QBVH rebalance still panics at 'attempt to add with overflow' #146
Description
Bevy XPBD is using Parry internally for spatial queries, and the rebalance method of Qbvh is causing panics with the error 'attempt to add with overflow'. #139 claims to fix this, but it doesn't seem like it, although the error is on a slightly different line.
thread 'TaskPool (6)' panicked at 'attempt to add with overflow', /home/nisevoid/.cargo/registry/src/index.crates.io-6f17d22bba15001f/parry3d-0.13.5/src/partitioning/qbvh/update.rs:367:54
note: run with `RUST_BACKTRACE=1` environment variable to display a backtrace
Encountered a panic in system `bevy_xpbd_3d::plugins::spatial_query::update_query_pipeline`!
Encountered a panic in exclusive system `bevy_xpbd_3d::plugins::setup::run_physics_schedule`!
Encountered a panic in system `bevy_app::main_schedule::Main::run_main`!
This is the code that calls rebalance, in the update_incremental method, similar to Rapier's query pipeline:
if refit_and_balance {
let _ = self.qbvh.refit(0.0, &mut self.workspace, |entity_index| {
// Construct entity ID (used as key in a hash map)
let generation = self.entity_generations.get(entity_index).map_or(0, |i| *i);
let entity = Entity::from_bits((generation as u64) << 32 | *entity_index as u64);
// Compute and return AABB
let (iso, shape) = colliders.get(&entity).unwrap();
shape.compute_aabb(iso)
});
self.qbvh.rebalance(0.0, &mut self.workspace);
}