feat: switch to the new Bvh from parry for the broad-phase #853
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Replace the hierarchical SAP broad-phase by a broad-phase based on parry’s new BVH structure.
The
QueryPipelineis now and ephemeral object obtained from the broad-phase withbroad_phase.as_query_pipeline(). It no longer needs to be updated separately from the broad-phase.Since there is no longer any need to update a
QueryPipelineseparately from the broad-phase, this offers a substantial performance improvement on scenes with a large number of objects where rebuilding theQueryPipelinefrom scratch would be very expensive.Currently, the new broad-phase does a little bit more work than what it should to overcome the fact that the narrow-phase hasn’t been designed to not receive any collision-end event from the broad-phase yet. This will be subject to future work.
Note that a large part of this PR modified lines are from
cargo fmtwhich apparently changed its way of sortinguseimports.