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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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2
src/dynamics/solver/contact_constraint/generic_two_body_constraint.rs
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@@ -1,7 +1,7 @@
use crate::dynamics::solver::{GenericRhs, TwoBodyConstraint};
use crate::dynamics::{IntegrationParameters, MultibodyJointSet, RigidBodySet};
use crate::geometry::{ContactManifold, ContactManifoldIndex};
use crate::math::{Real, DIM, MAX_MANIFOLD_POINTS};
use crate::math::{DIM, MAX_MANIFOLD_POINTS, Real};
use crate::utils::{SimdAngularInertia, SimdCross, SimdDot};
use super::{TwoBodyConstraintBuilder, TwoBodyConstraintElement, TwoBodyConstraintNormalPart};