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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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28
src/geometry/collider.rs
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@@ -2,11 +2,11 @@ use crate::dynamics::{CoefficientCombineRule, MassProperties, RigidBodyHandle};
#[cfg(feature = "dim3")]
use crate::geometry::HeightFieldFlags;
use crate::geometry::{
ActiveCollisionTypes, BroadPhaseProxyIndex, ColliderBroadPhaseData, ColliderChanges,
ColliderFlags, ColliderMassProps, ColliderMaterial, ColliderParent, ColliderPosition,
ColliderShape, ColliderType, InteractionGroups, MeshConverter, MeshConverterError, SharedShape,
ActiveCollisionTypes, ColliderChanges, ColliderFlags, ColliderMassProps, ColliderMaterial,
ColliderParent, ColliderPosition, ColliderShape, ColliderType, InteractionGroups,
MeshConverter, MeshConverterError, SharedShape,
};
use crate::math::{AngVector, Isometry, Point, Real, Rotation, Vector, DIM};
use crate::math::{AngVector, DIM, Isometry, Point, Real, Rotation, Vector};
use crate::parry::transformation::vhacd::VHACDParameters;
use crate::pipeline::{ActiveEvents, ActiveHooks};
use crate::prelude::ColliderEnabled;
@@ -29,7 +29,6 @@ pub struct Collider {
pub(crate) pos: ColliderPosition,
pub(crate) material: ColliderMaterial,
pub(crate) flags: ColliderFlags,
pub(crate) bf_data: ColliderBroadPhaseData,
contact_skin: Real,
contact_force_event_threshold: Real,
/// User-defined data associated to this collider.
@@ -38,7 +37,6 @@ pub struct Collider {
impl Collider {
pub(crate) fn reset_internal_references(&mut self) {
self.bf_data.proxy_index = crate::INVALID_U32;
self.changes = ColliderChanges::all();
}
@@ -54,21 +52,6 @@ impl Collider {
}
}
/// An internal index associated to this collider by the broad-phase algorithm.
pub fn internal_broad_phase_proxy_index(&self) -> BroadPhaseProxyIndex {
self.bf_data.proxy_index
}
/// Sets the internal index associated to this collider by the broad-phase algorithm.
///
/// This must **not** be called, unless you are implementing your own custom broad-phase
/// that require storing an index in the collider struct.
/// Modifying that index outside of a custom broad-phase code will most certainly break
/// the physics engine.
pub fn set_internal_broad_phase_proxy_index(&mut self, id: BroadPhaseProxyIndex) {
self.bf_data.proxy_index = id;
}
/// The rigid body this collider is attached to.
pub fn parent(&self) -> Option<RigidBodyHandle> {
self.parent.map(|parent| parent.handle)
@@ -107,7 +90,6 @@ impl Collider {
pos,
material,
flags,
bf_data: _bf_data, // Internal ids must not be overwritten.
contact_force_event_threshold,
user_data,
contact_skin,
@@ -1079,7 +1061,6 @@ impl ColliderBuilder {
};
let changes = ColliderChanges::all();
let pos = ColliderPosition(self.position);
let bf_data = ColliderBroadPhaseData::default();
let coll_type = if self.is_sensor {
ColliderType::Sensor
} else {
@@ -1093,7 +1074,6 @@ impl ColliderBuilder {
parent: None,
changes,
pos,
bf_data,
flags,
coll_type,
contact_force_event_threshold: self.contact_force_event_threshold,