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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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14
src/geometry/narrow_phase.rs
View File

@@ -1,8 +1,8 @@
#[cfg(feature = "parallel")]
use rayon::prelude::*;
use crate::data::graph::EdgeIndex;
use crate::data::Coarena;
use crate::data::graph::EdgeIndex;
use crate::dynamics::{
CoefficientCombineRule, ImpulseJointSet, IslandManager, RigidBodyDominance, RigidBodySet,
RigidBodyType,
@@ -89,7 +89,7 @@ impl NarrowPhase {
}
/// The query dispatcher used by this narrow-phase to select the right collision-detection
/// algorithms depending of the shape types.
/// algorithms depending on the shape types.
pub fn query_dispatcher(
&self,
) -> &dyn PersistentQueryDispatcher<ContactManifoldData, ContactData> {
@@ -1189,7 +1189,7 @@ mod test {
use crate::prelude::{
CCDSolver, ColliderBuilder, DefaultBroadPhase, IntegrationParameters, PhysicsPipeline,
QueryPipeline, RigidBodyBuilder,
RigidBodyBuilder,
};
use super::*;
@@ -1237,7 +1237,6 @@ mod test {
let mut impulse_joint_set = ImpulseJointSet::new();
let mut multibody_joint_set = MultibodyJointSet::new();
let mut ccd_solver = CCDSolver::new();
let mut query_pipeline = QueryPipeline::new();
let physics_hooks = ();
let event_handler = ();
@@ -1252,7 +1251,6 @@ mod test {
&mut impulse_joint_set,
&mut multibody_joint_set,
&mut ccd_solver,
Some(&mut query_pipeline),
&physics_hooks,
&event_handler,
);
@@ -1288,7 +1286,6 @@ mod test {
&mut impulse_joint_set,
&mut multibody_joint_set,
&mut ccd_solver,
Some(&mut query_pipeline),
&physics_hooks,
&event_handler,
);
@@ -1317,7 +1314,6 @@ mod test {
&mut impulse_joint_set,
&mut multibody_joint_set,
&mut ccd_solver,
Some(&mut query_pipeline),
&physics_hooks,
&event_handler,
);
@@ -1385,7 +1381,6 @@ mod test {
let mut impulse_joint_set = ImpulseJointSet::new();
let mut multibody_joint_set = MultibodyJointSet::new();
let mut ccd_solver = CCDSolver::new();
let mut query_pipeline = QueryPipeline::new();
let physics_hooks = ();
let event_handler = ();
@@ -1400,7 +1395,6 @@ mod test {
&mut impulse_joint_set,
&mut multibody_joint_set,
&mut ccd_solver,
Some(&mut query_pipeline),
&physics_hooks,
&event_handler,
);
@@ -1435,7 +1429,6 @@ mod test {
&mut impulse_joint_set,
&mut multibody_joint_set,
&mut ccd_solver,
Some(&mut query_pipeline),
&physics_hooks,
&event_handler,
);
@@ -1462,7 +1455,6 @@ mod test {
&mut impulse_joint_set,
&mut multibody_joint_set,
&mut ccd_solver,
Some(&mut query_pipeline),
&physics_hooks,
&event_handler,
);