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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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2
examples3d-f64/Cargo.toml
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@@ -2,7 +2,7 @@
name = "rapier-examples-3d-f64"
version = "0.1.0"
authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
edition = "2021"
edition = "2024"
default-run = "all_examples3-f64"
[features]

4
examples3d-f64/debug_serialized3.rs
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@@ -1,5 +1,5 @@
use rapier3d::prelude::*;
use rapier_testbed3d::Testbed;
use rapier3d::prelude::*;
#[derive(serde::Deserialize)]
struct State {
@@ -27,7 +27,7 @@ pub fn init_world(testbed: &mut Testbed) {
state.multibody_joints,
);
testbed.harness_mut().physics.islands = state.islands;
testbed.harness_mut().physics.broad_phase = state.broad_phase;
testbed.harness_mut().physics.broad_phase = Box::new(state.broad_phase);
testbed.harness_mut().physics.narrow_phase = state.narrow_phase;
testbed.harness_mut().physics.ccd_solver = state.ccd_solver;