fix compilation for feature enhanced-determinism (#739)

Author: Vrixyz

.github/workflows/rapier-ci-build.yml

@@ -59,6 +59,10 @@ jobs:
         run: cd crates/rapier_testbed2d; cargo check --verbose --features parallel;
       - name: Check rapier_testbed3d --features parallel
         run: cd crates/rapier_testbed3d; cargo check --verbose --features parallel;
+      - name: Check rapier_testbed2d --features enhanced-determinism
+        run: cd crates/rapier2d; cargo check --verbose --features enhanced-determinism;
+      - name: Check rapier_testbed3d --features enhanced-determinism
+        run: cd crates/rapier3d; cargo check --verbose --features enhanced-determinism;
       - name: Check rapier-examples-2d
         run: cargo check -j 1 --verbose -p rapier-examples-2d;
       - name: Check rapier-examples-3d

src/geometry/broad_phase_multi_sap/broad_phase_multi_sap.rs

@@ -231,7 +231,12 @@ impl BroadPhaseMultiSap {
          * Actually remove the colliders proxies.
          */
         for removed in removed_colliders {
-            if let Some(proxy_id) = self.colliders_proxy_ids.remove(removed) {
+            #[cfg(feature = "enhanced-determinism")]
+            let proxy_id = self.colliders_proxy_ids.swap_remove(removed);
+            #[cfg(not(feature = "enhanced-determinism"))]
+            let proxy_id = self.colliders_proxy_ids.remove(removed);
+
+            if let Some(proxy_id) = proxy_id {
                 if proxy_id != crate::INVALID_U32 {
                     self.proxies.remove(proxy_id);
                 }

src/geometry/broad_phase_multi_sap/sap_layer.rs

@@ -356,6 +356,9 @@ impl SAPLayer {
 
                     // Check if we can actually delete this region.
                     if !region.contains_subproper_proxies() {
+                        #[cfg(feature = "enhanced-determinism")]
+                        let region_id = region_id.swap_remove();
+                        #[cfg(not(feature = "enhanced-determinism"))]
                         let region_id = region_id.remove();
 
                         // We can delete this region. So we need to tell the larger

src/pipeline/physics_pipeline.rs

@@ -426,11 +426,17 @@ impl PhysicsPipeline {
 
         // Apply some of delayed wake-ups.
         self.counters.stages.user_changes.start();
-        for handle in impulse_joints
+        #[cfg(feature = "enhanced-determinism")]
+        let impulse_joints_iterator = impulse_joints
+            .to_wake_up
+            .drain(..)
+            .chain(multibody_joints.to_wake_up.drain(..));
+        #[cfg(not(feature = "enhanced-determinism"))]
+        let impulse_joints_iterator = impulse_joints
             .to_wake_up
             .drain()
-            .chain(multibody_joints.to_wake_up.drain())
-        {
+            .chain(multibody_joints.to_wake_up.drain());
+        for handle in impulse_joints_iterator {
             islands.wake_up(bodies, handle.0, true);
         }