First complete implementation of the hierarchical SAP.

2021-03-13 18:00:58 +01:00
parent a967ace7d4
commit 3a1502be74
18 changed files with 784 additions and 282 deletions
--- a/src/pipeline/collision_pipeline.rs
+++ b/src/pipeline/collision_pipeline.rs
@@ -47,10 +47,13 @@ impl CollisionPipeline {
        bodies.maintain(colliders);
        self.broadphase_collider_pairs.clear();

-        broad_phase.update_aabbs(prediction_distance, bodies, colliders);
-
        self.broad_phase_events.clear();
-        broad_phase.find_pairs(&mut self.broad_phase_events);
+        broad_phase.update(
+            prediction_distance,
+            bodies,
+            colliders,
+            &mut self.broad_phase_events,
+        );

        narrow_phase.register_pairs(colliders, bodies, &self.broad_phase_events, events);