Fix various CCD and broad-phase related bugs - #1012

Merged

sebcrozet merged 7 commits into

fix-bevy-rapier-findings

Sep 24, 2026

Commits on Sep 24, 2026

fix(pipeline): support moving bodies in the collision pipeline, skip the dynamics of zero-length steps and fill the counters
sebcrozet
committed
8ce4506
fix(joints): update the islands of enabled or disabled impulse joints and keep multibody DoF couplings across topology changes
sebcrozet
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3254e85
fix(urdf): map the squeezed links and joints to their URDF indices and keep the fixed children of squeezed links attached
sebcrozet
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686adfb
docs: fix the gyroscopic default, soft-body root joints and shape-cast frame docs, and the pin-slot and soft-joints examples
sebcrozet
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0016f2f
fix(soft-body): keep the cluster proxies, their colliders and the motion margins in sync with the particles
sebcrozet
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16dda21
fix(ccd): size the end-of-step AABBs with the full timestep, split the first step of fast bodies and keep per-step soft contact histories
sebcrozet
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cb0dba7
docs: update the changelog
sebcrozet
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9bd7295