cargo clippy + pr feedbacks

src/geometry/collider.rs

@@ -3,7 +3,7 @@ use std::fmt;
 #[cfg(all(feature = "dim3", feature = "async-collider"))]
 use {crate::geometry::VHACDParameters, bevy::utils::HashMap};
 
-use bevy::{prelude::*, reflect::impl_reflect};
+use bevy::prelude::*;
 
 use bevy::utils::HashSet;
 use rapier::geometry::Shape;

src/plugin/context/systemparams/rapier_context_access.rs

@@ -5,11 +5,11 @@ use std::ops::{Deref, DerefMut};
 use super::super::{DefaultRapierContext, RapierContext, RapierContextEntityLink};
 /// Utility [`SystemParam`] to easily access the default world [`RapierContext`] immutably
 #[derive(SystemParam)]
-pub struct DefaultRapierContextAccess<'w, 's> {
-    rapier_context: Query<'w, 's, &'static RapierContext, With<DefaultRapierContext>>,
+pub struct DefaultRapierContextAccess<'w, 's, T: Component = DefaultRapierContext> {
+    rapier_context: Query<'w, 's, &'static RapierContext, With<T>>,
 }
 
-impl<'w, 's> DefaultRapierContextAccess<'w, 's> {
+impl<'w, 's, T: Component> DefaultRapierContextAccess<'w, 's, T> {
     /// Use this method if you only have one world.
     pub fn single(&'_ self) -> &RapierContext {
         self.rapier_context.single()
@@ -26,11 +26,11 @@ impl<'w, 's> Deref for DefaultRapierContextAccess<'w, 's> {
 
 /// Utility [`SystemParam`] to easily access the default world [`RapierContext`] mutably
 #[derive(SystemParam)]
-pub struct DefaultRapierContextAccessMut<'w, 's> {
-    rapier_context: Query<'w, 's, &'static mut RapierContext, With<DefaultRapierContext>>,
+pub struct DefaultRapierContextAccessMut<'w, 's, T: Component = DefaultRapierContext> {
+    rapier_context: Query<'w, 's, &'static mut RapierContext, With<T>>,
 }
 
-impl<'w, 's> Deref for DefaultRapierContextAccessMut<'w, 's> {
+impl<'w, 's, T: Component> Deref for DefaultRapierContextAccessMut<'w, 's, T> {
     type Target = RapierContext;
 
     fn deref(&self) -> &Self::Target {
@@ -48,10 +48,16 @@ impl<'w, 's> DerefMut for DefaultRapierContextAccessMut<'w, 's> {
 /// Utility [`SystemParam`] to easily access any [`RapierContext`] immutably
 #[derive(SystemParam)]
 pub struct RapierContextAccess<'w, 's> {
-    rapier_context: Query<'w, 's, &'static RapierContext>,
+    /// Query used to retrieve a [`RapierContext`].
+    /// It's helpful to iterate over every rapier contexts,
+    /// or get a handle over a specific context, for example through:
+    /// - a marker component such as [`DefaultRapierContext`]
+    /// - a [`RapierContextEntityLink`]. See [context](RapierContextAccess::context)
+    pub rapier_context: Query<'w, 's, &'static RapierContext>,
 }
 
 impl<'w, 's> RapierContextAccess<'w, 's> {
+    /// Retrieves the rapier context responsible for the entity owning the given [`RapierContextEntityLink`].
     pub fn context(&self, link: RapierContextEntityLink) -> &'_ RapierContext {
         self.rapier_context
             .get(link.0)
@@ -70,27 +76,20 @@ impl<'w, 's> Deref for RapierContextAccess<'w, 's> {
 /// Utility [`SystemParam`] to easily access any [`RapierContext`] mutably
 #[derive(SystemParam)]
 pub struct RapierContextAccessMut<'w, 's> {
+    /// Query used to retrieve a [`RapierContext`].
+    /// It's helpful to iterate over every rapier contexts,
+    /// or get a handle over a specific context, for example through:
+    /// - a marker component such as [`DefaultRapierContext`]
+    /// - a [`RapierContextEntityLink`]. See [context](RapierContextAccess::context)
     pub rapier_context: Query<'w, 's, &'static mut RapierContext>,
 }
 
 impl<'w, 's> RapierContextAccessMut<'w, 's> {
+    /// Retrieves the rapier context responsible for the entity owning the given [`RapierContextEntityLink`].
     pub fn context(&mut self, link: RapierContextEntityLink) -> &'_ mut RapierContext {
         self.rapier_context
             .get_mut(link.0)
             .expect("RapierContextEntityLink.0 refers to an entity without RapierContext.")
             .into_inner()
     }
 }
-
-pub fn try_retrieve_context<'a>(
-    link: Option<&RapierContextEntityLink>,
-    context: &Query<Entity, With<RapierContext>>,
-) -> Result<Entity, Entity> {
-    link.map_or_else(
-        || {
-            let context_entity = context.iter().next().unwrap();
-            Err(context_entity)
-        },
-        |link| Ok(link.0),
-    )
-}

src/plugin/plugin.rs

@@ -42,11 +42,14 @@ where
     /// likely always be 1.0 in 3D. In 2D, this is useful to specify a "pixels-per-meter"
     /// conversion ratio.
     pub fn with_length_unit(mut self, length_unit: f32) -> Self {
-        self.default_world_setup = RapierContextInitialization::InitializeDefaultRapierContext {
-            length_unit: length_unit,
-        };
+        self.default_world_setup =
+            RapierContextInitialization::InitializeDefaultRapierContext { length_unit };
         self
     }
+
+    /// Specifies a default world initialization strategy.
+    ///
+    /// The default is to initialize a [`RapierContext`] with a length unit of 1.
     pub fn with_default_world(
         mut self,
         default_world_initialization: RapierContextInitialization,
@@ -106,20 +109,17 @@ where
                     .in_set(RapierTransformPropagateSet),
                 systems::on_add_entity_with_parent,
                 systems::on_change_world,
-                apply_deferred,
+                //
                 systems::sync_removals,
-                apply_deferred,
                 #[cfg(all(feature = "dim3", feature = "async-collider"))]
                 systems::init_async_scene_colliders,
                 #[cfg(all(feature = "dim3", feature = "async-collider"))]
                 systems::init_async_colliders,
                 systems::init_rigid_bodies,
                 systems::init_colliders,
                 systems::init_joints,
-                apply_deferred,
                 //systems::sync_removals,
                 // Run this here so the following systems do not have a 1 frame delay.
-                apply_deferred,
                 systems::apply_scale,
                 systems::apply_collider_user_changes,
                 systems::apply_rigid_body_user_changes,
@@ -292,8 +292,14 @@ where
 /// and as long as any [`RapierContextEntityLink`] has a reference to its [`RapierContext`].
 #[derive(Resource, Debug, Reflect, Clone)]
 pub enum RapierContextInitialization {
+    /// [`RapierPhysicsPlugin`] will not spawn any entity containing [`RapierContext`] automatically.
     NoAutomaticRapierContext,
-    InitializeDefaultRapierContext { length_unit: f32 },
+    /// [`RapierPhysicsPlugin`] will spawn an entity containing a [`RapierContext`]
+    /// automatically during [`PreStartup`], with the [`DefaultRapierContext`] marker component.
+    InitializeDefaultRapierContext {
+        /// See [`IntegrationParameters::length_unit`]
+        length_unit: f32,
+    },
 }
 
 impl Default for RapierContextInitialization {

src/plugin/systems/collider.rs

@@ -1,6 +1,6 @@
 use crate::dynamics::ReadMassProperties;
 use crate::geometry::Collider;
-use crate::plugin::context::systemparams::{try_retrieve_context, RapierEntity};
+use crate::plugin::context::systemparams::RapierEntity;
 use crate::plugin::context::RapierContextEntityLink;
 use crate::plugin::{RapierConfiguration, RapierContext, RapierContextAccessMut};
 use crate::prelude::{
@@ -142,11 +142,10 @@ pub fn apply_collider_user_changes(
 ) {
     for (rapier_entity, handle, transform) in changed_collider_transforms.iter() {
         let context = context.context(*rapier_entity.rapier_context_link);
-        let config = config.get(rapier_entity.rapier_context_link.0).unwrap();
         if context.collider_parent(rapier_entity.entity).is_some() {
             let (_, collider_position) = collider_offset(
                 rapier_entity.entity,
-                &context,
+                context,
                 &parent_query,
                 &transform_query,
             );

src/plugin/systems/joint.rs

@@ -2,7 +2,6 @@ use crate::dynamics::ImpulseJoint;
 use crate::dynamics::MultibodyJoint;
 use crate::dynamics::RapierImpulseJointHandle;
 use crate::dynamics::RapierMultibodyJointHandle;
-use crate::plugin::context::systemparams::try_retrieve_context;
 use crate::plugin::context::RapierContextEntityLink;
 use crate::plugin::RapierContext;
 use crate::plugin::RapierContextAccessMut;

src/plugin/systems/multiple_rapier_contexts.rs

@@ -11,7 +11,10 @@ use bevy::prelude::*;
 ///
 /// If this fails to happen, weirdness will ensue.
 pub fn on_add_entity_with_parent(
-    q_add_entity_without_parent: Query<(Entity, &Parent), Changed<Parent>>,
+    q_add_entity_without_parent: Query<
+        (Entity, &Parent),
+        (With<RapierContextEntityLink>, Changed<Parent>),
+    >,
     q_parent: Query<&Parent>,
     q_physics_world: Query<&RapierContextEntityLink>,
     mut commands: Commands,

src/plugin/systems/remove.rs

@@ -8,7 +8,6 @@ use crate::geometry::Collider;
 use crate::geometry::ColliderDisabled;
 use crate::geometry::RapierColliderHandle;
 use crate::plugin::context::systemparams::RapierContextAccessMut;
-use crate::plugin::context::RapierContextEntityLink;
 use crate::plugin::RapierContext;
 use crate::prelude::MassModifiedEvent;
 use crate::prelude::RigidBodyDisabled;
@@ -20,7 +19,7 @@ use bevy::prelude::*;
 /// despawn).
 pub fn sync_removals(
     mut commands: Commands,
-    mut context: RapierContextAccessMut,
+    mut context_accessor: RapierContextAccessMut,
     mut removed_bodies: RemovedComponents<RapierRigidBodyHandle>,
     mut removed_colliders: RemovedComponents<RapierColliderHandle>,
     mut removed_impulse_joints: RemovedComponents<RapierImpulseJointHandle>,
@@ -43,9 +42,9 @@ pub fn sync_removals(
      * Rigid-bodies removal detection.
      */
     for entity in removed_bodies.read() {
-        let Some((mut context, handle)) =
-            find_context(&mut context, |context| context.entity2body.remove(&entity))
-        else {
+        let Some((mut context, handle)) = find_context(&mut context_accessor, |context| {
+            context.entity2body.remove(&entity)
+        }) else {
             continue;
         };
         let context = &mut *context;
@@ -62,9 +61,9 @@ pub fn sync_removals(
     }
 
     for entity in orphan_bodies.iter() {
-        if let Some((mut context, handle)) =
-            find_context(&mut context, |context| context.entity2body.remove(&entity))
-        {
+        if let Some((mut context, handle)) = find_context(&mut context_accessor, |context| {
+            context.entity2body.remove(&entity)
+        }) {
             let context = &mut *context;
             let _ = context.last_body_transform_set.remove(&handle);
             context.bodies.remove(
@@ -83,7 +82,7 @@ pub fn sync_removals(
      * Collider removal detection.
      */
     for entity in removed_colliders.read() {
-        let Some((mut context, handle)) = find_context(&mut context, |context| {
+        let Some((mut context, handle)) = find_context(&mut context_accessor, |context| {
             context.entity2collider.remove(&entity)
         }) else {
             continue;
@@ -100,7 +99,7 @@ pub fn sync_removals(
     }
 
     for entity in orphan_colliders.iter() {
-        if let Some((mut context, handle)) = find_context(&mut context, |context| {
+        if let Some((mut context, handle)) = find_context(&mut context_accessor, |context| {
             context.entity2collider.remove(&entity)
         }) {
             let context = &mut *context;
@@ -120,7 +119,7 @@ pub fn sync_removals(
      * Impulse joint removal detection.
      */
     for entity in removed_impulse_joints.read() {
-        let Some((mut context, handle)) = find_context(&mut context, |context| {
+        let Some((mut context, handle)) = find_context(&mut context_accessor, |context| {
             context.entity2impulse_joint.remove(&entity)
         }) else {
             continue;
@@ -130,7 +129,7 @@ pub fn sync_removals(
     }
 
     for entity in orphan_impulse_joints.iter() {
-        if let Some((mut context, handle)) = find_context(&mut context, |context| {
+        if let Some((mut context, handle)) = find_context(&mut context_accessor, |context| {
             context.entity2impulse_joint.remove(&entity)
         }) {
             let context = &mut *context;
@@ -143,7 +142,7 @@ pub fn sync_removals(
      * Multibody joint removal detection.
      */
     for entity in removed_multibody_joints.read() {
-        let Some((mut context, handle)) = find_context(&mut context, |context| {
+        let Some((mut context, handle)) = find_context(&mut context_accessor, |context| {
             context.entity2multibody_joint.remove(&entity)
         }) else {
             continue;
@@ -153,7 +152,7 @@ pub fn sync_removals(
     }
 
     for entity in orphan_multibody_joints.iter() {
-        if let Some((mut context, handle)) = find_context(&mut context, |context| {
+        if let Some((mut context, handle)) = find_context(&mut context_accessor, |context| {
             context.entity2multibody_joint.remove(&entity)
         }) {
             let context = &mut *context;
@@ -168,7 +167,7 @@ pub fn sync_removals(
      * Marker components removal detection.
      */
     for entity in removed_sensors.read() {
-        if let Some((mut context, handle)) = find_context(&mut context, |context| {
+        if let Some((mut context, handle)) = find_context(&mut context_accessor, |context| {
             context.entity2collider.get(&entity).copied()
         }) {
             if let Some(co) = context.colliders.get_mut(handle) {
@@ -178,7 +177,7 @@ pub fn sync_removals(
     }
 
     for entity in removed_colliders_disabled.read() {
-        if let Some((mut context, handle)) = find_context(&mut context, |context| {
+        if let Some((mut context, handle)) = find_context(&mut context_accessor, |context| {
             context.entity2collider.get(&entity).copied()
         }) {
             if let Some(co) = context.colliders.get_mut(handle) {
@@ -188,7 +187,7 @@ pub fn sync_removals(
     }
 
     for entity in removed_rigid_body_disabled.read() {
-        if let Some((mut context, handle)) = find_context(&mut context, |context| {
+        if let Some((mut context, handle)) = find_context(&mut context_accessor, |context| {
             context.entity2body.get(&entity).copied()
         }) {
             if let Some(rb) = context.bodies.get_mut(handle) {
@@ -201,19 +200,11 @@ pub fn sync_removals(
 }
 
 fn find_context<'a, T>(
-    context: &'a mut RapierContextAccessMut,
+    context_accessor: &'a mut RapierContextAccessMut,
     item_finder: impl Fn(&mut RapierContext) -> Option<T>,
 ) -> Option<(Mut<'a, RapierContext>, T)> {
-    let finder = item_finder;
-    let context = {
-        let mut result = None;
-        for mut context in context.rapier_context.iter_mut() {
-            if let Some(handle) = finder(&mut *context) {
-                result = Some((context, handle));
-                break;
-            }
-        }
-        result
-    };
-    context
+    context_accessor
+        .rapier_context
+        .iter_mut()
+        .find_map(|mut context| item_finder(&mut context).map(|handle| (context, handle)))
 }