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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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examples2d/all_examples2.rs
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@@ -20,6 +20,7 @@ mod debug_total_overlap2;
mod debug_vertical_column2;
mod drum2;
mod heightfield2;
mod inv_pyramid2;
mod inverse_kinematics2;
mod joint_motor_position2;
mod joints2;
@@ -59,6 +60,7 @@ pub fn main() {
("Drum", drum2::init_world),
("Heightfield", heightfield2::init_world),
("Inverse kinematics", inverse_kinematics2::init_world),
("Inv pyramid", inv_pyramid2::init_world),
("Joints", joints2::init_world),
("Locked rotations", locked_rotations2::init_world),
("One-way platforms", one_way_platforms2::init_world),