nichkara/rapier
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

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

Browse Source 
* 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
Download Patch File Download Diff File Expand all files Collapse all files

21
src/geometry/mod.rs
View File

@@ -1,7 +1,8 @@
//! Structures related to geometry: colliders, shapes, etc.
pub use self::broad_phase::BroadPhase;
pub use self::broad_phase_multi_sap::{BroadPhaseMultiSap, BroadPhasePairEvent, ColliderPair};
pub use self::broad_phase_bvh::{BroadPhaseBvh, BvhOptimizationStrategy};
pub use self::broad_phase_pair_event::{BroadPhasePairEvent, ColliderPair};
pub use self::collider::{Collider, ColliderBuilder};
pub use self::collider_components::*;
pub use self::collider_set::ColliderSet;
@@ -16,6 +17,7 @@ pub use self::mesh_converter::{MeshConverter, MeshConverterError};
pub use self::narrow_phase::NarrowPhase;
pub use parry::bounding_volume::BoundingVolume;
pub use parry::partitioning::{Bvh, BvhBuildStrategy};
pub use parry::query::{PointQuery, PointQueryWithLocation, RayCast, TrackedContact};
pub use parry::shape::{SharedShape, VoxelState, VoxelType, Voxels};
@@ -54,7 +56,7 @@ pub type PointProjection = parry::query::PointProjection;
/// The result of a shape-cast between two shapes.
pub type ShapeCastHit = parry::query::ShapeCastHit;
/// The default broad-phase implementation recommended for general-purpose usage.
pub type DefaultBroadPhase = BroadPhaseMultiSap;
pub type DefaultBroadPhase = BroadPhaseBvh;
bitflags::bitflags! {
/// Flags providing more information regarding a collision event.
@@ -181,24 +183,16 @@ impl ContactForceEvent {
}
}
pub(crate) use self::broad_phase::BroadPhaseProxyIndex;
pub(crate) use self::collider_set::ModifiedColliders;
pub(crate) use self::narrow_phase::ContactManifoldIndex;
pub(crate) use parry::partitioning::Qbvh;
pub use parry::shape::*;
#[cfg(feature = "serde-serialize")]
pub(crate) fn default_persistent_query_dispatcher(
) -> std::sync::Arc<dyn parry::query::PersistentQueryDispatcher<ContactManifoldData, ContactData>> {
pub(crate) fn default_persistent_query_dispatcher()
-> std::sync::Arc<dyn parry::query::PersistentQueryDispatcher<ContactManifoldData, ContactData>> {
std::sync::Arc::new(parry::query::DefaultQueryDispatcher)
}
#[cfg(feature = "serde-serialize")]
pub(crate) fn default_query_dispatcher() -> std::sync::Arc<dyn parry::query::QueryDispatcher> {
std::sync::Arc::new(parry::query::DefaultQueryDispatcher)
}
mod broad_phase_multi_sap;
mod collider_components;
mod contact_pair;
mod interaction_graph;
@@ -206,7 +200,8 @@ mod interaction_groups;
mod narrow_phase;
mod broad_phase;
mod broad_phase_qbvh;
mod broad_phase_bvh;
mod broad_phase_pair_event;
mod collider;
mod collider_set;
mod mesh_converter;