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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
Download Patch File Download Diff File Expand all files Collapse all files

46
src/pipeline/physics_pipeline.rs
View File

@@ -14,7 +14,7 @@ use crate::geometry::{
ContactManifoldIndex, ModifiedColliders, NarrowPhase, TemporaryInteractionIndex,
};
use crate::math::{Real, Vector};
use crate::pipeline::{EventHandler, PhysicsHooks, QueryPipeline};
use crate::pipeline::{EventHandler, PhysicsHooks};
use crate::prelude::ModifiedRigidBodies;
use {crate::dynamics::RigidBodySet, crate::geometry::ColliderSet};
@@ -117,8 +117,7 @@ impl PhysicsPipeline {
self.broad_phase_events.clear();
self.broadphase_collider_pairs.clear();
broad_phase.update(
integration_parameters.dt,
integration_parameters.prediction_distance(),
integration_parameters,
colliders,
bodies,
modified_colliders,
@@ -422,7 +421,6 @@ impl PhysicsPipeline {
impulse_joints: &mut ImpulseJointSet,
multibody_joints: &mut MultibodyJointSet,
ccd_solver: &mut CCDSolver,
mut query_pipeline: Option<&mut QueryPipeline>,
hooks: &dyn PhysicsHooks,
events: &dyn EventHandler,
) {
@@ -502,12 +500,6 @@ impl PhysicsPipeline {
true,
);
if let Some(queries) = query_pipeline.as_deref_mut() {
self.counters.stages.query_pipeline_time.start();
queries.update_incremental(colliders, &modified_colliders, &removed_colliders, false);
self.counters.stages.query_pipeline_time.pause();
}
self.counters.stages.user_changes.resume();
self.clear_modified_colliders(colliders, &mut modified_colliders);
self.clear_modified_bodies(bodies, &mut modified_bodies);
@@ -640,17 +632,6 @@ impl PhysicsPipeline {
false,
);
if let Some(queries) = query_pipeline.as_deref_mut() {
self.counters.stages.query_pipeline_time.resume();
queries.update_incremental(
colliders,
&modified_colliders,
&[],
remaining_substeps == 0,
);
self.counters.stages.query_pipeline_time.pause();
}
self.clear_modified_colliders(colliders, &mut modified_colliders);
}
@@ -679,7 +660,7 @@ mod test {
CCDSolver, ImpulseJointSet, IntegrationParameters, IslandManager, RigidBodyBuilder,
RigidBodySet,
};
use crate::geometry::{BroadPhaseMultiSap, ColliderBuilder, ColliderSet, NarrowPhase};
use crate::geometry::{BroadPhaseBvh, ColliderBuilder, ColliderSet, NarrowPhase};
use crate::math::Vector;
use crate::pipeline::PhysicsPipeline;
use crate::prelude::{MultibodyJointSet, RevoluteJointBuilder, RigidBodyType};
@@ -690,7 +671,7 @@ mod test {
let mut impulse_joints = ImpulseJointSet::new();
let mut multibody_joints = MultibodyJointSet::new();
let mut pipeline = PhysicsPipeline::new();
let mut bf = BroadPhaseMultiSap::new();
let mut bf = BroadPhaseBvh::new();
let mut nf = NarrowPhase::new();
let mut bodies = RigidBodySet::new();
let mut islands = IslandManager::new();
@@ -716,7 +697,6 @@ mod test {
&mut impulse_joints,
&mut multibody_joints,
&mut CCDSolver::new(),
None,
&(),
&(),
);
@@ -728,7 +708,7 @@ mod test {
let mut impulse_joints = ImpulseJointSet::new();
let mut multibody_joints = MultibodyJointSet::new();
let mut pipeline = PhysicsPipeline::new();
let mut bf = BroadPhaseMultiSap::new();
let mut bf = BroadPhaseBvh::new();
let mut nf = NarrowPhase::new();
let mut islands = IslandManager::new();
@@ -772,7 +752,6 @@ mod test {
&mut impulse_joints,
&mut multibody_joints,
&mut CCDSolver::new(),
None,
&(),
&(),
);
@@ -838,7 +817,7 @@ mod test {
let mut pipeline = PhysicsPipeline::new();
let gravity = Vector::y() * -9.81;
let integration_parameters = IntegrationParameters::default();
let mut broad_phase = BroadPhaseMultiSap::new();
let mut broad_phase = BroadPhaseBvh::new();
let mut narrow_phase = NarrowPhase::new();
let mut bodies = RigidBodySet::new();
let mut colliders = ColliderSet::new();
@@ -875,7 +854,6 @@ mod test {
&mut impulse_joints,
&mut multibody_joints,
&mut ccd,
None,
&physics_hooks,
&event_handler,
);
@@ -888,7 +866,7 @@ mod test {
let mut impulse_joints = ImpulseJointSet::new();
let mut multibody_joints = MultibodyJointSet::new();
let mut pipeline = PhysicsPipeline::new();
let mut bf = BroadPhaseMultiSap::new();
let mut bf = BroadPhaseBvh::new();
let mut nf = NarrowPhase::new();
let mut islands = IslandManager::new();
@@ -913,7 +891,6 @@ mod test {
&mut impulse_joints,
&mut multibody_joints,
&mut CCDSolver::new(),
None,
&(),
&(),
);
@@ -936,7 +913,6 @@ mod test {
&mut impulse_joints,
&mut multibody_joints,
&mut CCDSolver::new(),
None,
&(),
&(),
);
@@ -957,7 +933,7 @@ mod test {
let mut impulse_joints = ImpulseJointSet::new();
let mut multibody_joints = MultibodyJointSet::new();
let mut pipeline = PhysicsPipeline::new();
let mut bf = BroadPhaseMultiSap::new();
let mut bf = BroadPhaseBvh::new();
let mut nf = NarrowPhase::new();
let mut islands = IslandManager::new();
@@ -997,7 +973,6 @@ mod test {
&mut impulse_joints,
&mut multibody_joints,
&mut CCDSolver::new(),
None,
&(),
&(),
);
@@ -1041,7 +1016,7 @@ mod test {
let integration_parameters = IntegrationParameters::default();
let mut physics_pipeline = PhysicsPipeline::new();
let mut island_manager = IslandManager::new();
let mut broad_phase = BroadPhaseMultiSap::new();
let mut broad_phase = BroadPhaseBvh::new();
let mut narrow_phase = NarrowPhase::new();
let mut impulse_joint_set = ImpulseJointSet::new();
let mut multibody_joint_set = MultibodyJointSet::new();
@@ -1060,7 +1035,6 @@ mod test {
&mut impulse_joint_set,
&mut multibody_joint_set,
&mut ccd_solver,
None,
&physics_hooks,
&event_handler,
);
@@ -1087,7 +1061,6 @@ mod test {
&mut impulse_joint_set,
&mut multibody_joint_set,
&mut ccd_solver,
None,
&physics_hooks,
&event_handler,
);
@@ -1114,7 +1087,6 @@ mod test {
&mut impulse_joint_set,
&mut multibody_joint_set,
&mut ccd_solver,
None,
&physics_hooks,
&event_handler,
);