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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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42
src_testbed/objects/node.rs
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@@ -4,7 +4,7 @@ use bevy::prelude::*;
use bevy::render::mesh::{Indices, VertexAttributeValues};
//use crate::objects::plane::Plane;
use na::{point, Point3, Vector3};
use na::{Point3, Vector3, point};
use std::collections::HashMap;
use bevy::render::render_resource::PrimitiveTopology;
@@ -17,7 +17,7 @@ use rapier::math::{Isometry, Real, Vector};
use crate::graphics::{BevyMaterial, InstancedMaterials, SELECTED_OBJECT_COLOR};
#[cfg(feature = "dim2")]
use {
na::{vector, Point2, Vector2},
na::{Point2, Vector2, vector},
rapier::geometry::{Ball, Cuboid},
};
@@ -143,25 +143,25 @@ impl EntityWithGraphics {
components: &mut Query<&mut Transform>,
gfx_shift: &Vector<Real>,
) {
if let Some(Some(co)) = self.collider.map(|c| colliders.get(c)) {
if let Ok(mut pos) = components.get_mut(self.entity) {
let co_pos = co.position() * self.delta;
pos.translation.x = (co_pos.translation.vector.x + gfx_shift.x) as f32;
pos.translation.y = (co_pos.translation.vector.y + gfx_shift.y) as f32;
#[cfg(feature = "dim3")]
{
pos.translation.z = (co_pos.translation.vector.z + gfx_shift.z) as f32;
pos.rotation = Quat::from_xyzw(
co_pos.rotation.i as f32,
co_pos.rotation.j as f32,
co_pos.rotation.k as f32,
co_pos.rotation.w as f32,
);
}
#[cfg(feature = "dim2")]
{
pos.rotation = Quat::from_rotation_z(co_pos.rotation.angle() as f32);
}
if let Some(Some(co)) = self.collider.map(|c| colliders.get(c))
&& let Ok(mut pos) = components.get_mut(self.entity)
{
let co_pos = co.position() * self.delta;
pos.translation.x = (co_pos.translation.vector.x + gfx_shift.x) as f32;
pos.translation.y = (co_pos.translation.vector.y + gfx_shift.y) as f32;
#[cfg(feature = "dim3")]
{
pos.translation.z = (co_pos.translation.vector.z + gfx_shift.z) as f32;
pos.rotation = Quat::from_xyzw(
co_pos.rotation.i as f32,
co_pos.rotation.j as f32,
co_pos.rotation.k as f32,
co_pos.rotation.w as f32,
);
}
#[cfg(feature = "dim2")]
{
pos.rotation = Quat::from_rotation_z(co_pos.rotation.angle() as f32);
}
}
}