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feat: add a BroadPhaseTrait for allowing custom broad-phases

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This commit is contained in:
Sébastien Crozet
2024-03-23 14:36:27 +01:00
committed by Sébastien Crozet
parent cfb2c2c93e
commit 3d112287b9
13 changed files with 181 additions and 111 deletions
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6
CHANGELOG.md
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@@ -11,6 +11,12 @@
based only on its current velocity.
- Add `Collider::copy_from` to copy most collider attributes to an existing collider.
- Add `RigidBody::copy_from` to copy most rigid-body attributes to an existing rigid-body.
- Add the `BroadPhase` trait and expect an implementor of this trait as input to `PhysicsPipeline::step`.
### Modified
- Renamed `BroadPhase` to `BroadPhaseMultiSap`. The `BroadPhase` is no a trait that can be
implemented for providing a custom broad-phase to rapier.
## v0.18.0 (24 Jan. 2024)

47
src/geometry/broad_phase.rs Normal file
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@@ -0,0 +1,47 @@
use crate::geometry::{BroadPhasePairEvent, ColliderHandle, ColliderSet};
use parry::math::Real;
/// An internal index stored in colliders by some broad-phase algorithms.
pub type BroadPhaseProxyIndex = u32;
/// Trait implemented by broad-phase algorithms supported by Rapier.
///
/// The task of a broad-phase algorithm is to detect potential collision pairs, usually based on
/// bounding volumes. The pairs must be concervative: it is OK to create a collision pair if
/// two objects don’t actually touch, but it is incorrect to remove a pair between two objects
/// that are still touching. In other words, it can have false-positive (though these induce
/// some computational overhead on the narrow-phase), but cannot have false-negative.
pub trait BroadPhase {
/// Updates the broad-phase.
///
/// The results must be output through the `events` struct. The broad-phase algorithm is only
/// required to generate new events (i.e. no need to re-send an `AddPair` event if it was already
/// sent previously and no `RemovePair` happened since then). Sending redundant events is allowed
/// but can result in a slight computational overhead.
///
/// The `colliders` set is mutable only to provide access to
/// [`collider.set_internal_broad_phase_proxy_index`]. Other properties of the collider should
/// **not** be modified during the broad-phase update.
///
/// # Parameters
/// - `prediction_distance`: colliders that are not exactly touching, but closer to this
/// distance must form a collision pair.
/// - `colliders`: the set of colliders. Change detection with `collider.needs_broad_phase_update()`
/// can be relied on at this stage.
/// - `modified_colliders`: colliders that are know to be modified since the last update.
/// - `removed_colliders`: colliders that got removed since the last update. Any associated data
/// in the broad-phase should be removed by this call to `update`.
/// - `events`: the broad-phase’s output. They indicate what collision pairs need to be created
/// and what pairs need to be removed. It is OK to create pairs for colliders that don’t
/// actually collide (though this can increase computational overhead in the narrow-phase)
/// but it is important not to indicate removal of a collision pair if the underlying colliders
/// are still touching or closer than `prediction_distance`.
fn update(
&mut self,
prediction_distance: Real,
colliders: &mut ColliderSet,
modified_colliders: &[ColliderHandle],
removed_colliders: &[ColliderHandle],
events: &mut Vec<BroadPhasePairEvent>,
);
}

130
src/geometry/broad_phase_multi_sap/broad_phase_multi_sap.rs
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@@ -1,12 +1,12 @@
use super::{
BroadPhasePairEvent, ColliderPair, SAPLayer, SAPProxies, SAPProxy, SAPProxyData, SAPRegionPool,
};
use crate::geometry::broad_phase_multi_sap::SAPProxyIndex;
use crate::geometry::{
ColliderBroadPhaseData, ColliderChanges, ColliderHandle, ColliderPosition, ColliderSet,
ColliderShape,
BroadPhaseProxyIndex, ColliderBroadPhaseData, ColliderChanges, ColliderHandle,
ColliderPosition, ColliderSet, ColliderShape,
};
use crate::math::Real;
use crate::prelude::BroadPhase;
use crate::utils::IndexMut2;
use parry::bounding_volume::BoundingVolume;
use parry::utils::hashmap::HashMap;
@@ -90,7 +90,7 @@ pub struct BroadPhaseMultiSap {
// Another alternative would be to remove ColliderProxyId and
// just use a Coarena. But this seems like it could use too
// much memory.
colliders_proxy_ids: HashMap<ColliderHandle, SAPProxyIndex>,
colliders_proxy_ids: HashMap<ColliderHandle, BroadPhaseProxyIndex>,
#[cfg_attr(feature = "serde-serialize", serde(skip))]
region_pool: SAPRegionPool, // To avoid repeated allocations.
// We could think serializing this workspace is useless.
@@ -156,7 +156,7 @@ impl BroadPhaseMultiSap {
/// remove, the `complete_removal` method MUST be called to
/// complete the removal of these proxies, by actually removing them
/// from all the relevant layers/regions/axes.
fn predelete_proxy(&mut self, proxy_index: SAPProxyIndex) {
fn predelete_proxy(&mut self, proxy_index: BroadPhaseProxyIndex) {
if proxy_index == crate::INVALID_U32 {
// This collider has not been added to the broad-phase yet.
return;
@@ -449,65 +449,6 @@ impl BroadPhaseMultiSap {
!layer.created_regions.is_empty()
}
/// Updates the broad-phase, taking into account the new collider positions.
pub fn update(
&mut self,
prediction_distance: Real,
colliders: &mut ColliderSet,
modified_colliders: &[ColliderHandle],
removed_colliders: &[ColliderHandle],
events: &mut Vec<BroadPhasePairEvent>,
) {
// Phase 1: pre-delete the collisions that have been deleted.
self.handle_removed_colliders(removed_colliders);
let mut need_region_propagation = false;
// Phase 2: pre-delete the collisions that have been deleted.
for handle in modified_colliders {
// NOTE: we use `get` because the collider may no longer
// exist if it has been removed.
if let Some(co) = colliders.get_mut_internal(*handle) {
if !co.is_enabled() || !co.changes.needs_broad_phase_update() {
continue;
}
let mut new_proxy_id = co.bf_data.proxy_index;
if self.handle_modified_collider(
prediction_distance,
*handle,
&mut new_proxy_id,
(&co.pos, &co.shape, &co.changes),
) {
need_region_propagation = true;
}
if co.bf_data.proxy_index != new_proxy_id {
self.colliders_proxy_ids.insert(*handle, new_proxy_id);
// Make sure we have the new proxy index in case
// the collider was added for the first time.
co.bf_data = ColliderBroadPhaseData {
proxy_index: new_proxy_id,
};
}
}
}
// Phase 3: bottom-up pass to propagate new regions from smaller layers to larger layers.
if need_region_propagation {
self.propagate_created_regions();
}
// Phase 4: top-down pass to propagate proxies from larger layers to smaller layers.
self.update_layers_and_find_pairs(events);
// Phase 5: bottom-up pass to remove proxies, and propagate region removed from smaller
// layers to possible remove regions from larger layers that would become empty that way.
self.complete_removals(colliders, removed_colliders);
}
/// Propagate regions from the smallest layers up to the larger layers.
///
/// Whenever a region is created on a layer `n`, then its Aabb must be
@@ -618,6 +559,67 @@ impl BroadPhaseMultiSap {
}
}
impl BroadPhase for BroadPhaseMultiSap {
/// Updates the broad-phase, taking into account the new collider positions.
fn update(
&mut self,
prediction_distance: Real,
colliders: &mut ColliderSet,
modified_colliders: &[ColliderHandle],
removed_colliders: &[ColliderHandle],
events: &mut Vec<BroadPhasePairEvent>,
) {
// Phase 1: pre-delete the collisions that have been deleted.
self.handle_removed_colliders(removed_colliders);
let mut need_region_propagation = false;
// Phase 2: pre-delete the collisions that have been deleted.
for handle in modified_colliders {
// NOTE: we use `get` because the collider may no longer
// exist if it has been removed.
if let Some(co) = colliders.get_mut_internal(*handle) {
if !co.is_enabled() || !co.changes.needs_broad_phase_update() {
continue;
}
let mut new_proxy_id = co.bf_data.proxy_index;
if self.handle_modified_collider(
prediction_distance,
*handle,
&mut new_proxy_id,
(&co.pos, &co.shape, &co.changes),
) {
need_region_propagation = true;
}
if co.bf_data.proxy_index != new_proxy_id {
self.colliders_proxy_ids.insert(*handle, new_proxy_id);
// Make sure we have the new proxy index in case
// the collider was added for the first time.
co.bf_data = ColliderBroadPhaseData {
proxy_index: new_proxy_id,
};
}
}
}
// Phase 3: bottom-up pass to propagate new regions from smaller layers to larger layers.
if need_region_propagation {
self.propagate_created_regions();
}
// Phase 4: top-down pass to propagate proxies from larger layers to smaller layers.
self.update_layers_and_find_pairs(events);
// Phase 5: bottom-up pass to remove proxies, and propagate region removed from smaller
// layers to possible remove regions from larger layers that would become empty that way.
self.complete_removals(colliders, removed_colliders);
}
}
#[cfg(test)]
mod test {
use crate::dynamics::{

1
src/geometry/broad_phase_multi_sap/mod.rs
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@@ -1,6 +1,5 @@
pub use self::broad_phase_multi_sap::BroadPhaseMultiSap;
pub use self::broad_phase_pair_event::{BroadPhasePairEvent, ColliderPair};
pub use self::sap_proxy::SAPProxyIndex;
use self::sap_axis::*;
use self::sap_endpoint::*;

4
src/geometry/broad_phase_multi_sap/sap_axis.rs
View File

@@ -1,6 +1,6 @@
use super::{SAPEndpoint, SAPProxies, NUM_SENTINELS};
use crate::geometry::broad_phase_multi_sap::DELETED_AABB_VALUE;
use crate::geometry::SAPProxyIndex;
use crate::geometry::BroadPhaseProxyIndex;
use crate::math::Real;
use bit_vec::BitVec;
use parry::bounding_volume::BoundingVolume;
@@ -39,7 +39,7 @@ impl SAPAxis {
pub fn batch_insert(
&mut self,
dim: usize,
new_proxies: &[SAPProxyIndex],
new_proxies: &[BroadPhaseProxyIndex],
proxies: &SAPProxies,
reporting: Option<&mut HashMap<(u32, u32), bool>>,
) {

16
src/geometry/broad_phase_multi_sap/sap_layer.rs
View File

@@ -1,6 +1,6 @@
use super::{SAPProxies, SAPProxy, SAPRegion, SAPRegionPool};
use crate::geometry::broad_phase_multi_sap::DELETED_AABB_VALUE;
use crate::geometry::{Aabb, SAPProxyIndex};
use crate::geometry::{Aabb, BroadPhaseProxyIndex};
use crate::math::{Point, Real};
use parry::bounding_volume::BoundingVolume;
use parry::utils::hashmap::{Entry, HashMap};
@@ -13,11 +13,11 @@ pub(crate) struct SAPLayer {
pub smaller_layer: Option<u8>,
pub larger_layer: Option<u8>,
region_width: Real,
pub regions: HashMap<Point<i32>, SAPProxyIndex>,
pub regions: HashMap<Point<i32>, BroadPhaseProxyIndex>,
#[cfg_attr(feature = "serde-serialize", serde(skip))]
regions_to_potentially_remove: Vec<Point<i32>>, // Workspace
#[cfg_attr(feature = "serde-serialize", serde(skip))]
pub created_regions: Vec<SAPProxyIndex>,
pub created_regions: Vec<BroadPhaseProxyIndex>,
}
impl SAPLayer {
@@ -103,7 +103,7 @@ impl SAPLayer {
/// one region on its parent "larger" layer.
fn register_subregion(
&mut self,
proxy_id: SAPProxyIndex,
proxy_id: BroadPhaseProxyIndex,
proxies: &mut SAPProxies,
pool: &mut SAPRegionPool,
) {
@@ -140,7 +140,7 @@ impl SAPLayer {
fn unregister_subregion(
&mut self,
proxy_id: SAPProxyIndex,
proxy_id: BroadPhaseProxyIndex,
proxy_region: &SAPRegion,
proxies: &mut SAPProxies,
) {
@@ -191,7 +191,7 @@ impl SAPLayer {
region_key: Point<i32>,
proxies: &mut SAPProxies,
pool: &mut SAPRegionPool,
) -> SAPProxyIndex {
) -> BroadPhaseProxyIndex {
match self.regions.entry(region_key) {
// Yay, the region already exists!
Entry::Occupied(occupied) => *occupied.get(),
@@ -266,7 +266,7 @@ impl SAPLayer {
}
}
pub fn predelete_proxy(&mut self, proxies: &mut SAPProxies, proxy_index: SAPProxyIndex) {
pub fn predelete_proxy(&mut self, proxies: &mut SAPProxies, proxy_index: BroadPhaseProxyIndex) {
// Discretize the Aabb to find the regions that need to be invalidated.
let proxy_aabb = &mut proxies[proxy_index].aabb;
let start = super::point_key(proxy_aabb.mins, self.region_width);
@@ -379,7 +379,7 @@ impl SAPLayer {
pub fn proper_proxy_moved_to_bigger_layer(
&mut self,
proxies: &mut SAPProxies,
proxy_id: SAPProxyIndex,
proxy_id: BroadPhaseProxyIndex,
) {
for (point, region_id) in &self.regions {
let region = &mut proxies[*region_id].data.as_region_mut();

24
src/geometry/broad_phase_multi_sap/sap_proxy.rs
View File

@@ -1,11 +1,9 @@
use super::NEXT_FREE_SENTINEL;
use crate::geometry::broad_phase_multi_sap::SAPRegion;
use crate::geometry::ColliderHandle;
use crate::geometry::{BroadPhaseProxyIndex, ColliderHandle};
use parry::bounding_volume::Aabb;
use std::ops::{Index, IndexMut};
pub type SAPProxyIndex = u32;
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
#[derive(Clone)]
pub enum SAPProxyData {
@@ -49,7 +47,7 @@ impl SAPProxyData {
pub struct SAPProxy {
pub data: SAPProxyData,
pub aabb: Aabb,
pub next_free: SAPProxyIndex,
pub next_free: BroadPhaseProxyIndex,
// TODO: pack the layer_id and layer_depth into a single u16?
pub layer_id: u8,
pub layer_depth: i8,
@@ -81,7 +79,7 @@ impl SAPProxy {
#[derive(Clone)]
pub struct SAPProxies {
pub elements: Vec<SAPProxy>,
pub first_free: SAPProxyIndex,
pub first_free: BroadPhaseProxyIndex,
}
impl Default for SAPProxies {
@@ -98,7 +96,7 @@ impl SAPProxies {
}
}
pub fn insert(&mut self, proxy: SAPProxy) -> SAPProxyIndex {
pub fn insert(&mut self, proxy: SAPProxy) -> BroadPhaseProxyIndex {
if self.first_free != NEXT_FREE_SENTINEL {
let proxy_id = self.first_free;
self.first_free = self.elements[proxy_id as usize].next_free;
@@ -110,31 +108,31 @@ impl SAPProxies {
}
}
pub fn remove(&mut self, proxy_id: SAPProxyIndex) {
pub fn remove(&mut self, proxy_id: BroadPhaseProxyIndex) {
let proxy = &mut self.elements[proxy_id as usize];
proxy.next_free = self.first_free;
self.first_free = proxy_id;
}
// NOTE: this must not take holes into account.
pub fn get_mut(&mut self, i: SAPProxyIndex) -> Option<&mut SAPProxy> {
pub fn get_mut(&mut self, i: BroadPhaseProxyIndex) -> Option<&mut SAPProxy> {
self.elements.get_mut(i as usize)
}
// NOTE: this must not take holes into account.
pub fn get(&self, i: SAPProxyIndex) -> Option<&SAPProxy> {
pub fn get(&self, i: BroadPhaseProxyIndex) -> Option<&SAPProxy> {
self.elements.get(i as usize)
}
}
impl Index<SAPProxyIndex> for SAPProxies {
impl Index<BroadPhaseProxyIndex> for SAPProxies {
type Output = SAPProxy;
fn index(&self, i: SAPProxyIndex) -> &SAPProxy {
fn index(&self, i: BroadPhaseProxyIndex) -> &SAPProxy {
self.elements.index(i as usize)
}
}
impl IndexMut<SAPProxyIndex> for SAPProxies {
fn index_mut(&mut self, i: SAPProxyIndex) -> &mut SAPProxy {
impl IndexMut<BroadPhaseProxyIndex> for SAPProxies {
fn index_mut(&mut self, i: BroadPhaseProxyIndex) -> &mut SAPProxy {
self.elements.index_mut(i as usize)
}
}

18
src/geometry/broad_phase_multi_sap/sap_region.rs
View File

@@ -1,5 +1,5 @@
use super::{SAPAxis, SAPProxies};
use crate::geometry::SAPProxyIndex;
use crate::geometry::BroadPhaseProxyIndex;
use crate::math::DIM;
use bit_vec::BitVec;
use parry::bounding_volume::Aabb;
@@ -13,8 +13,8 @@ pub struct SAPRegion {
pub axes: [SAPAxis; DIM],
pub existing_proxies: BitVec,
#[cfg_attr(feature = "serde-serialize", serde(skip))]
pub to_insert: Vec<SAPProxyIndex>, // Workspace
pub subregions: Vec<SAPProxyIndex>,
pub to_insert: Vec<BroadPhaseProxyIndex>, // Workspace
pub subregions: Vec<BroadPhaseProxyIndex>,
pub id_in_parent_subregion: u32,
pub update_count: u8,
pub needs_update_after_subregion_removal: bool,
@@ -90,7 +90,7 @@ impl SAPRegion {
/// If this region contains the given proxy, this will decrement this region's proxy count.
///
/// Returns `true` if this region contained the proxy. Returns `false` otherwise.
pub fn proper_proxy_moved_to_a_bigger_layer(&mut self, proxy_id: SAPProxyIndex) -> bool {
pub fn proper_proxy_moved_to_a_bigger_layer(&mut self, proxy_id: BroadPhaseProxyIndex) -> bool {
if self.existing_proxies.get(proxy_id as usize) == Some(true) {
// NOTE: we are just registering the fact that that proxy isn't a
// subproper proxy anymore. But it is still part of this region
@@ -142,7 +142,7 @@ impl SAPRegion {
self.subproper_proxy_count -= num_deleted_subregion_endpoints[0] / 2;
}
pub fn predelete_proxy(&mut self, _proxy_id: SAPProxyIndex) {
pub fn predelete_proxy(&mut self, _proxy_id: BroadPhaseProxyIndex) {
// We keep the proxy_id as argument for uniformity with the "preupdate"
// method. However we don't actually need it because the deletion will be
// handled transparently during the next update.
@@ -153,14 +153,18 @@ impl SAPRegion {
self.update_count = self.update_count.max(1);
}
pub fn register_subregion(&mut self, proxy_id: SAPProxyIndex) -> usize {
pub fn register_subregion(&mut self, proxy_id: BroadPhaseProxyIndex) -> usize {
let subregion_index = self.subregions.len();
self.subregions.push(proxy_id);
self.preupdate_proxy(proxy_id, true);
subregion_index
}
pub fn preupdate_proxy(&mut self, proxy_id: SAPProxyIndex, is_subproper_proxy: bool) -> bool {
pub fn preupdate_proxy(
&mut self,
proxy_id: BroadPhaseProxyIndex,
is_subproper_proxy: bool,
) -> bool {
let mask_len = self.existing_proxies.len();
if proxy_id as usize >= mask_len {
self.existing_proxies

21
src/geometry/collider.rs
View File

@@ -1,8 +1,8 @@
use crate::dynamics::{CoefficientCombineRule, MassProperties, RigidBodyHandle};
use crate::geometry::{
ActiveCollisionTypes, ColliderBroadPhaseData, ColliderChanges, ColliderFlags,
ColliderMassProps, ColliderMaterial, ColliderParent, ColliderPosition, ColliderShape,
ColliderType, InteractionGroups, SharedShape,
ActiveCollisionTypes, BroadPhaseProxyIndex, ColliderBroadPhaseData, ColliderChanges,
ColliderFlags, ColliderMassProps, ColliderMaterial, ColliderParent, ColliderPosition,
ColliderShape, ColliderType, InteractionGroups, SharedShape,
};
use crate::math::{AngVector, Isometry, Point, Real, Rotation, Vector, DIM};
use crate::parry::transformation::vhacd::VHACDParameters;
@@ -50,6 +50,21 @@ 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)

4
src/geometry/collider_components.rs
View File

@@ -1,5 +1,5 @@
use crate::dynamics::{CoefficientCombineRule, MassProperties, RigidBodyHandle, RigidBodyType};
use crate::geometry::{InteractionGroups, SAPProxyIndex, Shape, SharedShape};
use crate::geometry::{BroadPhaseProxyIndex, InteractionGroups, Shape, SharedShape};
use crate::math::{Isometry, Real};
use crate::parry::partitioning::IndexedData;
use crate::pipeline::{ActiveEvents, ActiveHooks};
@@ -118,7 +118,7 @@ impl ColliderType {
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
/// Data associated to a collider that takes part to a broad-phase algorithm.
pub struct ColliderBroadPhaseData {
pub(crate) proxy_index: SAPProxyIndex,
pub(crate) proxy_index: BroadPhaseProxyIndex,
}
impl Default for ColliderBroadPhaseData {

9
src/geometry/mod.rs
View File

@@ -1,9 +1,7 @@
//! Structures related to geometry: colliders, shapes, etc.
pub use self::broad_phase_multi_sap::{BroadPhasePairEvent, ColliderPair};
pub use self::broad_phase_multi_sap::BroadPhaseMultiSap;
// pub use self::broad_phase_qbvh::BroadPhaseMultiSap;
pub use self::broad_phase::BroadPhase;
pub use self::broad_phase_multi_sap::{BroadPhaseMultiSap, BroadPhasePairEvent, ColliderPair};
pub use self::collider_components::*;
pub use self::contact_pair::{
ContactData, ContactManifoldData, ContactPair, IntersectionPair, SolverContact, SolverFlags,
@@ -180,7 +178,7 @@ impl ContactForceEvent {
}
}
pub(crate) use self::broad_phase_multi_sap::SAPProxyIndex;
pub(crate) use self::broad_phase::BroadPhaseProxyIndex;
pub(crate) use self::narrow_phase::ContactManifoldIndex;
pub(crate) use parry::partitioning::Qbvh;
pub use parry::shape::*;
@@ -203,6 +201,7 @@ mod interaction_graph;
mod interaction_groups;
mod narrow_phase;
mod broad_phase;
mod broad_phase_qbvh;
mod collider;
mod collider_set;

6
src/pipeline/collision_pipeline.rs
View File

@@ -2,8 +2,8 @@
use crate::dynamics::{ImpulseJointSet, MultibodyJointSet};
use crate::geometry::{
BroadPhaseMultiSap, BroadPhasePairEvent, ColliderChanges, ColliderHandle, ColliderPair,
NarrowPhase,
BroadPhase, BroadPhaseMultiSap, BroadPhasePairEvent, ColliderChanges, ColliderHandle,
ColliderPair, NarrowPhase,
};
use crate::math::Real;
use crate::pipeline::{EventHandler, PhysicsHooks, QueryPipeline};
@@ -44,7 +44,7 @@ impl CollisionPipeline {
fn detect_collisions(
&mut self,
prediction_distance: Real,
broad_phase: &mut BroadPhaseMultiSap,
broad_phase: &mut dyn BroadPhase,
narrow_phase: &mut NarrowPhase,
bodies: &mut RigidBodySet,
colliders: &mut ColliderSet,

6
src/pipeline/physics_pipeline.rs
View File

@@ -10,7 +10,7 @@ use crate::dynamics::{
RigidBodyChanges, RigidBodyHandle, RigidBodyPosition, RigidBodyType,
};
use crate::geometry::{
BroadPhaseMultiSap, BroadPhasePairEvent, ColliderChanges, ColliderHandle, ColliderPair,
BroadPhase, BroadPhasePairEvent, ColliderChanges, ColliderHandle, ColliderPair,
ContactManifoldIndex, NarrowPhase, TemporaryInteractionIndex,
};
use crate::math::{Real, Vector};
@@ -93,7 +93,7 @@ impl PhysicsPipeline {
&mut self,
integration_parameters: &IntegrationParameters,
islands: &mut IslandManager,
broad_phase: &mut BroadPhaseMultiSap,
broad_phase: &mut dyn BroadPhase,
narrow_phase: &mut NarrowPhase,
bodies: &mut RigidBodySet,
colliders: &mut ColliderSet,
@@ -406,7 +406,7 @@ impl PhysicsPipeline {
gravity: &Vector<Real>,
integration_parameters: &IntegrationParameters,
islands: &mut IslandManager,
broad_phase: &mut BroadPhaseMultiSap,
broad_phase: &mut dyn BroadPhase,
narrow_phase: &mut NarrowPhase,
bodies: &mut RigidBodySet,
colliders: &mut ColliderSet,