* feat: add debug-demo for disabling a collider
* feat: add a simple debug-demo with two cubes
* feat: rename RigidBodyChangnes::MODIFIED and ColliderChanges::MODIFIED to ::IN_MODIFIED_SET
* feat: render debug-colliders with a different color with the debug-renderer
* chore: wire up new examples to the testbed
* fix colliders user-modification being ignored after the first step
* fix broad-phase still taking into account disabled colliders with enabled dynamic rigid-bodies
* chore: update changelog
* fix cargo doc
* feat: solver improvements
* feat: add function to get/set whether gyroscopic forces are enabled on a rigid-body
* chore: switch to released versions of parry and wide instead of local patches
* fix cargo doc
* chore: typo fixes
* chore: clippy fix
* Release v0.29.0
* chore: more clippy fixes
* feat: reduce the amount of duplicate work the broad-phase is doing for user changes and CCD
* Release v0.28.0
* chore: fix warnings
* chore: clippy fixes
* chore: more clippy fixes
* 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
* add failing test from @Johannes0021
* apply fix on update_positions
* apply fix on ColliderSet::iter_mut
* fix clippy..
* more complete test
* feat: refactor modified sets into a wrapper to avoid future mistakes
* chore: fix typos
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Co-authored-by: Sébastien Crozet <sebcrozet@dimforge.com>
* reproduction for case 1 (no collision)
* test for wrong self intersection after Collider::set_parent
* dynamics: remove new parent from contact and intersection graph ; maybe should be removed from graph_indices too?
* parent testing at the same place a interaction group check, to avoid missing parent change
* add more asserts in test + more correct comments
* add changelog
* Update CHANGELOG.md
* chore: remove debug print statements
* chore: improve narrow-phase test to check for re-re-parenting
* fix: remove unneeded narrow-phase pair removal
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Co-authored-by: Sébastien Crozet <sebcrozet@dimforge.com>
* update to parry ~main
* use traverse_depth_first
* add example to test intersection
* rely on upstream PR rather than local
* re-enable profiler_ui for examples
* rely on official parry repository
* chore: switch back to the published version of parry
* chore: update changelog
* chore: remove dead code
* fix compilation of rapier3d-meshloader and rapier3d-urdf
* chore: cargo fmt
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Co-authored-by: Sébastien Crozet <sebcrozet@dimforge.com>
* Swap a regular subtraction for a saturating subtraction
* chore: display a debug message if the SAP reach an unexpected state regarding sub-proper proxies removal.
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Co-authored-by: Sébastien Crozet <sebcrozet@dimforge.com>
