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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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15
examples3d/fountain3.rs
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@@ -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,