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feat: switch to the new Bvh from parry for the broad-phase (#853)

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* feat: switch to the new Bvh from parry for the broad-phase

* chore: cargo fmt + update testbed

* chore: remove the multi-grid SAP broad-phase

* fix soft-ccd handling in broad-phase

* Fix contact cleanup in broad-phase after collider removal

* chore: clippy fixes

* fix CCD regression

* chore: update changelog

* fix build with the parallel feature enabled

* chore: remove the now useless broad-phase proxy index from colliders

* fix tests
This commit is contained in:
Sébastien Crozet
2025-07-11 22:36:40 +02:00
committed by GitHub
parent 86a257d4f1
commit 95bd6fcfeb
212 changed files with 2140 additions and 3953 deletions
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4
crates/rapier3d-urdf/src/lib.rs
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@@ -497,7 +497,9 @@ fn urdf_to_colliders(
}
#[cfg(not(feature = "__meshloader_is_enabled"))]
Geometry::Mesh { .. } => {
log::error!("Mesh loading is disabled by default. Enable one of the format features (`stl`, `collada`, `wavefront`) of `rapier3d-urdf` for mesh support.");
log::error!(
"Mesh loading is disabled by default. Enable one of the format features (`stl`, `collada`, `wavefront`) of `rapier3d-urdf` for mesh support."
);
}
#[cfg(feature = "__meshloader_is_enabled")]
Geometry::Mesh { filename, scale } => {