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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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7
examples3d/debug_cube_high_mass_ratio3.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) {
/*
@@ -86,7 +86,10 @@ pub fn init_world(testbed: &mut Testbed) {
let big_mass =
MassProperties::from_cuboid(1.0, vector![cube_len / 2.0, cube_len / 2.0, cube_len / 2.0])
.mass();
println!("debug_cube_high_mass_ratio3: small stick mass: {small_mass}, big cube mass: {big_mass}, mass_ratio: {}", big_mass / small_mass);
println!(
"debug_cube_high_mass_ratio3: small stick mass: {small_mass}, big cube mass: {big_mass}, mass_ratio: {}",
big_mass / small_mass
);
/*
* Set up the testbed.