Merge remote-tracking branch 'dimforge/master' into more-deterministic-context

Author: cscorley

.github/workflows/main.yml

@@ -54,6 +54,6 @@ jobs:
           targets: wasm32-unknown-unknown
       - uses: Swatinem/rust-cache@v2
       - name: Clippy bevy_rapier2d
-        run: cd bevy_rapier2d && cargo clippy --verbose --features wasm-bindgen --target wasm32-unknown-unknown
+        run: cd bevy_rapier2d && cargo clippy --verbose --features wasm-bindgen,bevy/webgl2 --target wasm32-unknown-unknown
       - name: Clippy bevy_rapier3d
-        run: cd bevy_rapier3d && cargo clippy --verbose --features wasm-bindgen --target wasm32-unknown-unknown
+        run: cd bevy_rapier3d && cargo clippy --verbose --features wasm-bindgen,bevy/webgl2 --target wasm32-unknown-unknown

CHANGELOG.md

@@ -1,5 +1,38 @@
 # Changelog
 
+## Unreleased
+### Added
+- `ColliderView::as_typed_shape` and `::to_shared_shape` to convert a `ColliderView` to a parry’s
+    `TypedShape` or `SharedShape`. The `From` trait has also been implemented accordingly.
+- Implement `Copy` for `ColliderView` and all the other non-mut shape views.
+- Add `RapierContext::rigid_body_colliders` to retrieve all collider entities attached to this rigid-body.
+- Add `RapierPhysicsPlugin::in_fixed_schedule`/`::in_schedude` to add rapier’s systems to a fixed/custom
+  schedule.
+
+### Fix
+- Fix debug-renderer lagging one frame behind.
+- Fix Collider `Transform` rotation change not being taken into account by the physics engine.
+- Fix automatic update of `ReadMassProperties`.
+
+## 0.22.0 (10 July 2023)
+### Modified
+- Update to Bevy 0.11.
+- Disabled rigid-bodies are no longer synchronized with the rapier backend.
+- Switch to bevy’s gizmo system for the debug-renderer. This removes the vendored debug lines plugin.
+
+### Added
+- Add a joint for simulating ropes: the `RopeJoint`.
+- Add `Velocity::linear_velocity_at_point` to calculate the linear velocity at the given world-space point.
+- Add the `ComputedColliderShape::ConvexHull` variant to automatcially calculate the convex-hull of an imported mesh.
+- Implement `Reflect` for the debug-renderer.
+
+### Fix
+- Fix broken interpolation for rigid-bodies with the `TransformInterpolation` component.
+- Fix compilation when `bevy_rapier` is being used with headless bevy.
+- Improved performance of the writeback system by not iterting on non-rigid-body entities.
+- Fix typo by renaming `CuboidViewMut::sed_half_extents` to `set_half_extents`.
+- Properly scale parented collider’s offset based on changes on its `ColliderScale`.
+
 ## 0.21.0  (07 March 2023)
 ### Modified
 - Update to Bevy 0.10.

Cargo.toml

@@ -2,6 +2,10 @@
 members = ["bevy_rapier2d", "bevy_rapier3d"]
 resolver = "2"
 
+[profile.dev]
+ # Use slightly better optimization by default, as examples otherwise seem laggy.
+opt-level = 1
+
 [profile.release]
 codegen-units = 1
 

bevy_rapier2d/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "bevy_rapier2d"
-version = "0.21.0"
+version = "0.22.0"
 authors = ["Sébastien Crozet <developer@crozet.re>"]
 description = "2-dimensional physics engine in Rust, official Bevy plugin."
 documentation = "http://docs.rs/bevy_rapier2d"
@@ -19,26 +19,21 @@ required-features = [ "dim2" ]
 
 [features]
 default = [ "dim2", "async-collider", "debug-render-2d" ]
-dim2 = ["bevy/bevy_render"]
-debug-render-2d = [ "bevy/bevy_core_pipeline", "bevy/bevy_sprite", "bevy/bevy_render", "rapier2d/debug-render" ]
-debug-render-3d = [ "bevy/bevy_core_pipeline", "bevy/bevy_pbr", "bevy/bevy_render", "rapier2d/debug-render" ]
+dim2 = []
+debug-render-2d = [ "bevy/bevy_core_pipeline", "bevy/bevy_sprite", "bevy/bevy_gizmos", "rapier2d/debug-render", "bevy/bevy_asset" ]
+debug-render-3d = [ "bevy/bevy_core_pipeline", "bevy/bevy_pbr", "bevy/bevy_gizmos", "rapier2d/debug-render", "bevy/bevy_asset" ]
 parallel = [ "rapier2d/parallel" ]
 simd-stable = [ "rapier2d/simd-stable" ]
 simd-nightly = [ "rapier2d/simd-nightly" ]
 wasm-bindgen = [ "rapier2d/wasm-bindgen" ]
 serde-serialize = [ "rapier2d/serde-serialize", "bevy/serialize", "serde" ]
 enhanced-determinism = [ "rapier2d/enhanced-determinism" ]
-
-# Enables the AsyncCollider and AsyncSceneCollider components that wait for specific
-# assets to be loaded before creating the actual Collider.
-# See https://github.com/dimforge/bevy_rapier/issues/296 for a workaround on how
-# to use this when using bevy headless.
-async-collider = [ ]
-
+headless = []
+async-collider = [ "bevy/bevy_asset", "bevy/bevy_scene" ]
 
 [dependencies]
-bevy = { version = "0.10", default-features = false, features = ["bevy_asset", "bevy_scene"] }
-nalgebra = { version = "0.32.2", features = [ "convert-glam023" ] }
+bevy = { version = "0.11", default-features = false }
+nalgebra = { version = "0.32.3", features = [ "convert-glam024" ] }
 # Don't enable the default features because we don't need the ColliderSet/RigidBodySet
 rapier2d = "0.17.0"
 bitflags = "1"
@@ -47,10 +42,10 @@ log = "0.4"
 serde = { version = "1", features = [ "derive" ], optional = true}
 
 [dev-dependencies]
-bevy = { version = "0.10", default-features = false, features = ["x11"]}
+bevy = { version = "0.11", default-features = false, features = ["x11"]}
 oorandom = "11"
 approx = "0.5.1"
-glam = { version = "0.23", features = [ "approx" ] }
+glam = { version = "0.24", features = [ "approx" ] }
 
 [package.metadata.docs.rs]
 # Enable all the features when building the docs on docs.rs

bevy_rapier2d/examples/boxes2.rs

@@ -8,11 +8,12 @@ fn main() {
             0xF9 as f32 / 255.0,
             0xFF as f32 / 255.0,
         )))
-        .add_plugins(DefaultPlugins)
-        .add_plugin(RapierPhysicsPlugin::<NoUserData>::pixels_per_meter(100.0))
-        .add_plugin(RapierDebugRenderPlugin::default())
-        .add_startup_system(setup_graphics)
-        .add_startup_system(setup_physics)
+        .add_plugins((
+            DefaultPlugins,
+            RapierPhysicsPlugin::<NoUserData>::pixels_per_meter(100.0),
+            RapierDebugRenderPlugin::default(),
+        ))
+        .add_systems(Startup, (setup_graphics, setup_physics))
         .run();
 }
 

bevy_rapier2d/examples/contact_filter2.rs

@@ -35,13 +35,12 @@ fn main() {
             0xF9 as f32 / 255.0,
             0xFF as f32 / 255.0,
         )))
-        .add_plugins(DefaultPlugins)
-        .add_plugin(RapierPhysicsPlugin::<SameUserDataFilter>::pixels_per_meter(
-            100.0,
+        .add_plugins((
+            DefaultPlugins,
+            RapierPhysicsPlugin::<SameUserDataFilter>::pixels_per_meter(100.0),
+            RapierDebugRenderPlugin::default(),
         ))
-        .add_plugin(RapierDebugRenderPlugin::default())
-        .add_startup_system(setup_graphics)
-        .add_startup_system(setup_physics)
+        .add_systems(Startup, (setup_graphics, setup_physics))
         .run();
 }
 

bevy_rapier2d/examples/custom_system_setup2.rs

@@ -1,9 +1,6 @@
-use bevy::{core::FrameCount, ecs::schedule::ScheduleLabel, prelude::*};
+use bevy::{core::FrameCount, prelude::*, transform::TransformSystem};
 use bevy_rapier2d::prelude::*;
 
-#[derive(ScheduleLabel, Hash, Debug, PartialEq, Eq, Clone)]
-struct SpecialSchedule;
-
 fn main() {
     let mut app = App::new();
 
@@ -12,58 +9,40 @@ fn main() {
         0xF9 as f32 / 255.0,
         0xFF as f32 / 255.0,
     )))
-    .add_plugins(DefaultPlugins)
-    .add_plugin(RapierDebugRenderPlugin::default())
-    .add_startup_system(setup_graphics)
-    .add_startup_system(setup_physics)
-    .add_system(
-        (|world: &mut World| {
-            world.run_schedule(SpecialSchedule);
-        })
-        .in_base_set(CoreSet::PostUpdate),
-    );
-
-    // Do the setup however we want, maybe in its very own schedule
-    let mut schedule = Schedule::new();
-
-    schedule.configure_sets(
+    .add_plugins((
+        DefaultPlugins,
+        RapierPhysicsPlugin::<NoUserData>::pixels_per_meter(100.0).with_default_system_setup(false),
+        RapierDebugRenderPlugin::default(),
+    ))
+    .add_systems(Startup, (setup_graphics, setup_physics));
+
+    app.configure_sets(
+        PostUpdate,
         (
             PhysicsSet::SyncBackend,
-            PhysicsSet::SyncBackendFlush,
             PhysicsSet::StepSimulation,
             PhysicsSet::Writeback,
         )
-            .chain(),
-    );
-
-    schedule.add_systems(
-        RapierPhysicsPlugin::<NoUserData>::get_systems(PhysicsSet::SyncBackend)
-            .in_base_set(PhysicsSet::SyncBackend),
+            .chain()
+            .before(TransformSystem::TransformPropagate),
     );
 
-    schedule.add_systems(
-        RapierPhysicsPlugin::<NoUserData>::get_systems(PhysicsSet::SyncBackendFlush)
-            .in_base_set(PhysicsSet::SyncBackendFlush),
-    );
-
-    schedule.add_systems(
-        RapierPhysicsPlugin::<NoUserData>::get_systems(PhysicsSet::StepSimulation)
-            .in_base_set(PhysicsSet::StepSimulation),
-    );
-    schedule.add_system(despawn_one_box.in_base_set(PhysicsSet::StepSimulation));
-
-    schedule.add_systems(
-        RapierPhysicsPlugin::<NoUserData>::get_systems(PhysicsSet::Writeback)
-            .in_base_set(PhysicsSet::Writeback),
+    app.add_systems(
+        PostUpdate,
+        (
+            RapierPhysicsPlugin::<NoUserData>::get_systems(PhysicsSet::SyncBackend)
+                .in_set(PhysicsSet::SyncBackend),
+            (
+                RapierPhysicsPlugin::<NoUserData>::get_systems(PhysicsSet::StepSimulation),
+                despawn_one_box,
+            )
+                .in_set(PhysicsSet::StepSimulation),
+            RapierPhysicsPlugin::<NoUserData>::get_systems(PhysicsSet::Writeback)
+                .in_set(PhysicsSet::Writeback),
+        ),
     );
 
-    app.add_schedule(SpecialSchedule, schedule)
-        .add_plugin(
-            RapierPhysicsPlugin::<NoUserData>::default()
-                .with_physics_scale(100.)
-                .with_default_system_setup(false),
-        )
-        .run();
+    app.run();
 }
 
 fn despawn_one_box(

bevy_rapier2d/examples/debug_despawn2.rs

@@ -9,11 +9,13 @@ fn main() {
     App::new()
         .init_resource::<Game>()
         .insert_resource(ClearColor(Color::rgb(0.0, 0.0, 0.0)))
-        .add_plugins(DefaultPlugins)
-        .add_startup_system(setup_game)
-        .add_system(cube_sleep_detection)
-        .add_plugin(RapierPhysicsPlugin::<NoUserData>::pixels_per_meter(100.0))
-        .add_plugin(RapierDebugRenderPlugin::default())
+        .add_plugins((
+            DefaultPlugins,
+            RapierPhysicsPlugin::<NoUserData>::pixels_per_meter(100.0),
+            RapierDebugRenderPlugin::default(),
+        ))
+        .add_systems(Startup, setup_game)
+        .add_systems(Update, cube_sleep_detection)
         .run();
 }
 

bevy_rapier2d/examples/despawn2.rs

@@ -20,13 +20,13 @@ fn main() {
         )))
         .insert_resource(DespawnResource::default())
         .insert_resource(ResizeResource::default())
-        .add_plugins(DefaultPlugins)
-        .add_plugin(RapierPhysicsPlugin::<NoUserData>::pixels_per_meter(100.0))
-        .add_plugin(RapierDebugRenderPlugin::default())
-        .add_startup_system(setup_graphics)
-        .add_startup_system(setup_physics)
-        .add_system(despawn)
-        .add_system(resize)
+        .add_plugins((
+            DefaultPlugins,
+            RapierPhysicsPlugin::<NoUserData>::pixels_per_meter(100.0),
+            RapierDebugRenderPlugin::default(),
+        ))
+        .add_systems(Startup, (setup_graphics, setup_physics))
+        .add_systems(Update, (despawn, resize))
         .run();
 }
 

bevy_rapier2d/examples/events2.rs

@@ -8,12 +8,13 @@ fn main() {
             0xF9 as f32 / 255.0,
             0xFF as f32 / 255.0,
         )))
-        .add_plugins(DefaultPlugins)
-        .add_plugin(RapierPhysicsPlugin::<NoUserData>::pixels_per_meter(100.0))
-        .add_plugin(RapierDebugRenderPlugin::default())
-        .add_startup_system(setup_graphics)
-        .add_startup_system(setup_physics)
-        .add_system(display_events.in_base_set(CoreSet::PostUpdate))
+        .add_plugins((
+            DefaultPlugins,
+            RapierPhysicsPlugin::<NoUserData>::pixels_per_meter(100.0),
+            RapierDebugRenderPlugin::default(),
+        ))
+        .add_systems(Startup, (setup_graphics, setup_physics))
+        .add_systems(PostUpdate, display_events)
         .run();
 }