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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/dynamic_trimesh3.rs
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@@ -1,7 +1,7 @@
use obj::raw::object::Polygon;
use rapier_testbed3d::Testbed;
use rapier3d::parry::bounding_volume;
use rapier3d::prelude::*;
use rapier_testbed3d::Testbed;
use std::fs::File;
use std::io::BufReader;
@@ -54,7 +54,7 @@ pub fn do_init_world(testbed: &mut Testbed, use_convex_decomposition: bool) {
let deltas = Isometry::identity();
let mut shapes = Vec::new();
println!("Parsing and decomposing: {}", obj_path);
println!("Parsing and decomposing: {obj_path}");
let input = BufReader::new(File::open(obj_path).unwrap());
if let Ok(model) = obj::raw::parse_obj(input) {
@@ -75,7 +75,8 @@ pub fn do_init_world(testbed: &mut Testbed, use_convex_decomposition: bool) {
.collect();
// Compute the size of the model, to scale it and have similar size for everything.
let aabb = bounding_volume::details::point_cloud_aabb(&deltas, &vertices);
let aabb =
bounding_volume::details::point_cloud_aabb(&deltas, vertices.iter().copied());
let center = aabb.center();
let diag = (aabb.maxs - aabb.mins).norm();