feat: switch to the new Bvh from parry for the broad-phase (#853)

* 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

benchmarks3d/Cargo.toml

@@ -2,7 +2,7 @@
 name = "rapier-benchmarks-3d"
 version = "0.1.0"
 authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
-edition = "2021"
+edition = "2024"
 
 [features]
 parallel = ["rapier3d/parallel", "rapier_testbed3d/parallel"]
@@ -14,6 +14,7 @@ enhanced-determinism = ["rapier3d/enhanced-determinism"]
 [dependencies]
 rand = "0.8"
 Inflector = "0.11"
+oorandom = "11"
 
 [dependencies.rapier_testbed3d]
 path = "../crates/rapier_testbed3d"

benchmarks3d/all_benchmarks3.rs

@@ -20,10 +20,12 @@ mod joint_fixed3;
 mod joint_prismatic3;
 mod joint_revolute3;
 mod keva3;
+mod many_kinematics3;
 mod many_pyramids3;
 mod many_sleep3;
 mod many_static3;
 mod pyramid3;
+mod ray_cast3;
 mod stacks3;
 mod trimesh3;
 
@@ -47,9 +49,8 @@ fn parse_command_line() -> Command {
     Command::RunAll
 }
 
-pub fn main() {
-    let command = parse_command_line();
-
+#[allow(clippy::type_complexity)]
+pub fn demo_builders() -> Vec<(&'static str, fn(&mut Testbed))> {
     let mut builders: Vec<(_, fn(&mut Testbed))> = vec![
         ("Balls", balls3::init_world),
         ("Boxes", boxes3::init_world),
@@ -57,6 +58,7 @@ pub fn main() {
         ("CCD", ccd3::init_world),
         ("Compound", compound3::init_world),
         ("Convex polyhedron", convex_polyhedron3::init_world),
+        ("Many kinematics", many_kinematics3::init_world),
         ("Many static", many_static3::init_world),
         ("Many sleep", many_sleep3::init_world),
         ("Heightfield", heightfield3::init_world),
@@ -69,6 +71,7 @@ pub fn main() {
         ("ImpulseJoint prismatic", joint_prismatic3::init_world),
         ("Many pyramids", many_pyramids3::init_world),
         ("Keva tower", keva3::init_world),
+        ("Ray cast", ray_cast3::init_world),
     ];
 
     // Lexicographic sort, with stress tests moved at the end of the list.
@@ -77,6 +80,12 @@ pub fn main() {
         (true, false) => Ordering::Greater,
         (false, true) => Ordering::Less,
     });
+    builders
+}
+
+pub fn main() {
+    let command = parse_command_line();
+    let builders = demo_builders();
 
     match command {
         Command::Run(demo) => {
@@ -86,7 +95,7 @@ pub fn main() {
             {
                 TestbedApp::from_builders(vec![builders[i]]).run()
             } else {
-                eprintln!("Invalid example to run provided: '{}'", demo);
+                eprintln!("Invalid example to run provided: '{demo}'");
             }
         }
         Command::RunAll => TestbedApp::from_builders(builders).run(),

benchmarks3d/balls3.rs

@@ -1,5 +1,5 @@
-use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
+use rapier3d::prelude::*;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*

benchmarks3d/boxes3.rs

@@ -1,5 +1,5 @@
-use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
+use rapier3d::prelude::*;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*
@@ -24,21 +24,21 @@ pub fn init_world(testbed: &mut Testbed) {
     /*
      * Create the cubes
      */
-    let num = 8;
+    let num = 10;
     let rad = 1.0;
 
-    let shift = rad * 2.0 + rad;
+    let shift = rad * 2.0;
     let centerx = shift * (num / 2) as f32;
     let centery = shift / 2.0;
     let centerz = shift * (num / 2) as f32;
 
-    let mut offset = -(num as f32) * (rad * 2.0 + rad) * 0.5;
+    let mut offset = -(num as f32) * (rad * 2.0) * 0.5;
 
-    for j in 0usize..47 {
+    for j in 0usize..num {
         for i in 0..num {
             for k in 0usize..num {
                 let x = i as f32 * shift - centerx + offset;
-                let y = j as f32 * shift + centery + 3.0;
+                let y = j as f32 * shift + centery;
                 let z = k as f32 * shift - centerz + offset;
 
                 // Build the rigid body.

benchmarks3d/capsules3.rs

@@ -1,5 +1,5 @@
-use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
+use rapier3d::prelude::*;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*

benchmarks3d/ccd3.rs

@@ -1,5 +1,5 @@
-use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
+use rapier3d::prelude::*;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*

benchmarks3d/compound3.rs

@@ -1,5 +1,5 @@
-use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
+use rapier3d::prelude::*;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*

benchmarks3d/convex_polyhedron3.rs

@@ -1,7 +1,7 @@
 use rand::distributions::{Distribution, Standard};
-use rand::{rngs::StdRng, SeedableRng};
-use rapier3d::prelude::*;
+use rand::{SeedableRng, rngs::StdRng};
 use rapier_testbed3d::Testbed;
+use rapier3d::prelude::*;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*

benchmarks3d/heightfield3.rs

@@ -1,6 +1,6 @@
+use rapier_testbed3d::Testbed;
 use rapier3d::na::ComplexField;
 use rapier3d::prelude::*;
-use rapier_testbed3d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*

benchmarks3d/joint_ball3.rs

@@ -1,5 +1,5 @@
-use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
+use rapier3d::prelude::*;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*

benchmarks3d/joint_fixed3.rs

@@ -1,5 +1,5 @@
-use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
+use rapier3d::prelude::*;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*

benchmarks3d/joint_prismatic3.rs

@@ -1,5 +1,5 @@
-use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
+use rapier3d::prelude::*;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*

benchmarks3d/joint_revolute3.rs

@@ -1,5 +1,5 @@
-use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
+use rapier3d::prelude::*;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*

benchmarks3d/keva3.rs

@@ -1,5 +1,5 @@
-use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
+use rapier3d::prelude::*;
 
 pub fn build_block(
     testbed: &mut Testbed,
@@ -99,7 +99,6 @@ pub fn init_world(testbed: &mut Testbed) {
     // These should only be set to odd values otherwise
     // the blocks won't align in the nicest way.
     let numy = [0, 9, 13, 17, 21, 41];
-    let mut num_blocks_built = 0;
 
     for i in (1..=5).rev() {
         let numx = i;
@@ -115,11 +114,8 @@ pub fn init_world(testbed: &mut Testbed) {
             (numx, numy, numz),
         );
         block_height += numy as f32 * half_extents.y * 2.0 + half_extents.x * 2.0;
-        num_blocks_built += numx * numy * numz;
     }
 
-    println!("Num keva blocks: {}", num_blocks_built);
-
     /*
      * Set up the testbed.
      */

benchmarks3d/many_kinematics3.rs

@@ -0,0 +1,68 @@
+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 = 30;
+    let rad = 1.0;
+
+    let shift = rad * 6.0 + 1.0;
+    let centerx = shift * (num as f32) / 2.0;
+    let centery = shift * (num as f32) / 2.0;
+    let centerz = shift * (num as f32) / 2.0;
+
+    for i in 0..num {
+        for j in 0usize..num {
+            for k in 0..num {
+                let x = i as f32 * shift - centerx;
+                let y = j as f32 * shift - centery;
+                let z = k as f32 * shift - centerz;
+
+                // Build the rigid body.
+                let velocity = Vector::new(
+                    rand::random::<f32>() - 0.5,
+                    rand::random::<f32>() - 0.5,
+                    rand::random::<f32>() - 0.5,
+                ) * 30.0;
+                let rigid_body = RigidBodyBuilder::new(RigidBodyType::KinematicVelocityBased)
+                    .translation(vector![x, y, z])
+                    .linvel(velocity);
+                let handle = bodies.insert(rigid_body);
+                let collider = ColliderBuilder::ball(rad);
+                colliders.insert_with_parent(collider, handle, &mut bodies);
+            }
+        }
+    }
+
+    testbed.add_callback(move |_, physics, _, _| {
+        for (_, rb) in physics.bodies.iter_mut() {
+            let mut linvel = *rb.linvel();
+
+            for dim in 0..3 {
+                if (linvel[dim] > 0.0 && rb.translation()[dim] > (shift * num as f32) / 2.0)
+                    || (linvel[dim] < 0.0 && rb.translation()[dim] < -(shift * num as f32) / 2.0)
+                {
+                    linvel[dim] = -linvel[dim];
+                }
+            }
+
+            rb.set_linvel(linvel, false);
+        }
+    });
+
+    /*
+     * 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());
+}

benchmarks3d/many_pyramids3.rs

@@ -1,5 +1,5 @@
-use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
+use rapier3d::prelude::*;
 
 fn create_pyramid(
     bodies: &mut RigidBodySet,

benchmarks3d/many_sleep3.rs

@@ -1,5 +1,5 @@
-use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
+use rapier3d::prelude::*;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*

benchmarks3d/many_static3.rs

@@ -1,5 +1,5 @@
-use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
+use rapier3d::prelude::*;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*

benchmarks3d/pyramid3.rs

@@ -1,5 +1,5 @@
-use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
+use rapier3d::prelude::*;
 
 fn create_pyramid(
     bodies: &mut RigidBodySet,

benchmarks3d/ray_cast3.rs

@@ -0,0 +1,89 @@
+use rapier_testbed3d::{Color, Testbed};
+use rapier3d::prelude::*;
+
+pub fn init_world(testbed: &mut Testbed) {
+    let settings = testbed.example_settings_mut();
+
+    // NOTE: this demo is a bit special. It takes as a setting the builder of another demo,
+    //       builds it, and add a ton of rays into it. This gives us an easy way to check
+    //       ray-casting in a wide variety of situations.
+    let demos: Vec<_> = crate::demo_builders()
+        .into_iter()
+        .filter(|(_, builder)| {
+            !std::ptr::fn_addr_eq(*builder, self::init_world as fn(&mut Testbed))
+        })
+        .collect();
+    let demo_names: Vec<_> = demos.iter().map(|(name, _)| name.to_string()).collect();
+    let selected = settings.get_or_set_string("Scene", 0, demo_names);
+    demos[selected].1(testbed);
+
+    /*
+     * Cast rays at each frame.
+     */
+    let ray_ball_radius = 100.0;
+    let ray_ball = Ball::new(ray_ball_radius);
+    let (ray_origins, _) = ray_ball.to_trimesh(100, 100);
+    let rays: Vec<_> = ray_origins
+        .into_iter()
+        .map(|pt| Ray::new(pt, -pt.coords.normalize()))
+        .collect();
+    let mut centered_rays = rays.clone();
+
+    testbed.add_callback(move |graphics, physics, _, _| {
+        let Some(graphics) = graphics else {
+            return;
+        };
+
+        // Re-center the ray relative to the current position of all objects.
+        // This ensures demos with falling objects don’t end up with a boring situation
+        // where all the rays point into the void.
+        let mut center = Point::origin();
+        for (_, b) in physics.bodies.iter() {
+            center += b.translation();
+        }
+        center /= physics.bodies.len() as Real;
+
+        for (centered, ray) in centered_rays.iter_mut().zip(rays.iter()) {
+            centered.origin = center + ray.origin.coords;
+        }
+
+        // Cast the rays.
+        let t1 = std::time::Instant::now();
+        let max_toi = ray_ball_radius - 1.0;
+
+        let Some(broad_phase) = physics.broad_phase.downcast_ref::<BroadPhaseBvh>() else {
+            return;
+        };
+        let query_pipeline = broad_phase.as_query_pipeline(
+            physics.narrow_phase.query_dispatcher(),
+            &physics.bodies,
+            &physics.colliders,
+            Default::default(),
+        );
+
+        for ray in &centered_rays {
+            if let Some((_, toi)) = query_pipeline.cast_ray(ray, max_toi, true) {
+                let a = ray.origin;
+                let b = ray.point_at(toi);
+                graphics
+                    .gizmos
+                    .line(a.into(), b.into(), Color::srgba(0.0, 1.0f32, 0.0, 0.1));
+            } else {
+                let a = ray.origin;
+                let b = ray.point_at(max_toi);
+                graphics
+                    .gizmos
+                    .line(a.into(), b.into(), Color::srgba(1.0f32, 0.0, 0.0, 0.1));
+            }
+        }
+        let main_check_time = t1.elapsed().as_secs_f32();
+
+        if let Some(settings) = &mut graphics.settings {
+            settings.set_label("Ray count:", format!("{}", rays.len()));
+            settings.set_label(
+                "Ray-cast time",
+                format!("{:.2}ms", main_check_time * 1000.0,),
+            );
+        }
+    });
+}

benchmarks3d/stacks3.rs

@@ -1,5 +1,5 @@
-use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
+use rapier3d::prelude::*;
 
 fn create_tower_circle(
     bodies: &mut RigidBodySet,

benchmarks3d/trimesh3.rs

@@ -1,6 +1,6 @@
+use rapier_testbed3d::Testbed;
 use rapier3d::na::ComplexField;
 use rapier3d::prelude::*;
-use rapier_testbed3d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*