feat: switch to the new Bvh from parry for the broad-phase

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 <[email protected]>"]
-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) {
     /*

benchmarks2d/joint_prismatic2.rs

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

benchmarks2d/pyramid2.rs

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

benchmarks2d/vertical_stacks2.rs

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

benchmarks3d/Cargo.toml

@@ -2,7 +2,7 @@
 name = "rapier-benchmarks-3d"
 version = "0.1.0"
 authors = ["Sébastien Crozet <[email protected]>"]
-edition = "2021"
+edition = "2024"
 
 [features]
 parallel = ["rapier3d/parallel", "rapier_testbed3d/parallel"]
@@ -14,6 +14,7 @@ enhanced-determinism = ["rapier3d/enhanced-determinism"]
 [dependencies]
 rand = "0.8"
 Inflector = "0.11"
+oorandom = "11"
 
 [dependencies.rapier_testbed3d]
 path = "../crates/rapier_testbed3d"

benchmarks3d/all_benchmarks3.rs

@@ -20,10 +20,12 @@ mod joint_fixed3;
 mod joint_prismatic3;
 mod joint_revolute3;
 mod keva3;
+mod many_kinematics3;
 mod many_pyramids3;
 mod many_sleep3;
 mod many_static3;
 mod pyramid3;
+mod ray_cast3;
 mod stacks3;
 mod trimesh3;
 
@@ -47,16 +49,16 @@ fn parse_command_line() -> Command {
     Command::RunAll
 }
 
-pub fn main() {
-    let command = parse_command_line();
-
+#[allow(clippy::type_complexity)]
+pub fn demo_builders() -> Vec<(&'static str, fn(&mut Testbed))> {
     let mut builders: Vec<(_, fn(&mut Testbed))> = vec![
         ("Balls", balls3::init_world),
         ("Boxes", boxes3::init_world),
         ("Capsules", capsules3::init_world),
         ("CCD", ccd3::init_world),
         ("Compound", compound3::init_world),
         ("Convex polyhedron", convex_polyhedron3::init_world),
+        ("Many kinematics", many_kinematics3::init_world),
         ("Many static", many_static3::init_world),
         ("Many sleep", many_sleep3::init_world),
         ("Heightfield", heightfield3::init_world),
@@ -69,6 +71,7 @@ pub fn main() {
         ("ImpulseJoint prismatic", joint_prismatic3::init_world),
         ("Many pyramids", many_pyramids3::init_world),
         ("Keva tower", keva3::init_world),
+        ("Ray cast", ray_cast3::init_world),
     ];
 
     // Lexicographic sort, with stress tests moved at the end of the list.
@@ -77,6 +80,12 @@ pub fn main() {
         (true, false) => Ordering::Greater,
         (false, true) => Ordering::Less,
     });
+    builders
+}
+
+pub fn main() {
+    let command = parse_command_line();
+    let builders = demo_builders();
 
     match command {
         Command::Run(demo) => {
@@ -86,7 +95,7 @@ pub fn main() {
             {
                 TestbedApp::from_builders(vec![builders[i]]).run()
             } else {
-                eprintln!("Invalid example to run provided: '{}'", demo);
+                eprintln!("Invalid example to run provided: '{demo}'");
             }
         }
         Command::RunAll => TestbedApp::from_builders(builders).run(),

benchmarks3d/balls3.rs

@@ -1,5 +1,5 @@
-use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
+use rapier3d::prelude::*;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*

benchmarks3d/boxes3.rs

@@ -1,5 +1,5 @@
-use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
+use rapier3d::prelude::*;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*
@@ -24,21 +24,21 @@ pub fn init_world(testbed: &mut Testbed) {
     /*
      * Create the cubes
      */
-    let num = 8;
+    let num = 10;
     let rad = 1.0;
 
-    let shift = rad * 2.0 + rad;
+    let shift = rad * 2.0;
     let centerx = shift * (num / 2) as f32;
     let centery = shift / 2.0;
     let centerz = shift * (num / 2) as f32;
 
-    let mut offset = -(num as f32) * (rad * 2.0 + rad) * 0.5;
+    let mut offset = -(num as f32) * (rad * 2.0) * 0.5;
 
-    for j in 0usize..47 {
+    for j in 0usize..num {
         for i in 0..num {
             for k in 0usize..num {
                 let x = i as f32 * shift - centerx + offset;
-                let y = j as f32 * shift + centery + 3.0;
+                let y = j as f32 * shift + centery;
                 let z = k as f32 * shift - centerz + offset;
 
                 // Build the rigid body.

benchmarks3d/capsules3.rs

@@ -1,5 +1,5 @@
-use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
+use rapier3d::prelude::*;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*

benchmarks3d/ccd3.rs

@@ -1,5 +1,5 @@
-use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
+use rapier3d::prelude::*;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*

benchmarks3d/compound3.rs

@@ -1,5 +1,5 @@
-use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
+use rapier3d::prelude::*;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*

benchmarks3d/convex_polyhedron3.rs

@@ -1,7 +1,7 @@
 use rand::distributions::{Distribution, Standard};
-use rand::{rngs::StdRng, SeedableRng};
-use rapier3d::prelude::*;
+use rand::{SeedableRng, rngs::StdRng};
 use rapier_testbed3d::Testbed;
+use rapier3d::prelude::*;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*

benchmarks3d/heightfield3.rs

@@ -1,6 +1,6 @@
+use rapier_testbed3d::Testbed;
 use rapier3d::na::ComplexField;
 use rapier3d::prelude::*;
-use rapier_testbed3d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*

benchmarks3d/joint_ball3.rs

@@ -1,5 +1,5 @@
-use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
+use rapier3d::prelude::*;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*

benchmarks3d/joint_fixed3.rs

@@ -1,5 +1,5 @@
-use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
+use rapier3d::prelude::*;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*

benchmarks3d/joint_prismatic3.rs

@@ -1,5 +1,5 @@
-use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
+use rapier3d::prelude::*;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*

benchmarks3d/joint_revolute3.rs

@@ -1,5 +1,5 @@
-use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
+use rapier3d::prelude::*;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*

benchmarks3d/keva3.rs

@@ -1,5 +1,5 @@
-use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
+use rapier3d::prelude::*;
 
 pub fn build_block(
     testbed: &mut Testbed,
@@ -99,7 +99,6 @@ pub fn init_world(testbed: &mut Testbed) {
     // These should only be set to odd values otherwise
     // the blocks won't align in the nicest way.
     let numy = [0, 9, 13, 17, 21, 41];
-    let mut num_blocks_built = 0;
 
     for i in (1..=5).rev() {
         let numx = i;
@@ -115,11 +114,8 @@ pub fn init_world(testbed: &mut Testbed) {
             (numx, numy, numz),
         );
         block_height += numy as f32 * half_extents.y * 2.0 + half_extents.x * 2.0;
-        num_blocks_built += numx * numy * numz;
     }
 
-    println!("Num keva blocks: {}", num_blocks_built);
-
     /*
      * Set up the testbed.
      */

benchmarks3d/many_kinematics3.rs

@@ -0,0 +1,68 @@
+use rapier_testbed3d::Testbed;
+use rapier3d::prelude::*;
+
+pub fn init_world(testbed: &mut Testbed) {
+    /*
+     * World
+     */
+    let mut bodies = RigidBodySet::new();
+    let mut colliders = ColliderSet::new();
+    let impulse_joints = ImpulseJointSet::new();
+    let multibody_joints = MultibodyJointSet::new();
+
+    /*
+     * Create the balls
+     */
+    let num = 30;
+    let rad = 1.0;
+
+    let shift = rad * 6.0 + 1.0;
+    let centerx = shift * (num as f32) / 2.0;
+    let centery = shift * (num as f32) / 2.0;
+    let centerz = shift * (num as f32) / 2.0;
+
+    for i in 0..num {
+        for j in 0usize..num {
+            for k in 0..num {
+                let x = i as f32 * shift - centerx;
+                let y = j as f32 * shift - centery;
+                let z = k as f32 * shift - centerz;
+
+                // Build the rigid body.
+                let velocity = Vector::new(
+                    rand::random::<f32>() - 0.5,
+                    rand::random::<f32>() - 0.5,
+                    rand::random::<f32>() - 0.5,
+                ) * 30.0;
+                let rigid_body = RigidBodyBuilder::new(RigidBodyType::KinematicVelocityBased)
+                    .translation(vector![x, y, z])
+                    .linvel(velocity);
+                let handle = bodies.insert(rigid_body);
+                let collider = ColliderBuilder::ball(rad);
+                colliders.insert_with_parent(collider, handle, &mut bodies);
+            }
+        }
+    }
+
+    testbed.add_callback(move |_, physics, _, _| {
+        for (_, rb) in physics.bodies.iter_mut() {
+            let mut linvel = *rb.linvel();
+
+            for dim in 0..3 {
+                if (linvel[dim] > 0.0 && rb.translation()[dim] > (shift * num as f32) / 2.0)
+                    || (linvel[dim] < 0.0 && rb.translation()[dim] < -(shift * num as f32) / 2.0)
+                {
+                    linvel[dim] = -linvel[dim];
+                }
+            }
+
+            rb.set_linvel(linvel, false);
+        }
+    });
+
+    /*
+     * Set up the testbed.
+     */
+    testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
+    testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
+}

benchmarks3d/many_pyramids3.rs

@@ -1,5 +1,5 @@
-use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
+use rapier3d::prelude::*;
 
 fn create_pyramid(
     bodies: &mut RigidBodySet,