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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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6
src/lib.rs
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@@ -40,7 +40,9 @@ pub use rayon;
not(feature = "simd-stable"),
not(feature = "simd-nightly")
))]
std::compile_error!("The `simd-is-enabled` feature should not be enabled explicitly. Please enable the `simd-stable` or the `simd-nightly` feature instead.");
std::compile_error!(
"The `simd-is-enabled` feature should not be enabled explicitly. Please enable the `simd-stable` or the `simd-nightly` feature instead."
);
#[cfg(all(feature = "simd-is-enabled", feature = "enhanced-determinism"))]
std::compile_error!(
"SIMD cannot be enabled when the `enhanced-determinism` feature is also enabled."
@@ -216,6 +218,6 @@ pub mod prelude {
pub use crate::geometry::*;
pub use crate::math::*;
pub use crate::pipeline::*;
pub use na::{point, vector, DMatrix, DVector};
pub use na::{DMatrix, DVector, point, vector};
pub extern crate nalgebra;
}