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

examples3d/Cargo.toml

@@ -2,7 +2,7 @@
 name = "rapier-examples-3d"
 version = "0.1.0"
 authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
-edition = "2021"
+edition = "2024"
 default-run = "all_examples3"
 
 [features]

examples3d/ccd3.rs

@@ -1,5 +1,5 @@
-use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
+use rapier3d::prelude::*;
 
 fn create_wall(
     testbed: &mut Testbed,

examples3d/character_controller3.rs

@@ -1,9 +1,9 @@
 use crate::utils::character::{self, CharacterControlMode};
+use rapier_testbed3d::Testbed;
 use rapier3d::{
     control::{KinematicCharacterController, PidController},
     prelude::*,
 };
-use rapier_testbed3d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*

examples3d/collision_groups3.rs

@@ -1,5 +1,5 @@
-use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
+use rapier3d::prelude::*;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*

examples3d/compound3.rs

@@ -1,5 +1,5 @@
-use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
+use rapier3d::prelude::*;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*

examples3d/convex_polyhedron3.rs

@@ -1,7 +1,7 @@
 use rand::distributions::{Distribution, Standard};
-use rand::{rngs::StdRng, SeedableRng};
-use rapier3d::prelude::*;
+use rand::{SeedableRng, rngs::StdRng};
 use rapier_testbed3d::Testbed;
+use rapier3d::prelude::*;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*

examples3d/damping3.rs

@@ -1,5 +1,5 @@
-use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
+use rapier3d::prelude::*;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*

examples3d/debug_add_remove_collider3.rs

@@ -1,5 +1,5 @@
-use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
+use rapier3d::prelude::*;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*

examples3d/debug_articulations3.rs

@@ -1,5 +1,5 @@
-use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
+use rapier3d::prelude::*;
 
 fn create_ball_articulations(
     bodies: &mut RigidBodySet,

examples3d/debug_big_colliders3.rs

@@ -1,5 +1,5 @@
-use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
+use rapier3d::prelude::*;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*

examples3d/debug_boxes3.rs

@@ -1,5 +1,5 @@
-use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
+use rapier3d::prelude::*;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*

examples3d/debug_chain_high_mass_ratio3.rs

@@ -1,5 +1,5 @@
-use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
+use rapier3d::prelude::*;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*

examples3d/debug_cube_high_mass_ratio3.rs

@@ -1,5 +1,5 @@
-use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
+use rapier3d::prelude::*;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*
@@ -86,7 +86,10 @@ pub fn init_world(testbed: &mut Testbed) {
     let big_mass =
         MassProperties::from_cuboid(1.0, vector![cube_len / 2.0, cube_len / 2.0, cube_len / 2.0])
             .mass();
-    println!("debug_cube_high_mass_ratio3: small stick mass: {small_mass}, big cube mass: {big_mass}, mass_ratio: {}", big_mass / small_mass);
+    println!(
+        "debug_cube_high_mass_ratio3: small stick mass: {small_mass}, big cube mass: {big_mass}, mass_ratio: {}",
+        big_mass / small_mass
+    );
 
     /*
      * Set up the testbed.

examples3d/debug_cylinder3.rs

@@ -1,5 +1,5 @@
-use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
+use rapier3d::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

examples3d/debug_deserialize3.rs

@@ -1,5 +1,5 @@
-use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
+use rapier3d::prelude::*;
 
 #[derive(serde::Deserialize)]
 struct PhysicsState {
@@ -15,38 +15,52 @@ struct PhysicsState {
 }
 
 pub fn init_world(testbed: &mut Testbed) {
-    /*
-     * Set up the testbed.
-     */
-    let path = "state.bin";
-    let bytes = match std::fs::read(path) {
+    // Deserialize
+    let setting = testbed.example_settings_mut();
+    let frame_id = setting.get_or_set_u32("frame", 0, 0..=1400);
+    let frame_dirs = "/Users/sebcrozet/work/hytopia/sdk/examples/bug-demo";
+    let path = format!("{frame_dirs}/snapshot{frame_id}.bincode");
+    let bytes = match std::fs::read(&path) {
         Ok(bytes) => bytes,
         Err(err) => {
-            println!(
-                "Failed to open the serialzed scene file {:?}: {}",
-                path, err
-            );
+            println!("Failed to open the serialized scene file {path:?}: {err}");
             return;
         }
     };
     match bincode::deserialize(&bytes) {
         Ok(state) => {
             let state: PhysicsState = state;
+            println!("World state deserialized successfully:");
+            println!("\tgravity: {:?}", state.gravity);
+            println!(
+                "\tintegration parameters: {:?}",
+                state.integration_parameters
+            );
+            println!("\tbodies: {:?}", state.bodies.len());
+            println!("\tcolliders: {:?}", state.colliders.len());
+            println!("\timpulse_joints: {:?}", state.impulse_joints.len());
+
+            for (_, rb) in state.bodies.iter() {
+                if rb.linvel().norm() != 0.0 {
+                    println!("\tlinvel: {:?}", rb.linvel());
+                }
+            }
+
             testbed.set_world(
                 state.bodies,
                 state.colliders,
                 state.impulse_joints,
                 state.multibody_joints,
             );
+
             testbed.harness_mut().physics.islands = state.islands;
-            testbed.harness_mut().physics.broad_phase = state.broad_phase;
+            testbed.harness_mut().physics.broad_phase = Box::new(state.broad_phase);
             testbed.harness_mut().physics.narrow_phase = state.narrow_phase;
             testbed.harness_mut().physics.integration_parameters = state.integration_parameters;
             testbed.harness_mut().physics.gravity = state.gravity;
 
-            testbed.set_graphics_shift(vector![-541.0, -6377257.0, -61.0]);
             testbed.look_at(point![10.0, 10.0, 10.0], point![0.0, 0.0, 0.0]);
         }
-        Err(err) => println!("Failed to deserialize the world state: {}", err),
+        Err(err) => println!("Failed to deserialize the world state: {err}"),
     }
 }

examples3d/debug_dynamic_collider_add3.rs

@@ -1,5 +1,5 @@
-use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
+use rapier3d::prelude::*;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*

examples3d/debug_friction3.rs

@@ -1,5 +1,5 @@
-use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
+use rapier3d::prelude::*;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*

examples3d/debug_infinite_fall3.rs

@@ -1,5 +1,5 @@
-use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
+use rapier3d::prelude::*;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*

examples3d/debug_internal_edges3.rs

@@ -1,5 +1,5 @@
-use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
+use rapier3d::prelude::*;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*

examples3d/debug_long_chain3.rs

@@ -1,5 +1,5 @@
-use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
+use rapier3d::prelude::*;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*

examples3d/debug_multibody_ang_motor_pos3.rs

@@ -1,5 +1,5 @@
-use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
+use rapier3d::prelude::*;
 
 pub fn init_world(testbed: &mut Testbed) {
     let mut bodies = RigidBodySet::new();

examples3d/debug_pop3.rs

@@ -1,5 +1,5 @@
-use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
+use rapier3d::prelude::*;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*

examples3d/debug_prismatic3.rs

@@ -1,5 +1,5 @@
-use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
+use rapier3d::prelude::*;
 
 fn prismatic_repro(
     bodies: &mut RigidBodySet,

examples3d/debug_rollback3.rs

@@ -1,5 +1,5 @@
-use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
+use rapier3d::prelude::*;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*

examples3d/debug_shape_modification3.rs

@@ -1,5 +1,5 @@
-use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
+use rapier3d::prelude::*;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*

examples3d/debug_thin_cube_on_mesh3.rs

@@ -1,5 +1,5 @@
-use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
+use rapier3d::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

examples3d/debug_triangle3.rs

@@ -1,5 +1,5 @@
-use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
+use rapier3d::prelude::*;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*

examples3d/debug_trimesh3.rs

@@ -1,5 +1,5 @@
-use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
+use rapier3d::prelude::*;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*

examples3d/domino3.rs

@@ -1,5 +1,5 @@
-use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
+use rapier3d::prelude::*;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*

examples3d/dynamic_trimesh3.rs

@@ -1,7 +1,7 @@
 use obj::raw::object::Polygon;
+use rapier_testbed3d::Testbed;
 use rapier3d::parry::bounding_volume;
 use rapier3d::prelude::*;
-use rapier_testbed3d::Testbed;
 use std::fs::File;
 use std::io::BufReader;
 
@@ -54,7 +54,7 @@ pub fn do_init_world(testbed: &mut Testbed, use_convex_decomposition: bool) {
         let deltas = Isometry::identity();
 
         let mut shapes = Vec::new();
-        println!("Parsing and decomposing: {}", obj_path);
+        println!("Parsing and decomposing: {obj_path}");
         let input = BufReader::new(File::open(obj_path).unwrap());
 
         if let Ok(model) = obj::raw::parse_obj(input) {
@@ -75,7 +75,8 @@ pub fn do_init_world(testbed: &mut Testbed, use_convex_decomposition: bool) {
                 .collect();
 
             // Compute the size of the model, to scale it and have similar size for everything.
-            let aabb = bounding_volume::details::point_cloud_aabb(&deltas, &vertices);
+            let aabb =
+                bounding_volume::details::point_cloud_aabb(&deltas, vertices.iter().copied());
             let center = aabb.center();
             let diag = (aabb.maxs - aabb.mins).norm();
 

examples3d/fountain3.rs

@@ -1,5 +1,5 @@
-use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
+use rapier3d::prelude::*;
 
 const MAX_NUMBER_OF_BODIES: usize = 400;
 
@@ -17,10 +17,13 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_size = 100.1;
     let ground_height = 2.1; // 16.0;
 
-    let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
-    let handle = bodies.insert(rigid_body);
-    let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
-    colliders.insert_with_parent(collider, handle, &mut bodies);
+    for k in 0..3 {
+        let rigid_body =
+            RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height - k as f32, 0.0]);
+        let handle = bodies.insert(rigid_body);
+        let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
+        colliders.insert_with_parent(collider, handle, &mut bodies);
+    }
 
     // Callback that will be executed on the main loop to handle proximities.
     testbed.add_callback(move |mut graphics, physics, _, run_state| {
@@ -55,7 +58,7 @@ pub fn init_world(testbed: &mut Testbed) {
                     .reverse()
             });
 
-            let num_to_remove = to_remove.len() - MAX_NUMBER_OF_BODIES;
+            let num_to_remove = to_remove.len().saturating_sub(MAX_NUMBER_OF_BODIES);
             for (handle, _) in &to_remove[..num_to_remove] {
                 physics.bodies.remove(
                     *handle,

examples3d/harness_capsules3.rs

@@ -1,5 +1,5 @@
+use rapier_testbed3d::harness::{Harness, RapierBroadPhaseType};
 use rapier3d::prelude::*;
-use rapier_testbed3d::harness::Harness;
 
 pub fn init_world(harness: &mut Harness) {
     /*
@@ -56,7 +56,13 @@ pub fn init_world(harness: &mut Harness) {
     /*
      * Set up the harness.
      */
-    harness.set_world(bodies, colliders, impulse_joints, multibody_joints);
+    harness.set_world(
+        bodies,
+        colliders,
+        impulse_joints,
+        multibody_joints,
+        RapierBroadPhaseType::default(),
+    );
 }
 
 fn main() {

examples3d/heightfield3.rs

@@ -1,6 +1,6 @@
+use rapier_testbed3d::Testbed;
 use rapier3d::na::ComplexField;
 use rapier3d::prelude::*;
-use rapier_testbed3d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*

examples3d/inverse_kinematics3.rs

@@ -1,5 +1,5 @@
-use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
+use rapier3d::prelude::*;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*

examples3d/joint_motor_position3.rs

@@ -1,5 +1,5 @@
-use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
+use rapier3d::prelude::*;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*

examples3d/joints3.rs

@@ -1,5 +1,5 @@
-use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
+use rapier3d::prelude::*;
 
 fn create_coupled_joints(
     bodies: &mut RigidBodySet,

examples3d/keva3.rs

@@ -1,5 +1,5 @@
-use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
+use rapier3d::prelude::*;
 
 pub fn build_block(
     testbed: &mut Testbed,
@@ -118,7 +118,7 @@ pub fn init_world(testbed: &mut Testbed) {
         num_blocks_built += numx * numy * numz;
     }
 
-    println!("Num keva blocks: {}", num_blocks_built);
+    println!("Num keva blocks: {num_blocks_built}");
 
     /*
      * Set up the testbed.

examples3d/locked_rotations3.rs

@@ -1,5 +1,5 @@
-use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
+use rapier3d::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

examples3d/newton_cradle3.rs

@@ -1,5 +1,5 @@
-use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
+use rapier3d::prelude::*;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*

examples3d/one_way_platforms3.rs

@@ -1,5 +1,5 @@
-use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
+use rapier3d::prelude::*;
 
 struct OneWayPlatformHook {
     platform1: ColliderHandle,

examples3d/platform3.rs

@@ -1,5 +1,5 @@
-use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
+use rapier3d::prelude::*;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*

examples3d/primitives3.rs

@@ -1,5 +1,5 @@
-use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
+use rapier3d::prelude::*;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*

examples3d/restitution3.rs

@@ -1,5 +1,5 @@
-use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
+use rapier3d::prelude::*;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*

examples3d/rope_joints3.rs

@@ -1,7 +1,7 @@
 use crate::utils::character::{self, CharacterControlMode};
+use rapier_testbed3d::Testbed;
 use rapier3d::control::{KinematicCharacterController, PidController};
 use rapier3d::prelude::*;
-use rapier_testbed3d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*

examples3d/sensor3.rs

@@ -1,5 +1,5 @@
-use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
+use rapier3d::prelude::*;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*

examples3d/spring_joints3.rs

@@ -1,5 +1,5 @@
-use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
+use rapier3d::prelude::*;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*

examples3d/trimesh3.rs

@@ -1,6 +1,6 @@
+use rapier_testbed3d::Testbed;
 use rapier3d::na::ComplexField;
 use rapier3d::prelude::*;
-use rapier_testbed3d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*

examples3d/urdf3.rs

@@ -1,6 +1,6 @@
+use rapier_testbed3d::Testbed;
 use rapier3d::prelude::*;
 use rapier3d_urdf::{UrdfLoaderOptions, UrdfMultibodyOptions, UrdfRobot};
-use rapier_testbed3d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*

examples3d/utils/character.rs

@@ -1,11 +1,11 @@
+use rapier_testbed3d::{
+    KeyCode, PhysicsState, TestbedGraphics,
+    ui::egui::{Align2, ComboBox, Slider, Ui, Window},
+};
 use rapier3d::{
     control::{CharacterLength, KinematicCharacterController, PidController},
     prelude::*,
 };
-use rapier_testbed3d::{
-    ui::egui::{Align2, ComboBox, Slider, Ui, Window},
-    KeyCode, PhysicsState, TestbedGraphics,
-};
 
 pub type CharacterSpeed = Real;
 
@@ -143,18 +143,27 @@ fn update_kinematic_controller(
 
     let character_body = &phx.bodies[character_handle];
     let character_collider = &phx.colliders[character_body.colliders()[0]];
+    let character_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(),
+        &query_pipeline.as_ref(),
+        &*character_shape,
+        &character_pose,
         desired_movement.cast::<Real>(),
-        QueryFilter::new().exclude_rigid_body(character_handle),
         |c| collisions.push(c),
     );
 
@@ -166,13 +175,10 @@ 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];

examples3d/vehicle_controller3.rs

@@ -1,6 +1,6 @@
+use rapier_testbed3d::Testbed;
 use rapier3d::control::{DynamicRayCastVehicleController, WheelTuning};
 use rapier3d::prelude::*;
-use rapier_testbed3d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*

examples3d/vehicle_joints3.rs

@@ -1,5 +1,5 @@
-use rapier3d::prelude::*;
 use rapier_testbed3d::{KeyCode, Testbed};
+use rapier3d::prelude::*;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*

examples3d/voxels3.rs

@@ -1,9 +1,9 @@
 use obj::raw::object::Polygon;
+use rapier_testbed3d::KeyCode;
+use rapier_testbed3d::Testbed;
 use rapier3d::parry::bounding_volume;
 use rapier3d::parry::transformation::voxelization::FillMode;
 use rapier3d::prelude::*;
-use rapier_testbed3d::KeyCode;
-use rapier_testbed3d::Testbed;
 use std::fs::File;
 use std::io::BufReader;
 
@@ -60,7 +60,7 @@ pub fn init_world(testbed: &mut Testbed) {
             let deltas = Isometry::identity();
 
             let mut shapes = Vec::new();
-            println!("Parsing and decomposing: {}", obj_path);
+            println!("Parsing and decomposing: {obj_path}");
 
             let input = BufReader::new(File::open(obj_path).unwrap());
 
@@ -88,7 +88,8 @@ pub fn init_world(testbed: &mut Testbed) {
                     .collect();
 
                 // Compute the size of the model, to scale it and have similar size for everything.
-                let aabb = bounding_volume::details::point_cloud_aabb(&deltas, &vertices);
+                let aabb =
+                    bounding_volume::details::point_cloud_aabb(&deltas, vertices.iter().copied());
                 let center = aabb.center();
                 let diag = (aabb.maxs - aabb.mins).norm();
 
@@ -210,14 +211,17 @@ pub fn init_world(testbed: &mut Testbed) {
             predicate: Some(&|_, co: &Collider| co.shape().as_voxels().is_some()),
             ..Default::default()
         };
-        if let Some((handle, hit)) = physics.query_pipeline.cast_ray_and_get_normal(
+        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,
-            &ray,
-            Real::MAX,
-            true,
             filter,
-        ) {
+        );
+
+        if let Some((handle, hit)) = query_pipeline.cast_ray_and_get_normal(&ray, Real::MAX, true) {
             // Highlight the voxel.
             let hit_collider = &physics.colliders[handle];
             let hit_local_normal = hit_collider