feat: reduce the amount of duplicate work the broad-phase is doing for user changes and CCD + release v0.28.0 (#872)

* feat: reduce the amount of duplicate work the broad-phase is doing for user changes and CCD

* Release v0.28.0

* chore: fix warnings

* chore: clippy fixes

* chore: more clippy fixes

examples3d/Cargo.toml

@@ -13,7 +13,7 @@ other-backends = ["rapier_testbed3d/other-backends"]
 enhanced-determinism = ["rapier3d/enhanced-determinism"]
 
 [dependencies]
-rand = "0.8"
+rand = "0.9"
 getrandom = { version = "0.2", features = ["js"] }
 wasm-bindgen = "0.2"
 obj-rs = { version = "0.7", default-features = false }

examples3d/all_examples3.rs

@@ -17,6 +17,7 @@ mod convex_polyhedron3;
 mod damping3;
 mod debug_add_remove_collider3;
 mod debug_articulations3;
+mod debug_balls3;
 mod debug_big_colliders3;
 mod debug_boxes3;
 mod debug_cylinder3;
@@ -101,6 +102,7 @@ pub fn main() {
         ),
         ("(Debug) big colliders", debug_big_colliders3::init_world),
         ("(Debug) boxes", debug_boxes3::init_world),
+        ("(Debug) balls", debug_balls3::init_world),
         ("(Debug) pop", debug_pop3::init_world),
         (
             "(Debug) dyn. coll. add",

examples3d/convex_polyhedron3.rs

@@ -1,4 +1,4 @@
-use rand::distributions::{Distribution, Standard};
+use rand::distr::{Distribution, StandardUniform};
 use rand::{SeedableRng, rngs::StdRng};
 use rapier_testbed3d::Testbed;
 use rapier3d::prelude::*;
@@ -36,7 +36,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let centerz = shift * (num / 2) as f32;
 
     let mut rng = StdRng::seed_from_u64(0);
-    let distribution = Standard;
+    let distribution = StandardUniform;
 
     for j in 0usize..25 {
         for i in 0..num {

examples3d/debug_balls3.rs

@@ -0,0 +1,59 @@
+use rapier_testbed3d::Testbed;
+use rapier3d::prelude::*;
+
+pub fn init_world(testbed: &mut Testbed) {
+    /*
+     * World
+     */
+    let mut bodies = RigidBodySet::new();
+    let mut colliders = ColliderSet::new();
+    let impulse_joints = ImpulseJointSet::new();
+    let multibody_joints = MultibodyJointSet::new();
+
+    /*
+     * Create the balls
+     */
+    let num_j = 10;
+    let num_ik = 10;
+    let rad = 0.5;
+
+    let shift = rad * 2.0;
+    let centerx = shift * (num_ik as f32) / 2.0;
+    let centery = shift / 2.0;
+    let centerz = shift * (num_ik as f32) / 2.0;
+
+    for i in 0..num_ik {
+        for j in 0usize..num_j {
+            for k in 0..num_ik {
+                let x = i as f32 * shift - centerx;
+                let z = k as f32 * shift - centerz;
+
+                let status = if j == 0 || i == 0 || k == 0 || i == num_ik - 1 || k == num_ik - 1 {
+                    RigidBodyType::Fixed
+                } else {
+                    RigidBodyType::Dynamic
+                };
+
+                let y = if status.is_fixed() {
+                    j as f32 * shift + centery
+                } else {
+                    j as f32 * shift * 2.0 + centery
+                };
+
+                // Build the rigid body.
+                let rigid_body = RigidBodyBuilder::new(status)
+                    .translation(vector![x, y, z])
+                    .can_sleep(false);
+                let handle = bodies.insert(rigid_body);
+                let collider = ColliderBuilder::ball(rad).friction(0.0);
+                colliders.insert_with_parent(collider, handle, &mut bodies);
+            }
+        }
+    }
+
+    /*
+     * Set up the testbed.
+     */
+    testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
+    testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
+}

examples3d/debug_deserialize3.rs

@@ -54,7 +54,7 @@ pub fn init_world(testbed: &mut Testbed) {
             );
 
             testbed.harness_mut().physics.islands = state.islands;
-            testbed.harness_mut().physics.broad_phase = Box::new(state.broad_phase);
+            testbed.harness_mut().physics.broad_phase = state.broad_phase;
             testbed.harness_mut().physics.narrow_phase = state.narrow_phase;
             testbed.harness_mut().physics.integration_parameters = state.integration_parameters;
             testbed.harness_mut().physics.gravity = state.gravity;

examples3d/utils/character.rs

@@ -147,10 +147,7 @@ fn update_kinematic_controller(
     let character_shape = character_collider.shared_shape().clone();
     let character_mass = character_body.mass();
 
-    let Some(broad_phase) = phx.broad_phase.downcast_ref::<BroadPhaseBvh>() else {
-        return;
-    };
-    let mut query_pipeline = broad_phase.as_query_pipeline_mut(
+    let mut query_pipeline = phx.broad_phase.as_query_pipeline_mut(
         phx.narrow_phase.query_dispatcher(),
         &mut phx.bodies,
         &mut phx.colliders,

examples3d/voxels3.rs

@@ -211,10 +211,7 @@ pub fn init_world(testbed: &mut Testbed) {
             predicate: Some(&|_, co: &Collider| co.shape().as_voxels().is_some()),
             ..Default::default()
         };
-        let Some(broad_phase) = physics.broad_phase.downcast_ref::<BroadPhaseBvh>() else {
-            return;
-        };
-        let query_pipeline = broad_phase.as_query_pipeline(
+        let query_pipeline = physics.broad_phase.as_query_pipeline(
             physics.narrow_phase.query_dispatcher(),
             &physics.bodies,
             &physics.colliders,