Allow the PhysicsPipeline and CollisionPipeline to update the QueryPipeline incrementally

src_testbed/harness/mod.rs

@@ -215,6 +215,7 @@ impl Harness {
                     &mut physics.impulse_joints,
                     &mut physics.multibody_joints,
                     &mut physics.ccd_solver,
+                    &mut physics.query_pipeline,
                     &*physics.hooks,
                     event_handler,
                 );
@@ -233,16 +234,11 @@ impl Harness {
             &mut self.physics.impulse_joints,
             &mut self.physics.multibody_joints,
             &mut self.physics.ccd_solver,
+            Some(&mut self.physics.query_pipeline),
             &*self.physics.hooks,
             &self.event_handler,
         );
 
-        self.physics.query_pipeline.update(
-            &self.physics.islands,
-            &self.physics.bodies,
-            &self.physics.colliders,
-        );
-
         for plugin in &mut self.plugins {
             plugin.step(&mut self.physics, &self.state)
         }