Rapier context component

.github/workflows/main.yml

@@ -8,7 +8,8 @@ on:
 
 env:
   CARGO_TERM_COLOR: always
-  RUST_CACHE_KEY: rust-cache-20240617
+  RUST_CACHE_KEY: rust-cache-20240701
+  CARGO_PROFILE_DEV_DEBUG: none
 
 jobs:
   check-fmt:
@@ -20,6 +21,18 @@ jobs:
           components: rustfmt
       - name: Check formatting
         run: cargo fmt -- --check
+  doc:
+    runs-on: ubuntu-latest
+    env:
+      RUSTDOCFLAGS: -D warnings
+    steps:
+      - uses: actions/checkout@v4
+      - uses: dtolnay/rust-toolchain@stable
+      - uses: Swatinem/rust-cache@v2
+        with:
+          prefix-key: ${{ env.RUST_CACHE_KEY }}
+      - name: Cargo doc
+        run: cargo doc
   test:
     runs-on: ubuntu-latest
     env:

CHANGELOG.md

@@ -1,24 +1,63 @@
 # Changelog
 
-## v0.27.0-rc.1 (18 June 2024)
+## Unreleased
 
-**This is an update to Rapier 0.20 which includes several stability improvements
+### Modified
+
+- Update from rapier `0.21` to rapier `0.22`,
+  see [rapier's changelog](https://github.com/dimforge/rapier/blob/master/CHANGELOG.md).
+
+### Fix
+
+- Fix a crash when using `TimestepMode::Interpolated` and removing colliders
+during a frame which would not run a simulation step.
+
+### Added
+
+- Added a `TriMeshFlags` parameter for `ComputedColliderShape`,
+its default value is `TriMeshFlags::MERGE_DUPLICATE_VERTICES`,
+which was its hardcoded behaviour.
+- Added a way to configure which colliders should be debug rendered: `global` parameter for both 
+  `RapierDebugColliderPlugin` and `DebugRenderContext`, as well as individual collider setup via
+  a `ColliderDebug` component.
+
+### Modified
+
+- `RapierContext`, `RapierConfiguration` and `RenderToSimulationTime` are now a `Component` instead of resources.
+  - Rapier now supports multiple independent physics worlds, see example `multi_world3` for usage details.
+  - Migration guide:
+    - `ResMut<mut RapierContext>` -> `WriteDefaultRapierContext`
+    - `Res<RapierContext>` -> `ReadDefaultRapierContext`
+    - Access to `RapierConfiguration` and `RenderToSimulationTime` should query for it
+on the responsible entity owning the `RenderContext`.
+  - If you are building a library on top of `bevy_rapier` and would want to support multiple independent physics worlds too,
+you can check out the details of [#545](https://github.com/dimforge/bevy_rapier/pull/545)
+to get more context and information.
+
+## v0.27.0 (07 July 2024)
+
+**This is an update from rapier 0.19 to Rapier 0.21 which includes several stability improvements
 and new features. Please have a look at the
-[0.20 changelog](https://github.com/dimforge/rapier/blob/master/CHANGELOG.md) of Rapier.**
+[0.20 and 0.21 changelogs](https://github.com/dimforge/rapier/blob/master/CHANGELOG.md) of Rapier.**
 
 ### Modified
 
-- Update to rapier `0.20`.
+- Update from rapier `0.19` to rapier `0.21`.
+- Update to nalgebra `0.33`.
 - Update to bevy `0.14`.
 - Renamed `has_any_active_contacts` to `has_any_active_contact` for better consistency with rapier.
 - `ColliderDebugColor`'s property is now a `bevy::color::Hsla`.
-- Added serialization support for `CollisionGroups`, `SolverGroups`, `ContactForceEventThreshold`, `ContactSkin`.
+- `ImpulseJoint::data` and `MultibodyJoint::data` are now a more detailed enum `TypedJoint` instead of a `GenericJoint`.
+You can still access its inner `GenericJoint` with `.as_ref()` or `as_mut()`.
+- `data` fields from all joints (`FixedJoint`, …) are now public, and their getters removed.
 
 ### Added
 
 - Derive `Debug` for `LockedAxes`.
 - Expose `is_sliding_down_slope` to both `MoveShapeOutput` and `KinematicCharacterControllerOutput`.
 - Added a First Person Shooter `character_controller` example for `bevy_rapier3d`.
+- Added serialization support for `CollisionGroups`, `SolverGroups`, `ContactForceEventThreshold`, `ContactSkin`.
+- Added `RapierContext::context.impulse_revolute_joint_angle` to compute the angle along a revolute joint’s principal axis.
 
 ### Fix
 
@@ -127,14 +166,14 @@ performance of the other parts of the simulation.
 
 - 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.
+- Add the `ComputedColliderShape::ConvexHull` variant to automatically 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.
+- Improved performance of the writeback system by not iterating 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`.
 
@@ -144,7 +183,7 @@ performance of the other parts of the simulation.
 
 - Update to Bevy 0.10.
 - The `PhysicsHooksWithQuery` trait has been renamed to by the `BevyPhysicsHooks`.
-- Bevy resources and queries accessed by the physics hook are now specified by the implementor of `BevyPhysicsHooks`
+- Bevy resources and queries accessed by the physics hook are now specified by the implementer of `BevyPhysicsHooks`
   which must derive Bevy’s `SystemParam` trait. This implies that the physics hook’s `filter_contact_pair` (and
   all its other methods) no longer take the Bevy `Query` as argument. Queries and resources are accessed through
   `self`.
@@ -435,7 +474,7 @@ Finally, there is now a prelude: `use bevy_rapier2d::prelude::*`.
   is used. It will silently ignore the shape instead.
 - The crate has now a `render` feature that allows building it without any
   rendering support (avoiding some dependencies that may not compile when
-  targetting WASM).
+  targeting WASM).
 
 ## 0.7.0
 
@@ -465,7 +504,7 @@ Finally, there is now a prelude: `use bevy_rapier2d::prelude::*`.
 
 - It is now possible to attach multiple colliders to a single
   rigid-body by using Bevy hierarchy: an entity contains
-  the `RigidBodyBuider` whereas its children contain the `ColliderBuilder`.
+  the `RigidBodyBuilder` whereas its children contain the `ColliderBuilder`.
 
 ### Changed
 

Cargo.toml

@@ -1,7 +1,12 @@
 [workspace]
-members = ["bevy_rapier2d", "bevy_rapier3d"]
+members = ["bevy_rapier2d", "bevy_rapier3d", "bevy_rapier_benches3d"]
 resolver = "2"
 
+[workspace.lints]
+rust.unexpected_cfgs = { level = "warn", check-cfg = [
+    'cfg(feature, values("dim2", "dim3"))',
+] }
+
 [profile.dev]
 # Use slightly better optimization by default, as examples otherwise seem laggy.
 opt-level = 1

bevy_rapier2d/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "bevy_rapier2d"
-version = "0.27.0-rc.1"
+version = "0.27.0"
 authors = ["Sébastien Crozet <[email protected]>"]
 description = "2-dimensional physics engine in Rust, official Bevy plugin."
 documentation = "http://docs.rs/bevy_rapier2d"
@@ -17,6 +17,9 @@ edition = "2021"
 path = "../src/lib.rs"
 required-features = ["dim2"]
 
+[lints]
+workspace = true
+
 [features]
 default = ["dim2", "async-collider", "debug-render-2d"]
 dim2 = []
@@ -44,21 +47,24 @@ headless = []
 async-collider = ["bevy/bevy_asset", "bevy/bevy_scene"]
 
 [dependencies]
-bevy = { version = "0.14.0-rc.3", default-features = false }
-nalgebra = { version = "0.32.6", features = ["convert-glam027"] }
-rapier2d = "0.20"
+bevy = { version = "0.14", default-features = false }
+nalgebra = { version = "0.33", features = ["convert-glam027"] }
+rapier2d = "0.22"
 bitflags = "2.4"
 log = "0.4"
 serde = { version = "1", features = ["derive"], optional = true }
 
 [dev-dependencies]
-bevy = { version = "0.14.0-rc.3", default-features = false, features = [
+bevy = { version = "0.14", default-features = false, features = [
     "x11",
     "bevy_state",
+    "bevy_debug_stepping",
 ] }
 oorandom = "11"
 approx = "0.5.1"
 glam = { version = "0.27", features = ["approx"] }
+bevy-inspector-egui = "0.25.1"
+bevy_egui = "0.28.0"
 
 [package.metadata.docs.rs]
 # Enable all the features when building the docs on docs.rs

bevy_rapier2d/examples/debug_despawn2.rs

@@ -174,8 +174,7 @@ fn spawn_cube(commands: &mut Commands, game: &mut Game) {
                         block_entities[*i],
                         RevoluteJointBuilder::new()
                             .local_anchor1(anchor_1)
-                            .local_anchor2(anchor_2)
-                            .build(),
+                            .local_anchor2(anchor_2),
                     ))
                     .id();
                 game.current_cube_joints.push(id);

bevy_rapier2d/examples/debug_toggle2.rs

@@ -0,0 +1,117 @@
+use std::time::Duration;
+
+pub use bevy::input::common_conditions::input_just_pressed;
+use bevy::prelude::*;
+use bevy_rapier2d::prelude::*;
+
+fn main() {
+    App::new()
+        .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(),
+            RapierDebugRenderPlugin::default(),
+        ))
+        .add_systems(Startup, (setup_graphics, setup_physics))
+        .add_systems(
+            Update,
+            (
+                toggle_debug,
+                (|mut debug_render_context: ResMut<DebugRenderContext>| {
+                    debug_render_context.enabled = !debug_render_context.enabled;
+                })
+                .run_if(input_just_pressed(KeyCode::KeyV)),
+            ),
+        )
+        .run();
+}
+
+pub fn setup_graphics(mut commands: Commands) {
+    commands.spawn(Camera3dBundle {
+        transform: Transform::from_xyz(-30.0, 30.0, 100.0)
+            .looking_at(Vec3::new(0.0, 10.0, 0.0), Vec3::Y),
+        ..Default::default()
+    });
+}
+
+#[derive(Component)]
+pub struct DebugCooldown(pub Timer);
+
+pub fn setup_physics(mut commands: Commands) {
+    /*
+     * Ground
+     */
+    let ground_size = 200.1;
+    let ground_height = 0.1;
+
+    commands.spawn((
+        TransformBundle::from(Transform::from_xyz(0.0, -ground_height, 0.0)),
+        Collider::cuboid(ground_size, ground_height),
+    ));
+
+    /*
+     * Create the cubes
+     */
+    let num = 8;
+    let rad = 1.0;
+
+    let shift = rad * 2.0 + rad;
+    let centerx = shift * (num / 2) as f32;
+    let centery = shift / 2.0;
+    let centerz = shift * (num / 2) as f32;
+
+    let mut offset = -(num as f32) * (rad * 2.0 + rad) * 0.5;
+    let mut color = 0;
+    let colors = [
+        Hsla::hsl(220.0, 1.0, 0.3),
+        Hsla::hsl(180.0, 1.0, 0.3),
+        Hsla::hsl(260.0, 1.0, 0.7),
+    ];
+
+    for j in 0usize..20 {
+        for i in 0..num {
+            for k in 0usize..num {
+                let x = i as f32 * shift - centerx + offset;
+                let y = j as f32 * shift + centery + 3.0;
+                let z = k as f32 * shift - centerz + offset;
+                color += 1;
+
+                commands
+                    .spawn(TransformBundle::from(Transform::from_rotation(
+                        Quat::from_rotation_x(0.2),
+                    )))
+                    .with_children(|child| {
+                        child.spawn((
+                            TransformBundle::from(Transform::from_xyz(x, y, z)),
+                            RigidBody::Dynamic,
+                            Collider::cuboid(rad, rad),
+                            ColliderDebugColor(colors[color % 3]),
+                            ColliderDebug::AlwaysRender,
+                            DebugCooldown(Timer::new(
+                                Duration::from_secs_f32(0.4f32 + (i % 3 + (j + 1) % 3) as f32),
+                                TimerMode::Repeating,
+                            )),
+                        ));
+                    });
+            }
+        }
+
+        offset -= 0.05 * rad * (num as f32 - 1.0);
+    }
+}
+
+pub fn toggle_debug(time: Res<Time>, mut query: Query<(&mut ColliderDebug, &mut DebugCooldown)>) {
+    for (mut debug, mut cooldown) in query.iter_mut() {
+        cooldown.0.tick(time.delta());
+        if cooldown.0.just_finished() {
+            *debug = match *debug {
+                ColliderDebug::AlwaysRender => ColliderDebug::NeverRender,
+                ColliderDebug::NeverRender => ColliderDebug::AlwaysRender,
+            }
+        }
+    }
+}

bevy_rapier2d/examples/player_movement2.rs

@@ -24,7 +24,8 @@ fn main() {
 #[derive(Component)]
 pub struct Player(f32);
 
-pub fn spawn_player(mut commands: Commands, mut rapier_config: ResMut<RapierConfiguration>) {
+pub fn spawn_player(mut commands: Commands, mut rapier_config: Query<&mut RapierConfiguration>) {
+    let mut rapier_config = rapier_config.single_mut();
     // Set gravity to 0.0 and spawn camera.
     rapier_config.gravity = Vec2::ZERO;
     commands.spawn(Camera2dBundle::default());