Add the option to automatically wake-up rigid-bodies a new joint is attached to

16 files changed, 138 insertions, 111 deletions

diff --git a/benchmarks2d/joint_ball2.rs b/benchmarks2d/joint_ball2.rs
index 9fd61ff..1988274 100644
--- a/benchmarks2d/joint_ball2.rs
+++ b/benchmarks2d/joint_ball2.rs
@@ -42,7 +42,7 @@ pub fn init_world(testbed: &mut Testbed) {
             if i > 0 {
                 let parent_handle = *body_handles.last().unwrap();
                 let joint = RevoluteJointBuilder::new().local_anchor2(point![0.0, shift]);
-                impulse_joints.insert(parent_handle, child_handle, joint);
+                impulse_joints.insert(parent_handle, child_handle, joint, true);
             }
 
             // Horizontal joint.
@@ -50,7 +50,7 @@ pub fn init_world(testbed: &mut Testbed) {
                 let parent_index = body_handles.len() - numi;
                 let parent_handle = body_handles[parent_index];
                 let joint = RevoluteJointBuilder::new().local_anchor2(point![-shift, 0.0]);
-                impulse_joints.insert(parent_handle, child_handle, joint);
+                impulse_joints.insert(parent_handle, child_handle, joint, true);
             }
 
             body_handles.push(child_handle);
diff --git a/benchmarks2d/joint_fixed2.rs b/benchmarks2d/joint_fixed2.rs
index 36ff62e..c4cabcb 100644
--- a/benchmarks2d/joint_fixed2.rs
+++ b/benchmarks2d/joint_fixed2.rs
@@ -48,7 +48,7 @@ pub fn init_world(testbed: &mut Testbed) {
                         let parent_handle = *body_handles.last().unwrap();
                         let joint = FixedJointBuilder::new()
                             .local_frame2(Isometry::translation(0.0, shift));
-                        impulse_joints.insert(parent_handle, child_handle, joint);
+                        impulse_joints.insert(parent_handle, child_handle, joint, true);
                     }
 
                     // Horizontal joint.
@@ -57,7 +57,7 @@ pub fn init_world(testbed: &mut Testbed) {
                         let parent_handle = body_handles[parent_index];
                         let joint = FixedJointBuilder::new()
                             .local_frame2(Isometry::translation(-shift, 0.0));
-                        impulse_joints.insert(parent_handle, child_handle, joint);
+                        impulse_joints.insert(parent_handle, child_handle, joint, true);
                     }
 
                     body_handles.push(child_handle);
diff --git a/benchmarks2d/joint_prismatic2.rs b/benchmarks2d/joint_prismatic2.rs
index d4d328b..676a433 100644
--- a/benchmarks2d/joint_prismatic2.rs
+++ b/benchmarks2d/joint_prismatic2.rs
@@ -46,7 +46,7 @@ pub fn init_world(testbed: &mut Testbed) {
                 let prism = PrismaticJointBuilder::new(axis)
                     .local_anchor2(point![0.0, shift])
                     .limits([-1.5, 1.5]);
-                impulse_joints.insert(curr_parent, curr_child, prism);
+                impulse_joints.insert(curr_parent, curr_child, prism, true);
 
                 curr_parent = curr_child;
             }
diff --git a/benchmarks3d/joint_ball3.rs b/benchmarks3d/joint_ball3.rs
index f137c69..a968138 100644
--- a/benchmarks3d/joint_ball3.rs
+++ b/benchmarks3d/joint_ball3.rs
@@ -37,7 +37,7 @@ pub fn init_world(testbed: &mut Testbed) {
             if i > 0 {
                 let parent_handle = *body_handles.last().unwrap();
                 let joint = SphericalJointBuilder::new().local_anchor2(point![0.0, 0.0, -shift]);
-                impulse_joints.insert(parent_handle, child_handle, joint);
+                impulse_joints.insert(parent_handle, child_handle, joint, true);
             }
 
             // Horizontal joint.
@@ -45,7 +45,7 @@ pub fn init_world(testbed: &mut Testbed) {
                 let parent_index = body_handles.len() - num;
                 let parent_handle = body_handles[parent_index];
                 let joint = SphericalJointBuilder::new().local_anchor2(point![-shift, 0.0, 0.0]);
-                impulse_joints.insert(parent_handle, child_handle, joint);
+                impulse_joints.insert(parent_handle, child_handle, joint, true);
             }
 
             body_handles.push(child_handle);
diff --git a/benchmarks3d/joint_fixed3.rs b/benchmarks3d/joint_fixed3.rs
index b15515c..c949857 100644
--- a/benchmarks3d/joint_fixed3.rs
+++ b/benchmarks3d/joint_fixed3.rs
@@ -54,7 +54,7 @@ pub fn init_world(testbed: &mut Testbed) {
                             let parent_handle = *body_handles.last().unwrap();
                             let joint =
                                 FixedJointBuilder::new().local_anchor2(point![0.0, 0.0, -shift]);
-                            impulse_joints.insert(parent_handle, child_handle, joint);
+                            impulse_joints.insert(parent_handle, child_handle, joint, true);
                         }
 
                         // Horizontal joint.
@@ -63,7 +63,7 @@ pub fn init_world(testbed: &mut Testbed) {
                             let parent_handle = body_handles[parent_index];
                             let joint =
                                 FixedJointBuilder::new().local_anchor2(point![-shift, 0.0, 0.0]);
-                            impulse_joints.insert(parent_handle, child_handle, joint);
+                            impulse_joints.insert(parent_handle, child_handle, joint, true);
                         }
 
                         body_handles.push(child_handle);
diff --git a/benchmarks3d/joint_prismatic3.rs b/benchmarks3d/joint_prismatic3.rs
index a97dc56..78953e4 100644
--- a/benchmarks3d/joint_prismatic3.rs
+++ b/benchmarks3d/joint_prismatic3.rs
@@ -45,7 +45,7 @@ pub fn init_world(testbed: &mut Testbed) {
                     let prism = PrismaticJointBuilder::new(axis)
                         .local_anchor2(point![0.0, 0.0, -shift])
                         .limits([-2.0, 0.0]);
-                    impulse_joints.insert(curr_parent, curr_child, prism);
+                    impulse_joints.insert(curr_parent, curr_child, prism, true);
 
                     curr_parent = curr_child;
                 }
diff --git a/benchmarks3d/joint_revolute3.rs b/benchmarks3d/joint_revolute3.rs
index 779248a..d434515 100644
--- a/benchmarks3d/joint_revolute3.rs
+++ b/benchmarks3d/joint_revolute3.rs
@@ -55,10 +55,10 @@ pub fn init_world(testbed: &mut Testbed) {
                     RevoluteJointBuilder::new(x).local_anchor2(point![shift, 0.0, 0.0]),
                 ];
 
-                impulse_joints.insert(curr_parent, handles[0], revs[0]);
-                impulse_joints.insert(handles[0], handles[1], revs[1]);
-                impulse_joints.insert(handles[1], handles[2], revs[2]);
-                impulse_joints.insert(handles[2], handles[3], revs[3]);
+                impulse_joints.insert(curr_parent, handles[0], revs[0], true);
+                impulse_joints.insert(handles[0], handles[1], revs[1], true);
+                impulse_joints.insert(handles[1], handles[2], revs[2], true);
+                impulse_joints.insert(handles[2], handles[3], revs[3], true);
 
                 curr_parent = handles[3];
             }
diff --git a/examples2d/joints2.rs b/examples2d/joints2.rs
index 31fda33..6162589 100644
--- a/examples2d/joints2.rs
+++ b/examples2d/joints2.rs
@@ -45,7 +45,7 @@ pub fn init_world(testbed: &mut Testbed) {
             if i > 0 {
                 let parent_handle = *body_handles.last().unwrap();
                 let joint = RevoluteJointBuilder::new().local_anchor2(point![0.0, shift]);
-                impulse_joints.insert(parent_handle, child_handle, joint);
+                impulse_joints.insert(parent_handle, child_handle, joint, true);
             }
 
             // Horizontal joint.
@@ -53,7 +53,7 @@ pub fn init_world(testbed: &mut Testbed) {
                 let parent_index = body_handles.len() - numi;
                 let parent_handle = body_handles[parent_index];
                 let joint = RevoluteJointBuilder::new().local_anchor2(point![-shift, 0.0]);
-                impulse_joints.insert(parent_handle, child_handle, joint);
+                impulse_joints.insert(parent_handle, child_handle, joint, true);
             }
 
             body_handles.push(child_handle);
diff --git a/examples3d/debug_articulations3.rs b/examples3d/debug_articulations3.rs
index e844630..c7f6cd3 100644
--- a/examples3d/debug_articulations3.rs
+++ b/examples3d/debug_articulations3.rs
@@ -39,7 +39,7 @@ fn create_ball_articulations(
                 let parent_handle = *body_handles.last().unwrap();
                 let joint =
                     SphericalJointBuilder::new().local_anchor2(point![0.0, 0.0, -shift * 2.0]);
-                multibody_joints.insert(parent_handle, child_handle, joint);
+                multibody_joints.insert(parent_handle, child_handle, joint, true);
             }
 
             // Horizontal multibody_joint.
@@ -52,7 +52,7 @@ fn create_ball_articulations(
                 // let joint = FixedJoint::new().local_anchor2(point![-shift, 0.0, 0.0]);
                 // let joint =
                 //     RevoluteJoint::new(Vector::x_axis()).local_anchor2(point![-shift, 0.0, 0.0]);
-                impulse_joints.insert(parent_handle, child_handle, joint);
+                impulse_joints.insert(parent_handle, child_handle, joint, true);
             }
 
             body_handles.push(child_handle);
diff --git a/examples3d/debug_excentric_boxes3.rs b/examples3d/debug_excentric_boxes3.rs
new file mode 100644
index 0000000..938de91
--- /dev/null
+++ b/examples3d/debug_excentric_boxes3.rs
@@ -0,0 +1,44 @@
+use rapier3d::prelude::*;
+use rapier_testbed3d::Testbed;
+
+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();
+
+    /*
+     * Ground
+     */
+    let ground_size = 100.1;
+    let ground_height = 0.1;
+
+    let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
+    let handle = bodies.insert(rigid_body);
+    let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
+
+    // Build the dynamic box rigid body.
+    let (mut vtx, idx) = Cuboid::new(vector![1.0, 1.0, 1.0]).to_trimesh();
+    vtx.iter_mut()
+        .for_each(|pt| *pt += vector![100.0, 100.0, 100.0]);
+    let shape = SharedShape::convex_mesh(vtx, &idx).unwrap();
+
+    for _ in 0..2 {
+        let rigid_body = RigidBodyBuilder::dynamic()
+            .translation(vector![-100.0, -100.0 + 10.0, -100.0])
+            .can_sleep(false);
+        let handle = bodies.insert(rigid_body);
+        let collider = ColliderBuilder::new(shape.clone());
+        colliders.insert_with_parent(collider, handle, &mut bodies);
+    }
+
+    /*
+     * Set up the testbed.
+     */
+    testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
+    testbed.look_at(point![10.0, 10.0, 10.0], Point::origin());
+}
diff --git a/examples3d/debug_prismatic3.rs b/examples3d/debug_prismatic3.rs
index 815f4e5..776c50c 100644
--- a/examples3d/debug_prismatic3.rs
+++ b/examples3d/debug_prismatic3.rs
@@ -36,7 +36,7 @@ fn prismatic_repro(
         let prismatic = PrismaticJointBuilder::new(Vector::y_axis())
             .local_anchor1(point![pos.x, pos.y, pos.z])
             .motor_position(0.0, stiffness, damping);
-        impulse_joints.insert(box_rb, wheel_rb, prismatic);
+        impulse_joints.insert(box_rb, wheel_rb, prismatic, true);
     }
 
     // put a small box under one of the wheels
diff --git a/examples3d/joints3.rs b/examples3d/joints3.rs
index f7c6cb3..dc4deed 100644
--- a/examples3d/joints3.rs
+++ b/examples3d/joints3.rs
@@ -24,9 +24,9 @@ fn create_coupled_joints(
         .coupled_axes(JointAxesMask::Y | JointAxesMask::Z);
 
     if use_articulations {
-        multibody_joints.insert(ground, body1, joint1);
+        multibody_joints.insert(ground, body1, joint1, true);
     } else {
-        impulse_joints.insert(ground, body1, joint1);
+        impulse_joints.insert(ground, body1, joint1, true);
     }
 }
 
@@ -66,9 +66,9 @@ fn create_prismatic_joints(
             .limits([-2.0, 2.0]);
 
         if use_articulations {
-            multibody_joints.insert(curr_parent, curr_child, prism);
+            multibody_joints.insert(curr_parent, curr_child, prism, true);
         } else {
-            impulse_joints.insert(curr_parent, curr_child, prism);
+            impulse_joints.insert(curr_parent, curr_child, prism, true);
         }
         curr_parent = curr_child;
     }
@@ -130,9 +130,9 @@ fn create_actuated_prismatic_joints(
         }
 
         if use_articulations {
-            multibody_joints.insert(curr_parent, curr_child, prism);
+            multibody_joints.insert(curr_parent, curr_child, prism, true);
         } else {
-            impulse_joints.insert(curr_parent, curr_child, prism);
+            impulse_joints.insert(curr_parent, curr_child, prism, true);
         }
 
         curr_parent = curr_child;
@@ -185,15 +185,15 @@ fn create_revolute_joints(
         ];
 
         if use_articulations {
-            multibody_joints.insert(curr_parent, handles[0], revs[0]);
-            multibody_joints.insert(handles[0], handles[1], revs[1]);
-            multibody_joints.insert(handles[1], handles[2], revs[2]);
-            multibody_joints.insert(handles[2], handles[3], revs[3]);
+            multibody_joints.insert(curr_parent, handles[0], revs[0], true);
+            multibody_joints.insert(handles[0], handles[1], revs[1], true);
+            multibody_joints.insert(handles[1], handles[2], revs[2], true);
+            multibody_joints.insert(handles[2], handles[3], revs[3], true);
         } else {
-            impulse_joints.insert(curr_parent, handles[0], revs[0]);
-            impulse_joints.insert(handles[0], handles[1], revs[1]);
-            impulse_joints.insert(handles[1], handles[2], revs[2]);
-            impulse_joints.insert(handles[2], handles[3], revs[3]);
+            impulse_joints.insert(curr_parent, handles[0], revs[0], true);
+            impulse_joints.insert(handles[0], handles[1], revs[1], true);
+            impulse_joints.insert(handles[1], handles[2], revs[2], true);
+            impulse_joints.insert(handles[2], handles[3], revs[3], true);
         }
 
         curr_parent = handles[3];
@@ -228,9 +228,9 @@ fn create_revolute_joints_with_limits(
     //     .coupled_axes(JointAxesMask::ANG_Y | JointAxesMask::ANG_Z);
 
     if use_articulations {
-        multibody_joints.insert(ground, platform1, joint1);
+        multibody_joints.insert(ground, platform1, joint1, true);
     } else {
-        impulse_joints.insert(ground, platform1, joint1);
+        impulse_joints.insert(ground, platform1, joint1, true);
     }
 
     let joint2 = RevoluteJointBuilder::new(z)
@@ -247,9 +247,9 @@ fn create_revolute_joints_with_limits(
     //     .coupled_axes(JointAxesMask::ANG_Y | JointAxesMask::ANG_Z);
 
     if use_articulations {
-        multibody_joints.insert(platform1, platform2, joint2);
+        multibody_joints.insert(platform1, platform2, joint2, true);
     } else {
-        impulse_joints.insert(platform1, platform2, joint2);
+        impulse_joints.insert(platform1, platform2, joint2, true);
     }
 
     // Let’s add a couple of cuboids that will fall on the platforms, triggering the joint limits.
@@ -315,9 +315,9 @@ fn create_fixed_joints(
                 let joint = FixedJointBuilder::new().local_anchor2(point![0.0, 0.0, -shift]);
 
                 if use_articulations {
-                    multibody_joints.insert(parent_handle, child_handle, joint);
+                    multibody_joints.insert(parent_handle, child_handle, joint, true);
                 } else {
-                    impulse_joints.insert(parent_handle, child_handle, joint);
+                    impulse_joints.insert(parent_handle, child_handle, joint, true);
                 }
             }
 
@@ -326,7 +326,7 @@ fn create_fixed_joints(
                 let parent_index = body_handles.len() - 1;
                 let parent_handle = body_handles[parent_index];
                 let joint = FixedJointBuilder::new().local_anchor2(point![-shift, 0.0, 0.0]);
-                impulse_joints.insert(parent_handle, child_handle, joint);
+                impulse_joints.insert(parent_handle, child_handle, joint, true);
             }
 
             body_handles.push(child_handle);
@@ -374,9 +374,9 @@ fn create_spherical_joints(
                     SphericalJointBuilder::new().local_anchor2(point![0.0, 0.0, -shift * 2.0]);
 
                 if use_articulations {
-                    multibody_joints.insert(parent_handle, child_handle, joint);
+                    multibody_joints.insert(parent_handle, child_handle, joint, true);
                 } else {
-                    impulse_joints.insert(parent_handle, child_handle, joint);
+                    impulse_joints.insert(parent_handle, child_handle, joint, true);
                 }
             }
 
@@ -385,7 +385,7 @@ fn create_spherical_joints(
                 let parent_index = body_handles.len() - num;
                 let parent_handle = body_handles[parent_index];
                 let joint = SphericalJointBuilder::new().local_anchor2(point![-shift, 0.0, 0.0]);
-                impulse_joints.insert(parent_handle, child_handle, joint);
+                impulse_joints.insert(parent_handle, child_handle, joint, true);
             }
 
             body_handles.push(child_handle);
@@ -426,11 +426,11 @@ fn create_spherical_joints_with_limits(
         .limits(JointAxis::Y, [-0.3, 0.3]);
 
     if use_articulations {
-        multibody_joints.insert(ground, ball1, joint1);
-        multibody_joints.insert(ball1, ball2, joint2);
+        multibody_joints.insert(ground, ball1, joint1, true);
+        multibody_joints.insert(ball1, ball2, joint2, true);
     } else {
-        impulse_joints.insert(ground, ball1, joint1);
-        impulse_joints.insert(ball1, ball2, joint2);
+        impulse_joints.insert(ground, ball1, joint1, true);
+        impulse_joints.insert(ball1, ball2, joint2, true);
     }
 }
 
@@ -493,9 +493,9 @@ fn create_actuated_revolute_joints(
             }
 
             if use_articulations {
-                multibody_joints.insert(parent_handle, child_handle, joint);
+                multibody_joints.insert(parent_handle, child_handle, joint, true);
             } else {
-                impulse_joints.insert(parent_handle, child_handle, joint);
+                impulse_joints.insert(parent_handle, child_handle, joint, true);
             }
         }
 
@@ -559,9 +559,9 @@ fn create_actuated_spherical_joints(
             }
 
             if use_articulations {
-                multibody_joints.insert(parent_handle, child_handle, joint);
+                multibody_joints.insert(parent_handle, child_handle, joint, true);
             } else {
-                impulse_joints.insert(parent_handle, child_handle, joint);
+                impulse_joints.insert(parent_handle, child_handle, joint, true);
             }
         }
 
diff --git a/src/dynamics/joint/impulse_joint/impulse_joint_set.rs b/src/dynamics/joint/impulse_joint/impulse_joint_set.rs
index 0309cff..c4ec734 100644
--- a/src/dynamics/joint/impulse_joint/impulse_joint_set.rs
+++ b/src/dynamics/joint/impulse_joint/impulse_joint_set.rs
@@ -42,6 +42,7 @@ pub struct ImpulseJointSet {
     rb_graph_ids: Coarena<RigidBodyGraphIndex>,
     joint_ids: Arena<TemporaryInteractionIndex>, // Map joint handles to edge ids on the graph.
     joint_graph: InteractionGraph<RigidBodyHandle, ImpulseJoint>,
+    pub(crate) to_wake_up: Vec<RigidBodyHandle>, // A set of rigid-body handles to wake-up during the next timestep.
 }
 
 impl ImpulseJointSet {
@@ -51,6 +52,7 @@ impl ImpulseJointSet {
             rb_graph_ids: Coarena::new(),
             joint_ids: Arena::new(),
             joint_graph: InteractionGraph::new(),
+            to_wake_up: vec![],
         }
     }
 
@@ -180,11 +182,15 @@ impl ImpulseJointSet {
     }
 
     /// Inserts a new joint into this set and retrieve its handle.
+    ///
+    /// If `wake_up` is set to `true`, then the bodies attached to this joint will be
+    /// automatically woken up during the next timestep.
     pub fn insert(
         &mut self,
         body1: RigidBodyHandle,
         body2: RigidBodyHandle,
         data: impl Into<GenericJoint>,
+        wake_up: bool,
     ) -> ImpulseJointHandle {
         let data = data.into();
         let handle = self.joint_ids.insert(0.into());
@@ -217,6 +223,12 @@ impl ImpulseJointSet {
         }
 
         self.joint_ids[handle] = self.joint_graph.add_edge(graph_index1, graph_index2, joint);
+
+        if wake_up {
+            self.to_wake_up.push(body1);
+            self.to_wake_up.push(body2);
+        }
+
         ImpulseJointHandle(handle)
     }
 
@@ -257,23 +269,16 @@ impl ImpulseJointSet {
     ///
     /// If `wake_up` is set to `true`, then the bodies attached to this joint will be
     /// automatically woken up.
-    pub fn remove(
-        &mut self,
-        handle: ImpulseJointHandle,
-        islands: &mut IslandManager,
-        bodies: &mut RigidBodySet,
-        wake_up: bool,
-    ) -> Option<ImpulseJoint> {
+    pub fn remove(&mut self, handle: ImpulseJointHandle, wake_up: bool) -> Option<ImpulseJoint> {
         let id = self.joint_ids.remove(handle.0)?;
         let endpoints = self.joint_graph.graph.edge_endpoints(id)?;
 
         if wake_up {
-            // Wake-up the bodies attached to this joint.
             if let Some(rb_handle) = self.joint_graph.graph.node_weight(endpoints.0) {
-                islands.wake_up(bodies, *rb_handle, true);
+                self.to_wake_up.push(*rb_handle);
             }
             if let Some(rb_handle) = self.joint_graph.graph.node_weight(endpoints.1) {
-                islands.wake_up(bodies, *rb_handle, true);
+                self.to_wake_up.push(*rb_handle);
             }
         }
 
@@ -294,8 +299,6 @@ impl ImpulseJointSet {
     pub fn remove_joints_attached_to_rigid_body(
         &mut self,
         handle: RigidBodyHandle,
-        islands: &mut IslandManager,
-        bodies: &mut RigidBodySet,
     ) -> Vec<ImpulseJointHandle> {
         let mut deleted = vec![];
 
@@ -324,8 +327,8 @@ impl ImpulseJointSet {
                     }
 
                     // Wake up the attached bodies.
-                    islands.wake_up(bodies, h1, true);
-                    islands.wake_up(bodies, h2, true);
+                    self.to_wake_up.push(h1);
+                    self.to_wake_up.push(h2);
                 }
 
                 if let Some(other) = self.joint_graph.remove_node(deleted_id) {
diff --git a/src/dynamics/joint/multibody_joint/multibody_joint_set.rs b/src/dynamics/joint/multibody_joint/multibody_joint_set.rs
index 50a9438..fd2fa67 100644
--- a/src/dynamics/joint/multibody_joint/multibody_joint_set.rs
+++ b/src/dynamics/joint/multibody_joint/multibody_joint_set.rs
@@ -5,6 +5,7 @@ use crate::dynamics::{
 };
 use crate::geometry::{InteractionGraph, RigidBodyGraphIndex};
 use crate::parry::partitioning::IndexedData;
+use crate::prelude::RigidBody;
 
 /// The unique handle of an multibody_joint added to a `MultibodyJointSet`.
 #[derive(Copy, Clone, Debug, PartialEq, Eq, Hash)]
@@ -84,6 +85,7 @@ pub struct MultibodyJointSet {
     // NOTE: this is mostly for the island extraction. So perhaps we won’t need
     //       that any more in the future when we improve our island builder.
     pub(crate) connectivity_graph: InteractionGraph<RigidBodyHandle, ()>,
+    pub(crate) to_wake_up: Vec<RigidBodyHandle>,
 }
 
 impl MultibodyJointSet {
@@ -93,6 +95,7 @@ impl MultibodyJointSet {
             multibodies: Arena::new(),
             rb2mb: Coarena::new(),
             connectivity_graph: InteractionGraph::new(),
+            to_wake_up: vec![],
         }
     }
 
@@ -113,6 +116,7 @@ impl MultibodyJointSet {
         body1: RigidBodyHandle,
         body2: RigidBodyHandle,
         data: impl Into<GenericJoint>,
+        wake_up: bool,
     ) -> Option<MultibodyJointHandle> {
         let data = data.into();
         let link1 = self.rb2mb.get(body1.0).copied().unwrap_or_else(|| {
@@ -155,6 +159,11 @@ impl MultibodyJointSet {
 
         multibody1.append(mb2, link1.id, MultibodyJoint::new(data));
 
+        if wake_up {
+            self.to_wake_up.push(body1);
+            self.to_wake_up.push(body2);
+        }
+
         // Because each rigid-body can only have one parent link,
         // we can use the second rigid-body’s handle as the multibody_joint’s
         // handle.
@@ -162,13 +171,7 @@ impl MultibodyJointSet {
     }
 
     /// Removes an multibody_joint from this set.
-    pub fn remove(
-        &mut self,
-        handle: MultibodyJointHandle,
-        islands: &mut IslandManager,
-        bodies: &mut RigidBodySet,
-        wake_up: bool,
-    ) {
+    pub fn remove(&mut self, handle: MultibodyJointHandle, wake_up: bool) {
         if let Some(removed) = self.rb2mb.get(handle.0).copied() {
             let multibody = self.multibodies.remove(removed.multibody.0).unwrap();
 
@@ -181,8 +184,8 @@ impl MultibodyJointSet {
                 );
 
                 if wake_up {
-                    islands.wake_up(bodies, RigidBodyHandle(handle.0), true);
-                    islands.wake_up(bodies, parent_rb, true);
+                    self.to_wake_up.push(RigidBodyHandle(handle.0));
+                    self.to_wake_up.push(parent_rb);
                 }
 
                 // TODO: remove the node if it no longer has any attached edges?
@@ -211,13 +214,7 @@ impl MultibodyJointSet {
     }
 
     /// Removes all the multibody_joints from the multibody the given rigid-body is part of.
-    pub fn remove_multibody_articulations(
-        &mut self,
-        handle: RigidBodyHandle,
-        islands: &mut IslandManager,
-        bodies: &mut RigidBodySet,
-        wake_up: bool,
-    ) {
+    pub fn remove_multibody_articulations(&mut self, handle: RigidBodyHandle, wake_up: bool) {
         if let Some(removed) = self.rb2mb.get(handle.0).copied() {
             // Remove the multibody.
             let multibody = self.multibodies.remove(removed.multibody.0).unwrap();
@@ -225,7 +222,7 @@ impl MultibodyJointSet {
                 let rb_handle = link.rigid_body;
 
                 if wake_up {
-                    islands.wake_up(bodies, rb_handle, true);
+                    self.to_wake_up.push(rb_handle);
                 }
 
                 // Remove the rigid-body <-> multibody mapping for this link.
@@ -239,12 +236,7 @@ impl MultibodyJointSet {
     }
 
     /// Removes all the multibody joints attached to a rigid-body.
-    pub fn remove_joints_attached_to_rigid_body(
-        &mut self,
-        rb_to_remove: RigidBodyHandle,
-        islands: &mut IslandManager,
-        bodies: &mut RigidBodySet,
-    ) {
+    pub fn remove_joints_attached_to_rigid_body(&mut self, rb_to_remove: RigidBodyHandle) {
         // TODO: optimize this.
         if let Some(link_to_remove) = self.rb2mb.get(rb_to_remove.0).copied() {
             let mut articulations_to_remove = vec![];
@@ -255,12 +247,12 @@ impl MultibodyJointSet {
                 // There is a multibody_joint handle is equal to the second rigid-body’s handle.
                 articulations_to_remove.push(MultibodyJointHandle(rb2.0));
 
-                islands.wake_up(bodies, rb1, true);
-                islands.wake_up(bodies, rb2, true);
+                self.to_wake_up.push(rb1);
+                self.to_wake_up.push(rb2);
             }
 
             for articulation_handle in articulations_to_remove {
-                self.remove(articulation_handle, islands, bodies, true);
+                self.remove(articulation_handle, true);
             }
         }
     }
diff --git a/src/dynamics/rigid_body_set.rs b/src/dynamics/rigid_body_set.rs
index 62a6a54..cd8f30a 100644
--- a/src/dynamics/rigid_body_set.rs
+++ b/src/dynamics/rigid_body_set.rs
@@ -109,8 +109,8 @@ impl RigidBodySet {
         /*
          * Remove impulse_joints attached to this rigid-body.
          */
-        impulse_joints.remove_joints_attached_to_rigid_body(handle, islands, self);
-        multibody_joints.remove_joints_attached_to_rigid_body(handle, islands, self);
+        impulse_joints.remove_joints_attached_to_rigid_body(handle);
+        multibody_joints.remove_joints_attached_to_rigid_body(handle);
 
         Some(rb)
     }
diff --git a/src_testbed/testbed.rs b/src_testbed/testbed.rs
index c17e5ac..629d4cc 100644
--- a/src_testbed/testbed.rs
+++ b/src_testbed/testbed.rs
@@ -691,12 +691,7 @@ impl<'a, 'b, 'c, 'd, 'e, 'f> Testbed<'a, 'b, 'c, 'd, 'e, 'f> {
                         .collect();
                     let num_to_delete = (impulse_joints.len() / 10).max(1);
                     for to_delete in &impulse_joints[..num_to_delete] {
-                        self.harness.physics.impulse_joints.remove(
-                            *to_delete,
-                            &mut self.harness.physics.islands,
-                            &mut self.harness.physics.bodies,
-                            true,
-                        );
+                        self.harness.physics.impulse_joints.remove(*to_delete, true);
                     }
                 }
                 KeyCode::A => {
@@ -710,12 +705,10 @@ impl<'a, 'b, 'c, 'd, 'e, 'f> Testbed<'a, 'b, 'c, 'd, 'e, 'f> {
                         .collect();
                     let num_to_delete = (multibody_joints.len() / 10).max(1);
                     for to_delete in &multibody_joints[..num_to_delete] {
-                        self.harness.physics.multibody_joints.remove(
-                            *to_delete,
-                            &mut self.harness.physics.islands,
-                            &mut self.harness.physics.bodies,
-                            true,
-                        );
+                        self.harness
+                            .physics
+                            .multibody_joints
+                            .remove(*to_delete, true);
                     }
                 }
                 KeyCode::M => {
@@ -731,12 +724,7 @@ impl<'a, 'b, 'c, 'd, 'e, 'f> Testbed<'a, 'b, 'c, 'd, 'e, 'f> {
                         self.harness
                             .physics
                             .multibody_joints
-                            .remove_multibody_articulations(
-                                to_delete,
-                                &mut self.harness.physics.islands,
-                                &mut self.harness.physics.bodies,
-                                true,
-                            );
+                            .remove_multibody_articulations(to_delete, true);
                     }
                 }
                 _ => {}