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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
examples2d/add_remove2.rs
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@@ -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));