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fix BVH leaf node index update after a removal that results in a partial root #363

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Merged
sebcrozet merged 2 commits into from
Jul 11, 2025
Merged

fix BVH leaf node index update after a removal that results in a partial root #363

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4d1b903
fix leaf node index update after a removal that results in a partial …
sebcrozet Jul 11, 2025
814f43b
Release v0.22.0-beta.1
sebcrozet Jul 11, 2025
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6 changes: 6 additions & 0 deletions CHANGELOG.md
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Original file line number Diff line number Diff line change
@@ -1,3 +1,9 @@
# 0.22.0-beta.1

### Fixed

- Fix invalid BVH state that could be reached after a removal resulting in a partial root.

# 0.22.0-beta.0

### Added
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2 changes: 1 addition & 1 deletion crates/parry2d-f64/Cargo.toml
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@@ -1,6 +1,6 @@
[package]
name = "parry2d-f64"
version = "0.22.0-beta.0"
version = "0.22.0-beta.1"
authors = ["Sébastien Crozet <developer@crozet.re>"]

description = "2 dimensional collision detection library in Rust. 64-bit precision version."
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2 changes: 1 addition & 1 deletion crates/parry2d/Cargo.toml
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Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
[package]
name = "parry2d"
version = "0.22.0-beta.0"
version = "0.22.0-beta.1"
authors = ["Sébastien Crozet <developer@crozet.re>"]

description = "2 dimensional collision detection library in Rust."
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2 changes: 1 addition & 1 deletion crates/parry3d-f64/Cargo.toml
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Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
[package]
name = "parry3d-f64"
version = "0.22.0-beta.0"
version = "0.22.0-beta.1"
authors = ["Sébastien Crozet <developer@crozet.re>"]

description = "3 dimensional collision detection library in Rust. 64-bits precision version."
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2 changes: 1 addition & 1 deletion crates/parry3d/Cargo.toml
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Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
[package]
name = "parry3d"
version = "0.22.0-beta.0"
version = "0.22.0-beta.1"
authors = ["Sébastien Crozet <developer@crozet.re>"]

description = "3 dimensional collision detection library in Rust."
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2 changes: 2 additions & 0 deletions src/partitioning/bvh/bvh_tree.rs
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Expand Up @@ -703,7 +703,9 @@ impl Bvh {
// There is no parent pointer to update.
if !is_right {
// We remove the left leaf. Move the right leaf in its place.
let moved_index = self.nodes[0].right.children;
self.nodes[0].left = self.nodes[0].right;
self.leaf_node_indices[moved_index as usize] = BvhNodeIndex::left(0);
}

// Now we can just clear the right leaf.
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