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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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10
src/dynamics/solver/joint_constraint/joint_constraint_builder.rs
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@@ -1,12 +1,12 @@
use crate::dynamics::solver::ConstraintsCounts;
use crate::dynamics::solver::MotorParameters;
use crate::dynamics::solver::joint_constraint::JointSolverBody;
use crate::dynamics::solver::joint_constraint::joint_velocity_constraint::{
JointFixedSolverBody, JointOneBodyConstraint, JointTwoBodyConstraint, WritebackId,
};
use crate::dynamics::solver::joint_constraint::JointSolverBody;
use crate::dynamics::solver::solver_body::SolverBody;
use crate::dynamics::solver::ConstraintsCounts;
use crate::dynamics::solver::MotorParameters;
use crate::dynamics::{GenericJoint, ImpulseJoint, IntegrationParameters, JointIndex};
use crate::math::{AngVector, Isometry, Matrix, Point, Real, Rotation, Vector, ANG_DIM, DIM};
use crate::math::{ANG_DIM, AngVector, DIM, Isometry, Matrix, Point, Real, Rotation, Vector};
use crate::prelude::RigidBodySet;
use crate::utils;
use crate::utils::{IndexMut2, SimdCrossMatrix, SimdDot, SimdRealCopy};
@@ -16,7 +16,7 @@ use na::SMatrix;
use crate::utils::{SimdBasis, SimdQuat};
#[cfg(feature = "simd-is-enabled")]
use crate::math::{SimdReal, SIMD_WIDTH};
use crate::math::{SIMD_WIDTH, SimdReal};
pub struct JointTwoBodyConstraintBuilder {
body1: usize,