feat: switch to the new Bvh from parry for the broad-phase (#853)

* 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

Author: sebcrozet

CHANGELOG.md

@@ -1,3 +1,15 @@
+## Unreleased
+
+### Modified
+
+- Replace the hierarchical SAP broad-phase by a broad-phase based on parry’s new BVH structure.
+- The `QueryPipeline` is now and ephemeral object obtained from the broad-phase with `broad_phase.as_query_pipeline()`.
+  It no longer needs to be updated separately from the broad-phase.
+
+### Fixed
+
+- Fix NaN resulting from non-clamped input to simd_asin in angular motor solver.
+
 ## v0.26.1 (23 May 2025)
 
 ### Added

Cargo.toml

@@ -32,7 +32,7 @@ needless_lifetimes = "allow"
 #parry2d-f64 = { path = "../parry/crates/parry2d-f64" }
 #parry3d-f64 = { path = "../parry/crates/parry3d-f64" }
 #nalgebra = { path = "../nalgebra" }
-
+#simba = { path = "../simba" }
 
 #kiss3d = { git = "https://github.com/sebcrozet/kiss3d" }
 #nalgebra = { git = "https://github.com/dimforge/nalgebra", branch = "dev" }

benchmarks2d/Cargo.toml

@@ -2,7 +2,7 @@
 name = "rapier-benchmarks-2d"
 version = "0.1.0"
 authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
-edition = "2021"
+edition = "2024"
 
 [features]
 parallel = ["rapier2d/parallel", "rapier_testbed2d/parallel"]

benchmarks2d/balls2.rs

@@ -1,5 +1,5 @@
-use rapier2d::prelude::*;
 use rapier_testbed2d::Testbed;
+use rapier2d::prelude::*;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*

benchmarks2d/boxes2.rs

@@ -1,5 +1,5 @@
-use rapier2d::prelude::*;
 use rapier_testbed2d::Testbed;
+use rapier2d::prelude::*;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*

benchmarks2d/capsules2.rs

@@ -1,5 +1,5 @@
-use rapier2d::prelude::*;
 use rapier_testbed2d::Testbed;
+use rapier2d::prelude::*;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*

benchmarks2d/convex_polygons2.rs

@@ -1,7 +1,7 @@
 use rand::distributions::{Distribution, Standard};
-use rand::{rngs::StdRng, SeedableRng};
-use rapier2d::prelude::*;
+use rand::{SeedableRng, rngs::StdRng};
 use rapier_testbed2d::Testbed;
+use rapier2d::prelude::*;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*

benchmarks2d/heightfield2.rs

@@ -1,6 +1,6 @@
+use rapier_testbed2d::Testbed;
 use rapier2d::na::DVector;
 use rapier2d::prelude::*;
-use rapier_testbed2d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*

benchmarks2d/joint_ball2.rs

@@ -1,5 +1,5 @@
-use rapier2d::prelude::*;
 use rapier_testbed2d::Testbed;
+use rapier2d::prelude::*;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*

benchmarks2d/joint_fixed2.rs

@@ -1,5 +1,5 @@
-use rapier2d::prelude::*;
 use rapier_testbed2d::Testbed;
+use rapier2d::prelude::*;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*