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

* 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

examples2d/Cargo.toml

@@ -2,7 +2,7 @@
 name = "rapier-examples-2d"
 version = "0.1.0"
 authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
-edition = "2021"
+edition = "2024"
 default-run = "all_examples2"
 
 [features]

examples2d/add_remove2.rs

@@ -1,5 +1,5 @@
-use rapier2d::{na::UnitComplex, prelude::*};
 use rapier_testbed2d::Testbed;
+use rapier2d::{na::UnitComplex, prelude::*};
 
 pub fn init_world(testbed: &mut Testbed) {
     let mut bodies = RigidBodySet::new();
@@ -24,7 +24,7 @@ pub fn init_world(testbed: &mut Testbed) {
 
     // Callback that will be executed on the main loop to handle proximities.
     testbed.add_callback(move |mut graphics, physics, _, state| {
-        let rot = state.time * -1.0;
+        let rot = -state.time;
         for rb_handle in &platform_handles {
             let rb = physics.bodies.get_mut(*rb_handle).unwrap();
             rb.set_next_kinematic_rotation(UnitComplex::new(rot));

examples2d/all_examples2.rs

@@ -20,6 +20,7 @@ mod debug_total_overlap2;
 mod debug_vertical_column2;
 mod drum2;
 mod heightfield2;
+mod inv_pyramid2;
 mod inverse_kinematics2;
 mod joint_motor_position2;
 mod joints2;
@@ -59,6 +60,7 @@ pub fn main() {
         ("Drum", drum2::init_world),
         ("Heightfield", heightfield2::init_world),
         ("Inverse kinematics", inverse_kinematics2::init_world),
+        ("Inv pyramid", inv_pyramid2::init_world),
         ("Joints", joints2::init_world),
         ("Locked rotations", locked_rotations2::init_world),
         ("One-way platforms", one_way_platforms2::init_world),

examples2d/ccd2.rs

@@ -1,5 +1,5 @@
-use rapier2d::prelude::*;
 use rapier_testbed2d::Testbed;
+use rapier2d::prelude::*;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*

examples2d/character_controller2.rs

@@ -1,8 +1,8 @@
 use crate::utils::character;
 use crate::utils::character::CharacterControlMode;
+use rapier_testbed2d::Testbed;
 use rapier2d::control::{KinematicCharacterController, PidController};
 use rapier2d::prelude::*;
-use rapier_testbed2d::Testbed;
 use std::f32::consts::PI;
 
 pub fn init_world(testbed: &mut Testbed) {

examples2d/collision_groups2.rs

@@ -1,5 +1,5 @@
-use rapier2d::prelude::*;
 use rapier_testbed2d::Testbed;
+use rapier2d::prelude::*;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*

examples2d/convex_polygons2.rs

@@ -1,7 +1,7 @@
 use rand::distributions::{Distribution, Standard};
-use rand::{rngs::StdRng, SeedableRng};
-use rapier2d::prelude::*;
+use rand::{SeedableRng, rngs::StdRng};
 use rapier_testbed2d::Testbed;
+use rapier2d::prelude::*;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*

examples2d/damping2.rs

@@ -1,5 +1,5 @@
-use rapier2d::prelude::*;
 use rapier_testbed2d::Testbed;
+use rapier2d::prelude::*;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*

examples2d/debug_box_ball2.rs

@@ -1,5 +1,5 @@
-use rapier2d::prelude::*;
 use rapier_testbed2d::Testbed;
+use rapier2d::prelude::*;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*

examples2d/debug_compression2.rs

@@ -1,5 +1,5 @@
-use rapier2d::prelude::*;
 use rapier_testbed2d::Testbed;
+use rapier2d::prelude::*;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*

examples2d/debug_intersection2.rs

@@ -1,5 +1,5 @@
-use rapier2d::prelude::*;
 use rapier_testbed2d::Testbed;
+use rapier2d::prelude::*;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*
@@ -39,22 +39,29 @@ pub fn init_world(testbed: &mut Testbed) {
     testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
     testbed.look_at(point![0.0, 0.0], 50.0);
 
-    testbed.add_callback(move |graphics, physics, _, run| {
+    testbed.add_callback(move |mut graphics, physics, _, run| {
         let slow_time = run.timestep_id as f32 / 3.0;
-        let intersection = physics.query_pipeline.intersection_with_shape(
+
+        let Some(broad_phase) = physics.broad_phase.downcast_ref::<BroadPhaseBvh>() else {
+            return;
+        };
+        let query_pipeline = broad_phase.as_query_pipeline(
+            physics.narrow_phase.query_dispatcher(),
             &physics.bodies,
             &physics.colliders,
-            &Isometry::translation(slow_time.cos() * 10.0, slow_time.sin() * 10.0),
-            &Ball::new(rad / 2.0),
             QueryFilter::default(),
         );
 
-        if let Some(graphics) = graphics {
-            for (handle, _) in physics.bodies.iter() {
-                graphics.set_body_color(handle, [0.5, 0.5, 0.5]);
-            }
-            if let Some(intersection) = intersection {
-                let collider = physics.colliders.get(intersection).unwrap();
+        for intersection in query_pipeline.intersect_shape(
+            &Isometry::translation(slow_time.cos() * 10.0, slow_time.sin() * 10.0),
+            &Ball::new(rad / 2.0),
+        ) {
+            if let Some(graphics) = graphics.as_deref_mut() {
+                for (handle, _) in physics.bodies.iter() {
+                    graphics.set_body_color(handle, [0.5, 0.5, 0.5]);
+                }
+
+                let collider = physics.colliders.get(intersection.0).unwrap();
                 let body_handle = collider.parent().unwrap();
 
                 graphics.set_body_color(body_handle, [1.0, 0.0, 0.0]);

examples2d/debug_total_overlap2.rs

@@ -1,5 +1,5 @@
-use rapier2d::prelude::*;
 use rapier_testbed2d::Testbed;
+use rapier2d::prelude::*;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*

examples2d/debug_vertical_column2.rs

@@ -1,5 +1,5 @@
-use rapier2d::prelude::*;
 use rapier_testbed2d::Testbed;
+use rapier2d::prelude::*;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*

examples2d/drum2.rs

@@ -1,5 +1,5 @@
-use rapier2d::prelude::*;
 use rapier_testbed2d::Testbed;
+use rapier2d::prelude::*;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*

examples2d/heightfield2.rs

@@ -1,6 +1,6 @@
+use rapier_testbed2d::Testbed;
 use rapier2d::na::DVector;
 use rapier2d::prelude::*;
-use rapier_testbed2d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*

examples2d/inv_pyramid2.rs

@@ -0,0 +1,47 @@
+use rapier_testbed2d::Testbed;
+use rapier2d::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();
+
+    /*
+     * Ground
+     */
+    let ground_size = 10.0;
+    let ground_thickness = 1.0;
+
+    let rigid_body = RigidBodyBuilder::fixed();
+    let ground_handle = bodies.insert(rigid_body);
+    let collider = ColliderBuilder::cuboid(ground_size, ground_thickness);
+    colliders.insert_with_parent(collider, ground_handle, &mut bodies);
+
+    /*
+     * Create the cubes
+     */
+    let num = 6;
+    let mut rad = 0.5;
+    let mut y = rad;
+
+    for _ in 0usize..num {
+        // Build the rigid body.
+        let rigid_body =
+            RigidBodyBuilder::dynamic().translation(vector![0.0, y + ground_thickness]);
+        let handle = bodies.insert(rigid_body);
+        let collider = ColliderBuilder::cuboid(rad, rad);
+        colliders.insert_with_parent(collider, handle, &mut bodies);
+        y += rad + rad * 2.0;
+        rad *= 2.0;
+    }
+
+    /*
+     * Set up the testbed.
+     */
+    testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
+    testbed.look_at(point![0.0, 2.5], 20.0);
+}

examples2d/inverse_kinematics2.rs

@@ -1,5 +1,5 @@
-use rapier2d::prelude::*;
 use rapier_testbed2d::Testbed;
+use rapier2d::prelude::*;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*

examples2d/joint_motor_position2.rs

@@ -1,5 +1,5 @@
-use rapier2d::prelude::*;
 use rapier_testbed2d::Testbed;
+use rapier2d::prelude::*;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*

examples2d/joints2.rs

@@ -1,5 +1,5 @@
-use rapier2d::prelude::*;
 use rapier_testbed2d::Testbed;
+use rapier2d::prelude::*;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*

examples2d/locked_rotations2.rs

@@ -1,5 +1,5 @@
-use rapier2d::prelude::*;
 use rapier_testbed2d::Testbed;
+use rapier2d::prelude::*;
 
 // This shows a bug when a cylinder is in contact with a very large
 // but very thin cuboid. In this case the EPA returns an incorrect

examples2d/one_way_platforms2.rs

@@ -1,5 +1,5 @@
-use rapier2d::prelude::*;
 use rapier_testbed2d::Testbed;
+use rapier2d::prelude::*;
 
 struct OneWayPlatformHook {
     platform1: ColliderHandle,

examples2d/platform2.rs

@@ -1,5 +1,5 @@
-use rapier2d::prelude::*;
 use rapier_testbed2d::Testbed;
+use rapier2d::prelude::*;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*

examples2d/polyline2.rs

@@ -1,6 +1,6 @@
+use rapier_testbed2d::Testbed;
 use rapier2d::na::ComplexField;
 use rapier2d::prelude::*;
-use rapier_testbed2d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*

examples2d/pyramid2.rs

@@ -1,5 +1,5 @@
-use rapier2d::prelude::*;
 use rapier_testbed2d::Testbed;
+use rapier2d::prelude::*;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*

examples2d/restitution2.rs

@@ -1,5 +1,5 @@
-use rapier2d::prelude::*;
 use rapier_testbed2d::Testbed;
+use rapier2d::prelude::*;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*

examples2d/rope_joints2.rs

@@ -1,8 +1,8 @@
 use crate::utils::character;
 use crate::utils::character::CharacterControlMode;
+use rapier_testbed2d::Testbed;
 use rapier2d::control::{KinematicCharacterController, PidController};
 use rapier2d::prelude::*;
-use rapier_testbed2d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*

examples2d/s2d_arch.rs

@@ -1,5 +1,5 @@
-use rapier2d::prelude::*;
 use rapier_testbed2d::Testbed;
+use rapier2d::prelude::*;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*

examples2d/s2d_ball_and_chain.rs

@@ -1,5 +1,5 @@
-use rapier2d::prelude::*;
 use rapier_testbed2d::Testbed;
+use rapier2d::prelude::*;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*

examples2d/s2d_bridge.rs

@@ -1,5 +1,5 @@
-use rapier2d::prelude::*;
 use rapier_testbed2d::Testbed;
+use rapier2d::prelude::*;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*

examples2d/s2d_card_house.rs

@@ -1,5 +1,5 @@
-use rapier2d::prelude::*;
 use rapier_testbed2d::Testbed;
+use rapier2d::prelude::*;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*

examples2d/s2d_confined.rs

@@ -1,5 +1,5 @@
-use rapier2d::prelude::*;
 use rapier_testbed2d::Testbed;
+use rapier2d::prelude::*;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*

examples2d/s2d_far_pyramid.rs

@@ -1,5 +1,5 @@
-use rapier2d::prelude::*;
 use rapier_testbed2d::Testbed;
+use rapier2d::prelude::*;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*

examples2d/s2d_high_mass_ratio_1.rs

@@ -1,5 +1,5 @@
-use rapier2d::prelude::*;
 use rapier_testbed2d::Testbed;
+use rapier2d::prelude::*;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*

examples2d/s2d_high_mass_ratio_2.rs

@@ -1,5 +1,5 @@
-use rapier2d::prelude::*;
 use rapier_testbed2d::Testbed;
+use rapier2d::prelude::*;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*

examples2d/s2d_high_mass_ratio_3.rs

@@ -1,5 +1,5 @@
-use rapier2d::prelude::*;
 use rapier_testbed2d::Testbed;
+use rapier2d::prelude::*;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*

examples2d/s2d_joint_grid.rs

@@ -1,5 +1,5 @@
-use rapier2d::prelude::*;
 use rapier_testbed2d::Testbed;
+use rapier2d::prelude::*;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*

examples2d/s2d_pyramid.rs

@@ -1,5 +1,5 @@
-use rapier2d::prelude::*;
 use rapier_testbed2d::Testbed;
+use rapier2d::prelude::*;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*

examples2d/sensor2.rs

@@ -1,5 +1,5 @@
-use rapier2d::prelude::*;
 use rapier_testbed2d::Testbed;
+use rapier2d::prelude::*;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*

examples2d/trimesh2.rs

@@ -1,5 +1,5 @@
-use rapier2d::prelude::*;
 use rapier_testbed2d::Testbed;
+use rapier2d::prelude::*;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*

examples2d/utils/character.rs

@@ -1,12 +1,12 @@
+use rapier_testbed2d::ui::egui::Align2;
+use rapier_testbed2d::{
+    KeyCode, PhysicsState, TestbedGraphics,
+    ui::egui::{ComboBox, Slider, Ui, Window},
+};
 use rapier2d::{
     control::{CharacterLength, KinematicCharacterController, PidController},
     prelude::*,
 };
-use rapier_testbed2d::ui::egui::Align2;
-use rapier_testbed2d::{
-    ui::egui::{ComboBox, Slider, Ui, Window},
-    KeyCode, PhysicsState, TestbedGraphics,
-};
 
 pub type CharacterSpeed = Real;
 
@@ -133,18 +133,27 @@ fn update_kinematic_controller(
 
     let character_body = &phx.bodies[character_handle];
     let character_collider = &phx.colliders[character_body.colliders()[0]];
+    let character_collider_pose = *character_collider.position();
+    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 {
+        return;
+    };
+    let query_pipeline = broad_phase.as_query_pipeline_mut(
+        phx.narrow_phase.query_dispatcher(),
+        &mut phx.bodies,
+        &mut phx.colliders,
+        QueryFilter::new().exclude_rigid_body(character_handle),
+    );
+
     let mut collisions = vec![];
     let mvt = controller.move_shape(
         phx.integration_parameters.dt,
-        &phx.bodies,
-        &phx.colliders,
-        &phx.query_pipeline,
-        character_collider.shape(),
-        character_collider.position(),
-        desired_movement,
-        QueryFilter::new().exclude_rigid_body(character_handle),
+        &query_pipeline.as_ref(),
+        &*character_shape,
+        &character_collider_pose,
+        desired_movement.cast::<Real>(),
         |c| collisions.push(c),
     );
 
@@ -156,13 +165,10 @@ fn update_kinematic_controller(
 
     controller.solve_character_collision_impulses(
         phx.integration_parameters.dt,
-        &mut phx.bodies,
-        &phx.colliders,
-        &phx.query_pipeline,
-        character_collider.shape(),
+        query_pipeline,
+        &*character_shape,
         character_mass,
         &*collisions,
-        QueryFilter::new().exclude_rigid_body(character_handle),
     );
 
     let character_body = &mut phx.bodies[character_handle];

examples2d/voxels2.rs

@@ -1,6 +1,6 @@
+use rapier_testbed2d::Testbed;
 use rapier2d::parry::transformation::voxelization::FillMode;
 use rapier2d::prelude::*;
-use rapier_testbed2d::Testbed;
 
 const VOXEL_SIZE: Real = 0.1; // 0.25;