Multiple worlds/pipelines

bevy_rapier2d/examples/player_movement2.rs

@@ -24,9 +24,13 @@ 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_context: ResMut<RapierContext>) {
     // Set gravity to 0.0 and spawn camera.
-    rapier_config.gravity = Vec2::ZERO;
+    rapier_context
+        .get_world_mut(DEFAULT_WORLD_ID)
+        .expect("Default world should exist")
+        .set_gravity(Vec2::ZERO);
+
     commands.spawn(Camera2dBundle::default());
 
     let sprite_size = 100.0;

bevy_rapier2d/examples/testbed2.rs

@@ -145,13 +145,12 @@ fn main() {
         )
         .add_systems(
             OnExit(Examples::PlayerMovement2),
-            (
-                cleanup,
-                |mut rapier_config: ResMut<RapierConfiguration>, ctxt: Res<RapierContext>| {
-                    rapier_config.gravity =
-                        RapierConfiguration::new(ctxt.integration_parameters.length_unit).gravity;
-                },
-            ),
+            (cleanup, |mut rapier_context: ResMut<RapierContext>| {
+                rapier_context
+                    .get_world_mut(DEFAULT_WORLD_ID)
+                    .expect("Default world should exist")
+                    .set_gravity(Vect::Y * -9.81)
+            }),
         )
         //
         //testbed

bevy_rapier3d/examples/change_world3.rs

@@ -0,0 +1,103 @@
+use bevy::prelude::*;
+use bevy_rapier3d::prelude::*;
+
+const N_WORLDS: usize = 5;
+const WORLD_CHANGE_DELAY_SEC: f32 = 3.0;
+
+#[derive(Component)]
+/// Denotes which object(s) to change the world of
+struct ChangeWorld;
+
+fn main() {
+    App::new()
+        .insert_resource(ClearColor(Color::rgb(
+            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, change_world)
+        .run();
+}
+
+fn change_world(mut query: Query<&mut PhysicsWorld, With<ChangeWorld>>, time: Res<Time>) {
+    for mut bw in query.iter_mut() {
+        if time.elapsed_seconds() > (bw.world_id.0 as f32 + 1.0) * WORLD_CHANGE_DELAY_SEC {
+            let new_world_id = bw.world_id.0 + 1;
+
+            if new_world_id != N_WORLDS {
+                println!("Changing world to {new_world_id}.");
+                bw.world_id = WorldId::new(new_world_id);
+            }
+        }
+    }
+}
+
+fn setup_graphics(mut commands: Commands) {
+    commands.spawn(Camera3dBundle {
+        transform: Transform::from_xyz(0.0, 3.0, -10.0)
+            .looking_at(Vec3::new(0.0, 0.0, 0.0), Vec3::Y),
+        ..Default::default()
+    });
+}
+
+pub fn setup_physics(mut context: ResMut<RapierContext>, mut commands: Commands) {
+    for _ in 1..N_WORLDS {
+        context.add_world(RapierWorld::default());
+    }
+
+    for world_id in 0..N_WORLDS {
+        let color = [
+            Color::hsl(220.0, 1.0, 0.3),
+            Color::hsl(180.0, 1.0, 0.3),
+            Color::hsl(260.0, 1.0, 0.7),
+        ][world_id % 3];
+
+        /*
+         * Ground
+         */
+        let ground_size = 5.1;
+        let ground_height = 0.1;
+
+        commands.spawn((
+            TransformBundle::from(Transform::from_xyz(
+                0.0,
+                (world_id as f32) * -0.5 - ground_height,
+                0.0,
+            )),
+            Collider::cuboid(ground_size, ground_height, ground_size),
+            ColliderDebugColor(color),
+            RigidBody::Fixed,
+            PhysicsWorld {
+                world_id: WorldId::new(world_id),
+            },
+        ));
+    }
+
+    /*
+     * Create the cube
+     *
+     * The child is just there to show that physics world changes will also change the children.
+     */
+    commands
+        .spawn((
+            TransformBundle::from(Transform::from_xyz(0.0, 3.0, 0.0)),
+            RigidBody::Dynamic,
+            PhysicsWorld {
+                world_id: DEFAULT_WORLD_ID,
+            },
+            ChangeWorld,
+        ))
+        .with_children(|p| {
+            p.spawn((
+                TransformBundle::from_transform(Transform::from_xyz(0.0, 0.0, 0.0)),
+                Collider::cuboid(0.5, 0.5, 0.5),
+                ColliderDebugColor(Color::hsl(260.0, 1.0, 0.7)),
+            ));
+        });
+}

bevy_rapier3d/examples/multi_world3.rs

@@ -0,0 +1,109 @@
+use bevy::prelude::*;
+use bevy_rapier3d::prelude::*;
+
+const N_WORLDS: usize = 5;
+
+fn main() {
+    App::new()
+        .insert_resource(ClearColor(Color::rgb(
+            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_physics, setup_graphics))
+        .add_systems(Update, move_middle_world)
+        // .add_systems(Update, change_world)
+        // .add_systems(Update, despawn_last)
+        .run();
+}
+
+fn setup_graphics(mut commands: Commands) {
+    commands.spawn(Camera3dBundle {
+        transform: Transform::from_xyz(0.0, 3.0, -10.0)
+            .looking_at(Vec3::new(0.0, 0.0, 0.0), Vec3::Y),
+        ..Default::default()
+    });
+}
+
+#[derive(Component)]
+struct Platform {
+    starting_y: f32,
+}
+
+fn move_middle_world(
+    time: Res<Time>,
+    mut query: Query<(&mut Transform, &PhysicsWorld, &Platform)>,
+) {
+    for (mut transform, world, platform) in query.iter_mut() {
+        if world.world_id.0 == N_WORLDS / 2 {
+            transform.translation.y = platform.starting_y + -time.elapsed_seconds().sin();
+        }
+    }
+}
+
+/// 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;
+//         }
+//     }
+// }
+
+pub fn setup_physics(mut context: ResMut<RapierContext>, mut commands: Commands) {
+    for _ in 1..N_WORLDS {
+        context.add_world(RapierWorld::default());
+    }
+
+    for world_id in 0..N_WORLDS {
+        let world_id = WorldId::new(world_id);
+
+        let color = [
+            Color::hsl(220.0, 1.0, 0.3),
+            Color::hsl(180.0, 1.0, 0.3),
+            Color::hsl(260.0, 1.0, 0.7),
+        ][world_id.0 % 3];
+
+        /*
+         * Ground
+         */
+        let ground_size = 5.1;
+        let ground_height = 0.1;
+
+        let starting_y = (world_id.0 as f32) * -0.5 - ground_height;
+
+        commands.spawn((
+            TransformBundle::from(Transform::from_xyz(0.0, starting_y, 0.0)),
+            Collider::cuboid(ground_size, ground_height, ground_size),
+            ColliderDebugColor(color),
+            Platform { starting_y },
+            PhysicsWorld { world_id },
+        ));
+
+        /*
+         * Create the cube
+         */
+
+        commands.spawn((
+            TransformBundle::from(Transform::from_xyz(0.0, 1.0 + world_id.0 as f32 * 5.0, 0.0)),
+            RigidBody::Dynamic,
+            Collider::cuboid(0.5, 0.5, 0.5),
+            ColliderDebugColor(color),
+            PhysicsWorld { world_id },
+        ));
+    }
+}

bevy_rapier3d/examples/ray_casting3.rs

@@ -92,13 +92,16 @@ pub fn cast_ray(
         };
 
         // Then cast the ray.
-        let hit = rapier_context.cast_ray(
-            ray.origin,
-            ray.direction.into(),
-            f32::MAX,
-            true,
-            QueryFilter::only_dynamic(),
-        );
+        let hit = rapier_context
+            .cast_ray(
+                DEFAULT_WORLD_ID,
+                ray.origin,
+                *ray.direction,
+                f32::MAX,
+                true,
+                QueryFilter::only_dynamic(),
+            )
+            .expect("Default world should exist.");
 
         if let Some((entity, _toi)) = hit {
             // Color in blue the entity we just hit.

src/control/character_controller.rs

@@ -1,8 +1,8 @@
 use crate::geometry::{Collider, CollisionGroups, ShapeCastHit};
 use crate::math::{Real, Rot, Vect};
+use crate::plugin::context::RapierWorld;
 use bevy::prelude::*;
 
-use crate::plugin::RapierContext;
 pub use rapier::control::CharacterAutostep;
 pub use rapier::control::CharacterLength;
 use rapier::prelude::{ColliderSet, QueryFilterFlags};
@@ -26,18 +26,18 @@ pub struct CharacterCollision {
 
 impl CharacterCollision {
     pub(crate) fn from_raw(
-        ctxt: &RapierContext,
+        world: &RapierWorld,
         c: &rapier::control::CharacterCollision,
     ) -> Option<Self> {
-        Self::from_raw_with_set(&ctxt.colliders, c, true)
+        Self::from_raw_with_set(&world.colliders, c, true)
     }
 
     pub(crate) fn from_raw_with_set(
         colliders: &ColliderSet,
         c: &rapier::control::CharacterCollision,
         details_always_computed: bool,
     ) -> Option<Self> {
-        RapierContext::collider_entity_with_set(colliders, c.handle).map(|entity| {
+        RapierWorld::collider_entity_with_set(colliders, c.handle).map(|entity| {
             CharacterCollision {
                 entity,
                 character_translation: c.character_pos.translation.vector.into(),

src/dynamics/rigid_body.rs

@@ -1,4 +1,5 @@
 use crate::math::Vect;
+use crate::plugin::context::WorldId;
 use bevy::prelude::*;
 use rapier::prelude::{
     Isometry, LockedAxes as RapierLockedAxes, RigidBodyActivation, RigidBodyHandle, RigidBodyType,
@@ -178,7 +179,7 @@ impl Default for AdditionalMassProperties {
 /// This only reads the mass from entities with a [`RigidBody`] component.
 #[derive(Copy, Clone, Debug, Default, PartialEq, Component, Reflect)]
 #[reflect(Component, PartialEq)]
-pub struct ReadMassProperties(MassProperties);
+pub struct ReadMassProperties(pub MassProperties);
 
 impl ReadMassProperties {
     /// Get the [`MassProperties`] of this [`RigidBody`].
@@ -458,6 +459,14 @@ impl Default for GravityScale {
     }
 }
 
+/// Denotes which world this body is a part of. If omitted, the default world is assumed.
+#[derive(Copy, Clone, Debug, Default, PartialEq, Eq, Component, Reflect)]
+#[reflect(Component, PartialEq)]
+pub struct PhysicsWorld {
+    /// The world which this body is in. Use DEFAULT_WORLD_ID for the default world.
+    pub world_id: WorldId,
+}
+
 /// Information used for Continuous-Collision-Detection.
 #[derive(Copy, Clone, Debug, Default, PartialEq, Eq, Component, Reflect)]
 #[reflect(Component, PartialEq)]

src/geometry/collider.rs

@@ -341,6 +341,7 @@ bitflags::bitflags! {
 
         /// All of the groups.
         const ALL = u32::MAX;
+
         /// None of the groups.
         const NONE = 0;
     }

src/lib.rs

@@ -16,10 +16,13 @@
 #[cfg(feature = "serde-serialize")]
 extern crate serde;
 
+/// nalgebra used by bevy_rapier
 pub extern crate nalgebra as na;
 #[cfg(feature = "dim2")]
+/// rapier2d used by bevy_rapier
 pub extern crate rapier2d as rapier;
 #[cfg(feature = "dim3")]
+/// rapier3d used by bevy_rapier
 pub extern crate rapier3d as rapier;
 pub use rapier::parry;
 
@@ -66,6 +69,8 @@ pub mod render;
 /// Miscellaneous helper functions.
 pub mod utils;
 
+// pub use crate::plugin::context::{RapierWorld, WorldId, DEFAULT_WORLD_ID};
+
 /// Groups the most often used types.
 pub mod prelude {
     pub use crate::control::*;