3 files changed, 23 insertions, 18 deletions

diff --git a/src/geometry/broad_phase_multi_sap.rs b/src/geometry/broad_phase_multi_sap.rs
index 4cea113..863990d 100644
--- a/src/geometry/broad_phase_multi_sap.rs
+++ b/src/geometry/broad_phase_multi_sap.rs
@@ -586,9 +586,6 @@ impl BroadPhase {
 
         let proxy = &mut self.proxies[proxy_index];
 
-        // Push the proxy to infinity, but not beyond the sentinels.
-        proxy.aabb.mins.coords.fill(SENTINEL_VALUE / 2.0);
-        proxy.aabb.maxs.coords.fill(SENTINEL_VALUE / 2.0);
         // Discretize the AABB to find the regions that need to be invalidated.
         let start = point_key(proxy.aabb.mins);
         let end = point_key(proxy.aabb.maxs);
@@ -615,6 +612,9 @@ impl BroadPhase {
             }
         }
 
+        // Push the proxy to infinity, but not beyond the sentinels.
+        proxy.aabb.mins.coords.fill(SENTINEL_VALUE / 2.0);
+        proxy.aabb.maxs.coords.fill(SENTINEL_VALUE / 2.0);
         self.proxies.remove(proxy_index);
     }
 
@@ -631,8 +631,9 @@ impl BroadPhase {
         self.complete_removals();
 
         for body_handle in bodies
-            .active_dynamic_set
+            .modified_inactive_set
             .iter()
+            .chain(bodies.active_dynamic_set.iter())
             .chain(bodies.active_kinematic_set.iter())
         {
             for handle in &bodies[*body_handle].colliders {
diff --git a/src/geometry/collider.rs b/src/geometry/collider.rs
index 3789cca..c04be35 100644
--- a/src/geometry/collider.rs
+++ b/src/geometry/collider.rs
@@ -1,7 +1,7 @@
 use crate::dynamics::{MassProperties, RigidBodyHandle, RigidBodySet};
 use crate::geometry::{
-    Ball, Capsule, ColliderGraphIndex, Contact, Cuboid, HeightField, InteractionGraph,
-    InteractionGroups, Proximity, Segment, Shape, ShapeType, Triangle, Trimesh,
+    Ball, Capsule, Cuboid, HeightField, InteractionGroups, Segment, Shape, ShapeType, Triangle,
+    Trimesh,
 };
 #[cfg(feature = "dim3")]
 use crate::geometry::{Cone, Cylinder, RoundCylinder};
diff --git a/src/geometry/collider_set.rs b/src/geometry/collider_set.rs
index 5411ec1..eb09322 100644
--- a/src/geometry/collider_set.rs
+++ b/src/geometry/collider_set.rs
@@ -1,7 +1,7 @@
 use crate::data::arena::Arena;
 use crate::data::pubsub::PubSub;
 use crate::dynamics::{RigidBodyHandle, RigidBodySet};
-use crate::geometry::{Collider, ColliderGraphIndex};
+use crate::geometry::Collider;
 use std::ops::{Index, IndexMut};
 
 /// The unique identifier of a collider added to a collider set.
@@ -63,15 +63,17 @@ impl ColliderSet {
         coll.reset_internal_references();
 
         coll.parent = parent_handle;
+
+        // NOTE: we use `get_mut` instead of `get_mut_internal` so that the
+        // modification flag is updated properly.
         let parent = bodies
-            .get_mut_internal(parent_handle)
+            .get_mut(parent_handle)
             .expect("Parent rigid body not found.");
         coll.position = parent.position * coll.delta;
         coll.predicted_position = parent.predicted_position * coll.delta;
         let handle = self.colliders.insert(coll);
         let coll = self.colliders.get(handle).unwrap();
-        parent.add_collider_internal(handle, &coll);
-        bodies.activate(parent_handle);
+        parent.add_collider(handle, &coll);
         handle
     }
 
@@ -90,7 +92,9 @@ impl ColliderSet {
         /*
          * Delete the collider from its parent body.
          */
-        if let Some(parent) = bodies.get_mut_internal(collider.parent) {
+        // NOTE: we use `get_mut` instead of `get_mut_internal` so that the
+        // modification flag is updated properly.
+        if let Some(parent) = bodies.get_mut(collider.parent) {
             parent.remove_collider_internal(handle, &collider);
 
             if wake_up {
@@ -147,13 +151,13 @@ impl ColliderSet {
         self.colliders.get_mut(handle)
     }
 
-    pub(crate) fn get2_mut_internal(
-        &mut self,
-        h1: ColliderHandle,
-        h2: ColliderHandle,
-    ) -> (Option<&mut Collider>, Option<&mut Collider>) {
-        self.colliders.get2_mut(h1, h2)
-    }
+    // pub(crate) fn get2_mut_internal(
+    //     &mut self,
+    //     h1: ColliderHandle,
+    //     h2: ColliderHandle,
+    // ) -> (Option<&mut Collider>, Option<&mut Collider>) {
+    //     self.colliders.get2_mut(h1, h2)
+    // }
 
     // pub fn iter_mut(&mut self) -> impl Iterator<Item = (ColliderHandle, ColliderMut)> {
     //     //        let sender = &self.activation_channel_sender;