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

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* 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
This commit is contained in:
Sébastien Crozet
2025-08-08 18:15:34 +02:00
committed by GitHub
parent 038eb34aba
commit 317322b31b
43 changed files with 351 additions and 328 deletions
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41
src_testbed/testbed.rs
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@@ -23,7 +23,7 @@ use rapier::dynamics::{
RigidBodyHandle, RigidBodySet,
};
#[cfg(feature = "dim3")]
use rapier::geometry::{BroadPhaseBvh, Ray};
use rapier::geometry::Ray;
use rapier::geometry::{ColliderHandle, ColliderSet, NarrowPhase};
use rapier::math::{Real, Vector};
use rapier::pipeline::PhysicsHooks;
@@ -814,21 +814,12 @@ impl Testbed<'_, '_, '_, '_, '_, '_, '_, '_, '_, '_, '_, '_, '_> {
wheels[1].engine_force = engine_force;
wheels[1].steering = steering_angle;
let query_pipeline = if let Some(bf) = self
.harness
.physics
.broad_phase
.downcast_ref::<BroadPhaseBvh>()
{
bf.as_query_pipeline_mut(
self.harness.physics.narrow_phase.query_dispatcher(),
&mut self.harness.physics.bodies,
&mut self.harness.physics.colliders,
QueryFilter::exclude_dynamic().exclude_rigid_body(vehicle.chassis),
)
} else {
return;
};
let query_pipeline = self.harness.physics.broad_phase.as_query_pipeline_mut(
self.harness.physics.narrow_phase.query_dispatcher(),
&mut self.harness.physics.bodies,
&mut self.harness.physics.colliders,
QueryFilter::exclude_dynamic().exclude_rigid_body(vehicle.chassis),
);
vehicle.update_vehicle(
self.harness.physics.integration_parameters.dt,
@@ -1353,7 +1344,7 @@ fn update_testbed(
}
harness.state.timestep_id = timestep_id;
harness.physics.broad_phase = Box::new(broad_phase);
harness.physics.broad_phase = broad_phase;
harness.physics.narrow_phase = narrow_phase;
harness.physics.islands = island_manager;
harness.physics.bodies = bodies;
@@ -1630,16 +1621,12 @@ fn highlight_hovered_body(
let ray_dir = Vector3::new(ray_dir.x as Real, ray_dir.y as Real, ray_dir.z as Real);
let ray = Ray::new(ray_origin, ray_dir);
let query_pipeline = if let Some(bf) = physics.broad_phase.downcast_ref::<BroadPhaseBvh>() {
bf.as_query_pipeline(
physics.narrow_phase.query_dispatcher(),
&physics.bodies,
&physics.colliders,
QueryFilter::only_dynamic(),
)
} else {
return;
};
let query_pipeline = physics.broad_phase.as_query_pipeline(
physics.narrow_phase.query_dispatcher(),
&physics.bodies,
&physics.colliders,
QueryFilter::only_dynamic(),
);
let hit = query_pipeline.cast_ray(&ray, Real::MAX, true);