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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
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12
benchmarks3d/boxes3.rs
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@@ -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.