feat: switch to the new Bvh from parry for the broad-phase (#853)

* 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

src/dynamics/joint/generic_joint.rs

@@ -2,7 +2,7 @@
 
 use crate::dynamics::solver::MotorParameters;
 use crate::dynamics::{FixedJoint, MotorModel, PrismaticJoint, RevoluteJoint, RopeJoint};
-use crate::math::{Isometry, Point, Real, Rotation, UnitVector, Vector, SPATIAL_DIM};
+use crate::math::{Isometry, Point, Real, Rotation, SPATIAL_DIM, UnitVector, Vector};
 use crate::utils::{SimdBasis, SimdRealCopy};
 
 #[cfg(feature = "dim3")]

src/dynamics/joint/impulse_joint/impulse_joint_set.rs

@@ -3,8 +3,8 @@ use parry::utils::hashset::HashSet;
 use super::ImpulseJoint;
 use crate::geometry::{InteractionGraph, RigidBodyGraphIndex, TemporaryInteractionIndex};
 
-use crate::data::arena::Arena;
 use crate::data::Coarena;
+use crate::data::arena::Arena;
 use crate::dynamics::{GenericJoint, IslandManager, RigidBodyHandle, RigidBodySet};
 
 /// The unique identifier of a joint added to the joint set.

src/dynamics/joint/multibody_joint/multibody.rs

@@ -4,13 +4,13 @@ use crate::dynamics::{RigidBodyHandle, RigidBodySet, RigidBodyType, RigidBodyVel
 #[cfg(feature = "dim3")]
 use crate::math::Matrix;
 use crate::math::{
-    AngDim, AngVector, Dim, Isometry, Jacobian, Point, Real, Vector, ANG_DIM, DIM, SPATIAL_DIM,
+    ANG_DIM, AngDim, AngVector, DIM, Dim, Isometry, Jacobian, Point, Real, SPATIAL_DIM, Vector,
 };
 use crate::prelude::MultibodyJoint;
 use crate::utils::{IndexMut2, SimdAngularInertia, SimdCross, SimdCrossMatrix};
 use na::{
-    self, DMatrix, DVector, DVectorView, DVectorViewMut, Dyn, OMatrix, SMatrix, SVector,
-    StorageMut, LU,
+    self, DMatrix, DVector, DVectorView, DVectorViewMut, Dyn, LU, OMatrix, SMatrix, SVector,
+    StorageMut,
 };
 
 #[cfg(doc)]
@@ -1083,7 +1083,7 @@ impl Multibody {
     /// - All the indices must be part of the same kinematic branch.
     /// - If a link is `branch[i]`, then `branch[i - 1]` must be its parent.
     ///
-    /// In general, this method shouldn’t be used directly and [`Self::forward_kinematics_single_link`̦]
+    /// In general, this method shouldn’t be used directly and [`Self::forward_kinematics_single_link`]
     /// should be preferred since it computes the branch indices automatically.
     ///
     /// If you want to calculate the branch indices manually, see [`Self::kinematic_branch`].

src/dynamics/joint/multibody_joint/multibody_ik.rs

@@ -1,5 +1,5 @@
 use crate::dynamics::{JointAxesMask, Multibody, MultibodyLink, RigidBodySet};
-use crate::math::{Isometry, Jacobian, Real, ANG_DIM, DIM, SPATIAL_DIM};
+use crate::math::{ANG_DIM, DIM, Isometry, Jacobian, Real, SPATIAL_DIM};
 use na::{self, DVector, SMatrix};
 use parry::math::SpacialVector;
 

src/dynamics/joint/multibody_joint/multibody_joint.rs

@@ -1,11 +1,11 @@
 use crate::dynamics::solver::JointGenericOneBodyConstraint;
 use crate::dynamics::{
-    joint, FixedJointBuilder, GenericJoint, IntegrationParameters, Multibody, MultibodyLink,
-    RigidBodyVelocity,
+    FixedJointBuilder, GenericJoint, IntegrationParameters, Multibody, MultibodyLink,
+    RigidBodyVelocity, joint,
 };
 use crate::math::{
-    Isometry, JacobianViewMut, Real, Rotation, SpacialVector, Translation, Vector, ANG_DIM, DIM,
-    SPATIAL_DIM,
+    ANG_DIM, DIM, Isometry, JacobianViewMut, Real, Rotation, SPATIAL_DIM, SpacialVector,
+    Translation, Vector,
 };
 use na::{DVector, DVectorViewMut};
 #[cfg(feature = "dim3")]

src/dynamics/joint/multibody_joint/multibody_joint_set.rs

@@ -4,7 +4,6 @@ use crate::data::{Arena, Coarena, Index};
 use crate::dynamics::joint::MultibodyLink;
 use crate::dynamics::{GenericJoint, Multibody, MultibodyJoint, RigidBodyHandle};
 use crate::geometry::{InteractionGraph, RigidBodyGraphIndex};
-use crate::parry::partitioning::IndexedData;
 
 /// The unique handle of an multibody_joint added to a `MultibodyJointSet`.
 #[derive(Copy, Clone, Debug, PartialEq, Eq, Hash)]
@@ -44,15 +43,6 @@ impl Default for MultibodyJointHandle {
     }
 }
 
-impl IndexedData for MultibodyJointHandle {
-    fn default() -> Self {
-        Self(IndexedData::default())
-    }
-    fn index(&self) -> usize {
-        self.0.index()
-    }
-}
-
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
 #[derive(Copy, Clone, Debug, PartialEq, Eq)]
 /// Indexes usable to get a multibody link from a `MultibodyJointSet`.
@@ -371,12 +361,12 @@ impl MultibodyJointSet {
     /// suffer form the ABA problem.
     pub fn get_unknown_gen(&self, i: u32) -> Option<(&Multibody, usize, MultibodyJointHandle)> {
         let link = self.rb2mb.get_unknown_gen(i)?;
-        let gen = self.rb2mb.get_gen(i)?;
+        let generation = self.rb2mb.get_gen(i)?;
         let multibody = self.multibodies.get(link.multibody.0)?;
         Some((
             multibody,
             link.id,
-            MultibodyJointHandle(Index::from_raw_parts(i, gen)),
+            MultibodyJointHandle(Index::from_raw_parts(i, generation)),
         ))
     }
 
@@ -427,7 +417,7 @@ impl MultibodyJointSet {
             .flat_map(move |link| self.connectivity_graph.interactions_with(link.graph_id))
             .map(|inter| {
                 // NOTE: the joint handle is always equal to the handle of the second rigid-body.
-                (inter.0, inter.1, MultibodyJointHandle(inter.1 .0))
+                (inter.0, inter.1, MultibodyJointHandle(inter.1.0))
             })
     }