Implement the ability to run multiple CCD substeps.

src_testbed/engine.rs

@@ -60,7 +60,6 @@ pub struct GraphicsManager {
     b2wireframe: HashMap<RigidBodyHandle, bool>,
     ground_color: Point3<f32>,
     camera: Camera,
-    ground_handle: Option<RigidBodyHandle>,
 }
 
 impl GraphicsManager {
@@ -87,14 +86,9 @@ impl GraphicsManager {
             c2color: HashMap::new(),
             ground_color: Point3::new(0.5, 0.5, 0.5),
             b2wireframe: HashMap::new(),
-            ground_handle: None,
         }
     }
 
-    pub fn set_ground_handle(&mut self, handle: Option<RigidBodyHandle>) {
-        self.ground_handle = handle
-    }
-
     pub fn clear(&mut self, window: &mut Window) {
         for sns in self.b2sn.values_mut() {
             for sn in sns.iter_mut() {

src_testbed/harness/mod.rs

@@ -195,14 +195,14 @@ impl Harness {
             &mut self.physics.bodies,
             &mut self.physics.colliders,
             &mut self.physics.joints,
-            Some(&mut self.physics.ccd_solver),
+            &mut self.physics.ccd_solver,
             &*self.physics.hooks,
             &self.event_handler,
         );
 
         self.physics
             .query_pipeline
-            .update(&self.physics.bodies, &self.physics.colliders, false);
+            .update(&self.physics.bodies, &self.physics.colliders);
 
         for plugin in &mut self.plugins {
             plugin.step(&mut self.physics, &self.state)

src_testbed/physx_backend.rs

@@ -166,6 +166,7 @@ impl PhysxWorld {
                 broad_phase_type: BroadPhaseType::AutomaticBoxPruning,
                 solver_type: SolverType::PGS,
                 friction_type,
+                ccd_max_passes: integration_parameters.max_ccd_substeps as u32,
                 ..SceneDescriptor::new(())
             };