanges, ColliderHandle, ColliderPair,
     ModifiedColliders, NarrowPhase,
 };
 use crate::math::Real;
@@ -44,7 +44,7 @@ impl CollisionPipeline {
     fn detect_collisions(
         &mut self,
         prediction_distance: Real,
-        broad_phase: &mut dyn BroadPhase,
+        broad_phase: &mut BroadPhaseBvh,
         narrow_phase: &mut NarrowPhase,
         bodies: &mut RigidBodySet,
         colliders: &mut ColliderSet,
@@ -93,11 +93,10 @@ impl CollisionPipeline {
             colliders,
             &ImpulseJointSet::new(),
             &MultibodyJointSet::new(),
-            modified_colliders,
             hooks,
             events,
         );
-        narrow_phase.compute_intersections(bodies, colliders, modified_colliders, hooks, events);
+        narrow_phase.compute_intersections(bodies, colliders, hooks, events);
     }
 
     fn clear_modified_colliders(
@@ -118,7 +117,7 @@ impl CollisionPipeline {
     pub fn step(
         &mut self,
         prediction_distance: Real,
-        broad_phase: &mut dyn BroadPhase,
+        broad_phase: &mut BroadPhaseBvh,
         narrow_phase: &mut NarrowPhase,
         bodies: &mut RigidBodySet,
         colliders: &mut ColliderSet,

src/pipeline/physics_pipeline.rs

@@ -10,7 +10,7 @@ use crate::dynamics::{
     RigidBodyChanges, RigidBodyPosition, RigidBodyType,
 };
 use crate::geometry::{
-    BroadPhase, BroadPhasePairEvent, ColliderChanges, ColliderHandle, ColliderPair,
+    BroadPhaseBvh, BroadPhasePairEvent, ColliderChanges, ColliderHandle, ColliderPair,
     ContactManifoldIndex, ModifiedColliders, NarrowPhase, TemporaryInteractionIndex,
 };
 use crate::math::{Real, Vector};
@@ -71,11 +71,14 @@ impl PhysicsPipeline {
         colliders: &mut ColliderSet,
         modified_colliders: &mut ModifiedColliders,
     ) {
-        for handle in modified_colliders.iter() {
+        for co in colliders.colliders.iter_mut() {
-            if let Some(co) = colliders.get_mut_internal(*handle) {
+            co.1.changes = ColliderChanges::empty();
-                co.changes = ColliderChanges::empty();
-            }
         }
+        // for handle in modified_colliders.iter() {
+        //     if let Some(co) = colliders.get_mut_internal(*handle) {
+        //         co.changes = ColliderChanges::empty();
+        //     }
+        // }
 
         modified_colliders.clear();
     }
@@ -98,7 +101,7 @@ impl PhysicsPipeline {
         &mut self,
         integration_parameters: &IntegrationParameters,
         islands: &mut IslandManager,
-        broad_phase: &mut dyn BroadPhase,
+        broad_phase: &mut BroadPhaseBvh,
         narrow_phase: &mut NarrowPhase,
         bodies: &mut RigidBodySet,
         colliders: &mut ColliderSet,
@@ -153,11 +156,10 @@ impl PhysicsPipeline {
             colliders,
             impulse_joints,
             multibody_joints,
-            modified_colliders,
             hooks,
             events,
         );
-        narrow_phase.compute_intersections(bodies, colliders, modified_colliders, hooks, events);
+        narrow_phase.compute_intersections(bodies, colliders, hooks, events);
 
         self.counters.cd.narrow_phase_time.pause();
         self.counters.stages.collision_detection_time.pause();
@@ -340,6 +342,7 @@ impl PhysicsPipeline {
         islands: &IslandManager,
         bodies: &mut RigidBodySet,
         colliders: &mut ColliderSet,
+        broad_phase: &mut BroadPhaseBvh,
         narrow_phase: &NarrowPhase,
         ccd_solver: &mut CCDSolver,
         events: &dyn EventHandler,
@@ -347,10 +350,11 @@ impl PhysicsPipeline {
         self.counters.ccd.toi_computation_time.start();
         // Handle CCD
         let impacts = ccd_solver.predict_impacts_at_next_positions(
-            integration_parameters.dt,
+            integration_parameters,
             islands,
             bodies,
             colliders,
+            broad_phase,
             narrow_phase,
             events,
         );
@@ -414,7 +418,7 @@ impl PhysicsPipeline {
         gravity: &Vector<Real>,
         integration_parameters: &IntegrationParameters,
         islands: &mut IslandManager,
-        broad_phase: &mut dyn BroadPhase,
+        broad_phase: &mut BroadPhaseBvh,
         narrow_phase: &mut NarrowPhase,
         bodies: &mut RigidBodySet,
         colliders: &mut ColliderSet,
@@ -535,9 +539,11 @@ impl PhysicsPipeline {
                 let first_impact = if ccd_active {
                     ccd_solver.find_first_impact(
                         remaining_time,
+                        &integration_parameters,
                         islands,
                         bodies,
                         colliders,
+                        broad_phase,
                         narrow_phase,
                     )
                 } else {
@@ -605,6 +611,7 @@ impl PhysicsPipeline {
                         islands,
                         bodies,
                         colliders,
+                        broad_phase,
                         narrow_phase,
                         ccd_solver,
                         events,
@@ -616,23 +623,35 @@ impl PhysicsPipeline {
             self.advance_to_final_positions(islands, bodies, colliders, &mut modified_colliders);
             self.counters.stages.update_time.pause();
 
-            self.detect_collisions(
+            if remaining_substeps > 0 {
-                &integration_parameters,
+                self.detect_collisions(
-                islands,
+                    &integration_parameters,
-                broad_phase,
+                    islands,
-                narrow_phase,
+                    broad_phase,
-                bodies,
+                    narrow_phase,
-                colliders,
+                    bodies,
-                impulse_joints,
+                    colliders,
-                multibody_joints,
+                    impulse_joints,
-                &modified_colliders,
+                    multibody_joints,
-                &[],
+                    &modified_colliders,
-                hooks,
+                    &[],
-                events,
+                    hooks,
-                false,
+                    events,
-            );
+                    false,
+                );
 
-            self.clear_modified_colliders(colliders, &mut modified_colliders);
+                self.clear_modified_colliders(colliders, &mut modified_colliders);
+            } else {
+                // If we ran the last substep, just update the broad-phase bvh instead
+                // of a full collision-detection step.
+                for handle in modified_colliders.iter() {
+                    let co = &colliders[*handle];
+                    let aabb = co.compute_broad_phase_aabb(&integration_parameters, bodies);
+                    broad_phase.set_aabb(&integration_parameters, *handle, aabb);
+                }
+                modified_colliders.clear();
+                // self.clear_modified_colliders(colliders, &mut modified_colliders);
+            }
         }
 
         // Finally, make sure we update the world mass-properties of the rigid-bodies
@@ -648,6 +667,9 @@ impl PhysicsPipeline {
         }
         self.counters.stages.update_time.pause();
 
+        // Re-insert the modified vector we extracted for the borrow-checker.
+        colliders.set_modified(modified_colliders);
+
         self.counters.step_completed();
     }
 }

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::{
+use rapier::geometry::{BroadPhaseBvh, BvhOptimizationStrategy, ColliderSet, NarrowPhase};
-    BroadPhase, 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(
+                BroadPhaseBvh::with_optimization_strategy(BvhOptimizationStrategy::SubtreeOptimizer)
-                    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
+            let query_pipeline = self.harness.physics.broad_phase.as_query_pipeline_mut(
-                .harness
+                self.harness.physics.narrow_phase.query_dispatcher(),
-                .physics
+                &mut self.harness.physics.bodies,
-                .broad_phase
+                &mut self.harness.physics.colliders,
-                .downcast_ref::<BroadPhaseBvh>()
+                QueryFilter::exclude_dynamic().exclude_rigid_body(vehicle.chassis),
-            {
+            );
-                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;
-            };
 
             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>() {
+        let query_pipeline = physics.broad_phase.as_query_pipeline(
-            bf.as_query_pipeline(
+            physics.narrow_phase.query_dispatcher(),
-                physics.narrow_phase.query_dispatcher(),
+            &physics.bodies,
-                &physics.bodies,
+            &physics.colliders,
-                &physics.colliders,
+            QueryFilter::only_dynamic(),
-                QueryFilter::only_dynamic(),
+        );
-            )
-        } else {
-            return;
-        };
 
         let hit = query_pipeline.cast_ray(&ray, Real::MAX, true);