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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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29
examples2d/debug_intersection2.rs
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@@ -1,5 +1,5 @@
use rapier2d::prelude::*;
use rapier_testbed2d::Testbed;
use rapier2d::prelude::*;
pub fn init_world(testbed: &mut Testbed) {
/*
@@ -39,22 +39,29 @@ pub fn init_world(testbed: &mut Testbed) {
testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
testbed.look_at(point![0.0, 0.0], 50.0);
testbed.add_callback(move |graphics, physics, _, run| {
testbed.add_callback(move |mut graphics, physics, _, run| {
let slow_time = run.timestep_id as f32 / 3.0;
let intersection = physics.query_pipeline.intersection_with_shape(
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,
&Isometry::translation(slow_time.cos() * 10.0, slow_time.sin() * 10.0),
&Ball::new(rad / 2.0),
QueryFilter::default(),
);
if let Some(graphics) = graphics {
for (handle, _) in physics.bodies.iter() {
graphics.set_body_color(handle, [0.5, 0.5, 0.5]);
}
if let Some(intersection) = intersection {
let collider = physics.colliders.get(intersection).unwrap();
for intersection in query_pipeline.intersect_shape(
&Isometry::translation(slow_time.cos() * 10.0, slow_time.sin() * 10.0),
&Ball::new(rad / 2.0),
) {
if let Some(graphics) = graphics.as_deref_mut() {
for (handle, _) in physics.bodies.iter() {
graphics.set_body_color(handle, [0.5, 0.5, 0.5]);
}
let collider = physics.colliders.get(intersection.0).unwrap();
let body_handle = collider.parent().unwrap();
graphics.set_body_color(body_handle, [1.0, 0.0, 0.0]);