progress multi world with change

Co-authored-by: Anthony Tornetta <[email protected]>

bevy_rapier3d/examples/multi_world3.rs

@@ -1,33 +1,39 @@
-use bevy::prelude::*;
+use bevy::{input::common_conditions::input_just_pressed, prelude::*};
 use bevy_rapier3d::prelude::*;
 
 const N_WORLDS: usize = 2;
 
 fn main() {
     App::new()
-        .insert_resource(ClearColor(Color::rgb(
+        .insert_resource(ClearColor(Color::srgb(
             0xF9 as f32 / 255.0,
             0xF9 as f32 / 255.0,
             0xFF as f32 / 255.0,
         )))
         .add_plugins((
             DefaultPlugins,
-            RapierPhysicsPlugin::<NoUserData>::default().with_default_world(None),
+            RapierPhysicsPlugin::<NoUserData>::default()
+                .with_default_world(RapierContextInitialization::NoAutomaticRapierContext),
             RapierDebugRenderPlugin::default(),
         ))
         .add_systems(
             Startup,
             ((create_worlds, setup_physics).chain(), setup_graphics),
         )
         .add_systems(Update, move_platforms)
-        // .add_systems(Update, change_world)
-        // .add_systems(Update, despawn_last)
+        .add_systems(
+            Update,
+            change_world.run_if(input_just_pressed(KeyCode::KeyC)),
+        )
         .run();
 }
 
 fn create_worlds(mut commands: Commands) {
     for i in 0..N_WORLDS {
-        commands.spawn((RapierContext::default(), WorldId(i)));
+        let mut world = commands.spawn((RapierContext::default(), WorldId(i)));
+        if i == 0 {
+            world.insert(DefaultRapierContext);
+        }
     }
 }
 
@@ -53,23 +59,20 @@ fn move_platforms(time: Res<Time>, mut query: Query<(&mut Transform, &Platform)>
     }
 }
 
-/// Demonstrates despawning an entity removing it from its world
-// fn despawn_last(query: Query<(&PhysicsWorld, Entity)>, mut commands: Commands) {
-//     for (bw, entity) in query.iter() {
-//         if bw.world_id == N_WORLDS - 1 {
-//             commands.entity(entity).despawn_recursive();
-//         }
-//     }
-// }
-
 /// Demonstrates how easy it is to move one entity to another world.
-// fn change_world(mut query: Query<&mut PhysicsWorld>) {
-//     for mut bw in query.iter_mut() {
-//         if bw.world_id == 1 {
-//             bw.world_id = 0;
-//         }
-//     }
-// }
+fn change_world(
+    query_context: Query<Entity, With<DefaultRapierContext>>,
+    mut query_links: Query<(Entity, &mut RapierContextEntityLink)>,
+) {
+    let default_context = query_context.single();
+    for (e, mut link) in query_links.iter_mut() {
+        if link.0 == default_context {
+            continue;
+        }
+        link.0 = default_context;
+        println!("changing world of {} for world {}", e, link.0);
+    }
+}
 
 pub fn setup_physics(
     context: Query<(Entity, &WorldId), With<RapierContext>>,

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::*;
+use bevy::{prelude::*, reflect::impl_reflect};
 
 use bevy::utils::HashSet;
 use rapier::geometry::Shape;

src/plugin/configuration.rs

@@ -1,4 +1,7 @@
-use bevy::prelude::{Component, Resource};
+use bevy::{
+    prelude::{Component, Resource},
+    reflect::Reflect,
+};
 
 use crate::math::{Real, Vect};
 
@@ -43,7 +46,7 @@ pub enum TimestepMode {
 }
 
 /// Difference between simulation and rendering time
-#[derive(Component, Default)]
+#[derive(Component, Default, Reflect)]
 pub struct SimulationToRenderTime {
     /// Difference between simulation and rendering time
     pub diff: f32,
@@ -59,7 +62,7 @@ impl Default for TimestepMode {
     }
 }
 
-#[derive(Component, Copy, Clone, Debug)]
+#[derive(Component, Copy, Clone, Debug, Reflect)]
 /// A resource for specifying configuration information for the physics simulation
 pub struct RapierConfiguration {
     /// Specifying the gravity of the physics simulation.

src/plugin/context/mod.rs

@@ -24,6 +24,13 @@ use crate::prelude::{CollisionGroups, RapierRigidBodyHandle};
 use rapier::control::CharacterAutostep;
 use rapier::geometry::DefaultBroadPhase;
 
+/// Marker component for to access the default [`RapierContext`].
+///
+/// This is used by [`systemparams::DefaultRapierContextAccess`] and other default accesses
+/// to help with getting a reference to the correct RapierContext.
+///
+/// If you're making a library, you might be interested in [`RapierContextEntityLink`]
+/// and leverage a [`Query<&RapierContext>`] to find the correct [`RapierContext`] of an entity.
 #[derive(Component, Reflect, Debug, Clone, Copy)]
 pub struct DefaultRapierContext;
 
@@ -40,6 +47,7 @@ pub struct RapierContext {
     /// The island manager, which detects what object is sleeping
     /// (not moving much) to reduce computations.
     pub islands: IslandManager,
+    // FIXME: This should be serialized but a bug prevents it
     /// The broad-phase, which detects potential contact pairs.
     pub broad_phase: DefaultBroadPhase,
     /// The narrow-phase, which computes contact points, tests intersections,
@@ -81,6 +89,7 @@ pub struct RapierContext {
     #[cfg_attr(feature = "serde-serialize", serde(skip))]
     pub(crate) deleted_colliders: HashMap<ColliderHandle, Entity>,
 
+    #[cfg_attr(feature = "serde-serialize", serde(skip))]
     pub(crate) collision_events_to_send: Vec<CollisionEvent>,
     #[cfg_attr(feature = "serde-serialize", serde(skip))]
     pub(crate) contact_force_events_to_send: Vec<ContactForceEvent>,

src/plugin/mod.rs

@@ -4,9 +4,12 @@ pub use self::context::{
         DefaultRapierContextAccess, DefaultRapierContextAccessMut, RapierContextAccess,
         RapierContextAccessMut,
     },
-    RapierContext, RapierContextEntityLink,
+    DefaultRapierContext, RapierContext, RapierContextEntityLink,
+};
+pub use self::plugin::{
+    NoUserData, PhysicsSet, RapierContextInitialization, RapierPhysicsPlugin,
+    RapierTransformPropagateSet,
 };
-pub use self::plugin::{NoUserData, PhysicsSet, RapierPhysicsPlugin, RapierTransformPropagateSet};
 
 #[allow(clippy::type_complexity)]
 #[allow(clippy::too_many_arguments)]

src/plugin/plugin.rs

@@ -8,6 +8,7 @@ use bevy::ecs::{
     system::SystemParamItem,
 };
 use bevy::{prelude::*, transform::TransformSystem};
+use rapier::dynamics::IntegrationParameters;
 use std::marker::PhantomData;
 
 use super::context::DefaultRapierContext;
@@ -22,8 +23,10 @@ pub type NoUserData = ();
 pub struct RapierPhysicsPlugin<PhysicsHooks = ()> {
     schedule: Interned<dyn ScheduleLabel>,
     default_system_setup: bool,
-    /// Read in PreStartup, this will create a default world.
-    pub default_world_setup: Option<RapierContextInitialization>,
+    /// Read during [`RapierPhysicsPlugin::build()`],
+    /// to help initializing [`RapierContextInitialization`] resource.
+    /// This will be ignored if that resource already exists.
+    default_world_setup: RapierContextInitialization,
     _phantom: PhantomData<PhysicsHooks>,
 }
 
@@ -39,19 +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 = Some(RapierContextInitialization {
+        self.default_world_setup = RapierContextInitialization::InitializeDefaultRapierContext {
             length_unit: length_unit,
-        });
+        };
         self
     }
-    /// Specifies a default configuration for the default `RapierContext`
-    ///
-    /// If [`None`], no world will be initialized, you are responsible of creating and maintaining
-    /// a [`RapierContext`] before creating any rapier entities (rigidbodies, colliders, joints),
-    /// and as long as any [`RapierContextEntityLink`] has a reference to its [`RapierContext`].
     pub fn with_default_world(
         mut self,
-        default_world_initialization: Option<RapierContextInitialization>,
+        default_world_initialization: RapierContextInitialization,
     ) -> Self {
         self.default_world_setup = default_world_initialization;
         self
@@ -73,9 +71,9 @@ where
     pub fn pixels_per_meter(pixels_per_meter: f32) -> Self {
         Self {
             default_system_setup: true,
-            default_world_setup: Some(RapierContextInitialization {
+            default_world_setup: RapierContextInitialization::InitializeDefaultRapierContext {
                 length_unit: pixels_per_meter,
-            }),
+            },
             ..default()
         }
     }
@@ -106,14 +104,20 @@ where
                 )
                     .chain()
                     .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,
-                systems::sync_removals,
+                apply_deferred,
+                //systems::sync_removals,
                 // Run this here so the following systems do not have a 1 frame delay.
                 apply_deferred,
                 systems::apply_scale,
@@ -146,7 +150,7 @@ impl<PhysicsHooksSystemParam> Default for RapierPhysicsPlugin<PhysicsHooksSystem
         Self {
             schedule: PostUpdate.intern(),
             default_system_setup: true,
-            default_world_setup: Some(RapierContextInitialization { length_unit: 1f32 }),
+            default_world_setup: default(),
             _phantom: PhantomData,
         }
     }
@@ -199,11 +203,25 @@ where
             .register_type::<SolverGroups>()
             .register_type::<ContactForceEventThreshold>()
             .register_type::<ContactSkin>()
-            .register_type::<Group>();
+            .register_type::<Group>()
+            .register_type::<RapierContextEntityLink>()
+            .register_type::<ColliderDebugColor>()
+            .register_type::<RapierConfiguration>()
+            .register_type::<SimulationToRenderTime>()
+            .register_type::<DefaultRapierContext>()
+            .register_type::<RapierContextInitialization>()
+            .register_type::<ColliderDebugColor>();
 
         app.insert_resource(Events::<CollisionEvent>::default())
             .insert_resource(Events::<ContactForceEvent>::default())
             .insert_resource(Events::<MassModifiedEvent>::default());
+        let default_world_init = app.world().get_resource::<RapierContextInitialization>();
+        if let Some(world_init) = default_world_init {
+            warn!("RapierPhysicsPlugin added with a default rapier context initialization but a `RapierContextInitialization` was already existing.\
+                the following resource will be used in priority: {:?}", world_init);
+        } else {
+            app.insert_resource(self.default_world_setup.clone());
+        }
 
         app.add_systems(
             self.schedule,
@@ -229,7 +247,18 @@ where
             );
 
             // These *must* be in the main schedule currently so that they do not miss events.
-            app.add_systems(PostUpdate, (systems::sync_removals,));
+            /*app.add_systems(
+                PostUpdate,
+                (
+                    // Change any worlds needed before doing any calculations
+                    systems::on_add_entity_with_parent,
+                    systems::on_change_world,
+                    // Make sure to remove any dead bodies after changing_worlds but before everything else
+                    // to avoid it deleting something right after adding it
+                    //systems::sync_removals,
+                )
+                    .chain(),
+            );*/
 
             app.add_systems(
                 self.schedule,
@@ -256,13 +285,42 @@ where
     }
 }
 
-#[derive(Resource)]
-pub struct RapierContextInitialization {
-    pub length_unit: f32,
+/// Specifies a default configuration for the default `RapierContext`
+///
+/// If [`None`], no world will be initialized, you are responsible of creating and maintaining
+/// a [`RapierContext`] before creating any rapier entities (rigidbodies, colliders, joints),
+/// and as long as any [`RapierContextEntityLink`] has a reference to its [`RapierContext`].
+#[derive(Resource, Debug, Reflect, Clone)]
+pub enum RapierContextInitialization {
+    NoAutomaticRapierContext,
+    InitializeDefaultRapierContext { length_unit: f32 },
+}
+
+impl Default for RapierContextInitialization {
+    fn default() -> Self {
+        RapierContextInitialization::InitializeDefaultRapierContext { length_unit: 1f32 }
+    }
 }
 
-pub fn insert_default_world(mut commands: Commands) {
-    commands.spawn((RapierContext::default(), DefaultRapierContext));
+pub fn insert_default_world(
+    mut commands: Commands,
+    initialization_data: Res<RapierContextInitialization>,
+) {
+    match initialization_data.as_ref() {
+        RapierContextInitialization::NoAutomaticRapierContext => {}
+        RapierContextInitialization::InitializeDefaultRapierContext { length_unit } => {
+            commands.spawn((
+                RapierContext {
+                    integration_parameters: IntegrationParameters {
+                        length_unit: *length_unit,
+                        ..default()
+                    },
+                    ..RapierContext::default()
+                },
+                DefaultRapierContext,
+            ));
+        }
+    }
 }
 
 pub fn setup_rapier_configuration(

src/plugin/systems/collider.rs

@@ -342,6 +342,7 @@ pub fn init_colliders(
     {
         let context_entity = context_link.map_or_else(
             || {
+                dbg!("unknown rapierContext for object, setting to default");
                 let context_entity = context.iter().next().unwrap().0;
                 commands
                     .entity(entity)

src/plugin/systems/mod.rs

@@ -3,13 +3,15 @@
 mod character_controller;
 mod collider;
 mod joint;
+mod multiple_rapier_contexts;
 mod remove;
 mod rigid_body;
 mod writeback;
 
 pub use character_controller::*;
 pub use collider::*;
 pub use joint::*;
+pub use multiple_rapier_contexts::*;
 pub use remove::*;
 pub use rigid_body::*;
 pub use writeback::*;