feat: reduce the amount of duplicate work the broad-phase is doing for user changes and CCD + release v0.28.0 (#872)

* feat: reduce the amount of duplicate work the broad-phase is doing for user changes and CCD

* Release v0.28.0

* chore: fix warnings

* chore: clippy fixes

* chore: more clippy fixes

Author: sebcrozet

CHANGELOG.md

@@ -1,3 +1,23 @@
+## v0.28.0 (08 August 2025)
+
+### Modified
+
+- Update to nalgebra 0.34 and parry 0.23.
+- Only run the broad-phase once at the beginning of the physics step.
+- Don’t rebuild a BVH from scratch for CCD. Instead, reuse the broad-phase bvh with localized changes.
+- The public methods of `IslandSolver` has changed slightly to take the broad-phase as input.
+- Removed the `BroadPhase` trait and use the BVH broad-phase directly instead of a trait-object.
+
+### Added
+
+- Add `Collider::compute_broad_phase_aabb` to compute the AABB to be used by the broad-phase, taking
+  into account its contact skin, prediction, and soft-ccd.
+
+### Fix
+
+- Fix issue where some solver contacts would disappear from the contact graph before the user
+  had a chance to read them.
+
 ## v0.27.0 (24 July 2025)
 
 ### Modified

benchmarks2d/Cargo.toml

@@ -12,7 +12,7 @@ other-backends = ["rapier_testbed2d/other-backends"]
 enhanced-determinism = ["rapier2d/enhanced-determinism"]
 
 [dependencies]
-rand = "0.8"
+rand = "0.9"
 Inflector = "0.11"
 
 [dependencies.rapier_testbed2d]

benchmarks2d/convex_polygons2.rs

@@ -1,4 +1,4 @@
-use rand::distributions::{Distribution, Standard};
+use rand::distr::{Distribution, StandardUniform};
 use rand::{SeedableRng, rngs::StdRng};
 use rapier_testbed2d::Testbed;
 use rapier2d::prelude::*;
@@ -48,7 +48,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let centery = shift / 2.0;
 
     let mut rng = StdRng::seed_from_u64(0);
-    let distribution = Standard;
+    let distribution = StandardUniform;
 
     for i in 0..num {
         for j in 0usize..num * 5 {

benchmarks3d/Cargo.toml

@@ -12,7 +12,7 @@ other-backends = ["rapier_testbed3d/other-backends"]
 enhanced-determinism = ["rapier3d/enhanced-determinism"]
 
 [dependencies]
-rand = "0.8"
+rand = "0.9"
 Inflector = "0.11"
 oorandom = "11"
 

benchmarks3d/convex_polyhedron3.rs

@@ -1,4 +1,4 @@
-use rand::distributions::{Distribution, Standard};
+use rand::distr::{Distribution, StandardUniform};
 use rand::{SeedableRng, rngs::StdRng};
 use rapier_testbed3d::Testbed;
 use rapier3d::prelude::*;
@@ -39,7 +39,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let mut offset = -(num as f32) * shift * 0.5;
 
     let mut rng = StdRng::seed_from_u64(0);
-    let distribution = Standard;
+    let distribution = StandardUniform;
 
     for j in 0usize..47 {
         for i in 0..num {

benchmarks3d/ray_cast3.rs

@@ -51,10 +51,7 @@ pub fn init_world(testbed: &mut Testbed) {
         let t1 = std::time::Instant::now();
         let max_toi = ray_ball_radius - 1.0;
 
-        let Some(broad_phase) = physics.broad_phase.downcast_ref::<BroadPhaseBvh>() else {
-            return;
-        };
-        let query_pipeline = broad_phase.as_query_pipeline(
+        let query_pipeline = physics.broad_phase.as_query_pipeline(
             physics.narrow_phase.query_dispatcher(),
             &physics.bodies,
             &physics.colliders,

crates/rapier2d-f64/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "rapier2d-f64"
-version = "0.27.0"
+version = "0.28.0"
 authors = ["Sébastien Crozet <[email protected]>"]
 description = "2-dimensional physics engine in Rust."
 documentation = "https://docs.rs/rapier2d"
@@ -68,8 +68,8 @@ required-features = ["dim2", "f64"]
 vec_map = { version = "0.8", optional = true }
 web-time = { version = "1.1", optional = true }
 num-traits = "0.2"
-nalgebra = "0.33"
-parry2d-f64 = "0.22.0"
+nalgebra = "0.34"
+parry2d-f64 = "0.23.0"
 simba = "0.9"
 approx = "0.5"
 rayon = { version = "1", optional = true }

crates/rapier2d/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "rapier2d"
-version = "0.27.0"
+version = "0.28.0"
 authors = ["Sébastien Crozet <[email protected]>"]
 description = "2-dimensional physics engine in Rust."
 documentation = "https://docs.rs/rapier2d"
@@ -69,8 +69,8 @@ required-features = ["dim2", "f32"]
 vec_map = { version = "0.8", optional = true }
 web-time = { version = "1.1", optional = true }
 num-traits = "0.2"
-nalgebra = "0.33"
-parry2d = "0.22.0"
+nalgebra = "0.34"
+parry2d = "0.23.0"
 simba = "0.9"
 approx = "0.5"
 rayon = { version = "1", optional = true }

crates/rapier3d-f64/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "rapier3d-f64"
-version = "0.27.0"
+version = "0.28.0"
 authors = ["Sébastien Crozet <[email protected]>"]
 description = "3-dimensional physics engine in Rust."
 documentation = "https://docs.rs/rapier3d"
@@ -71,8 +71,8 @@ required-features = ["dim3", "f64"]
 vec_map = { version = "0.8", optional = true }
 web-time = { version = "1.1", optional = true }
 num-traits = "0.2"
-nalgebra = "0.33"
-parry3d-f64 = "0.22.0"
+nalgebra = "0.34"
+parry3d-f64 = "0.23.0"
 simba = "0.9"
 approx = "0.5"
 rayon = { version = "1", optional = true }

crates/rapier3d-meshloader/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "rapier3d-meshloader"
-version = "0.8.0"
+version = "0.9.0"
 authors = ["Sébastien Crozet <[email protected]>"]
 description = "STL file loader for the 3D rapier physics engine."
 documentation = "https://docs.rs/rapier3d-meshloader"
@@ -29,4 +29,4 @@ thiserror = "2"
 profiling = "1.0"
 mesh-loader = "0.1.12"
 
-rapier3d = { version = "0.27.0", path = "../rapier3d" }
+rapier3d = { version = "0.28.0", path = "../rapier3d" }