* 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
* feat: add a PID controller implementation
* feat: add small rigid-body utilities + test interpolation test
* fix: make scrolling weaker on macos
* feat: add the option to use the PID controller in the character controller demo.
* feat: add a stateless PD controller
* feat(rapier_testbed): cleanup & support PidController in 2D too
* chore: add comments for the PD and PID controllers
* chore: update changelog
* feat: rename PidErrors to PdErrors which is more accurate
* fix cargo doc
* chore: remove dead code
* chore: make test module non-pub
* 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>
* fix: less invasive `solve_character_collision_impulses` function
Taking ownership of the elements is not necessary.
It also conveys the information that elements are only read.
* Add Changelog
* chore: rework QueryPipeline API to take a generic qbvh updater
This allows to pass less parameters depending on the updating mode.
* chore: rework struct and functions names, and docs
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Co-authored-by: Sébastien Crozet <sebcrozet@dimforge.com>
