Merge remote-tracking branch 'origin/master' into read-mass-properties

CHANGELOG.md

@@ -1,5 +1,18 @@
 # 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.
+
 ## 0.22.0 (10 July 2023)
 ### Modified
 - Update to Bevy 0.11.

bevy_rapier2d/examples/custom_system_setup2.rs

@@ -20,7 +20,6 @@ fn main() {
         PostUpdate,
         (
             PhysicsSet::SyncBackend,
-            PhysicsSet::SyncBackendFlush,
             PhysicsSet::StepSimulation,
             PhysicsSet::Writeback,
         )
@@ -33,8 +32,6 @@ fn main() {
         (
             RapierPhysicsPlugin::<NoUserData>::get_systems(PhysicsSet::SyncBackend)
                 .in_set(PhysicsSet::SyncBackend),
-            RapierPhysicsPlugin::<NoUserData>::get_systems(PhysicsSet::SyncBackendFlush)
-                .in_set(PhysicsSet::SyncBackendFlush),
             (
                 RapierPhysicsPlugin::<NoUserData>::get_systems(PhysicsSet::StepSimulation),
                 despawn_one_box,

bevy_rapier3d/examples/custom_system_setup3.rs

@@ -20,7 +20,6 @@ fn main() {
         PostUpdate,
         (
             PhysicsSet::SyncBackend,
-            PhysicsSet::SyncBackendFlush,
             PhysicsSet::StepSimulation,
             PhysicsSet::Writeback,
         )
@@ -33,8 +32,6 @@ fn main() {
         (
             RapierPhysicsPlugin::<NoUserData>::get_systems(PhysicsSet::SyncBackend)
                 .in_set(PhysicsSet::SyncBackend),
-            RapierPhysicsPlugin::<NoUserData>::get_systems(PhysicsSet::SyncBackendFlush)
-                .in_set(PhysicsSet::SyncBackendFlush),
             (
                 RapierPhysicsPlugin::<NoUserData>::get_systems(PhysicsSet::StepSimulation),
                 despawn_one_box,

src/geometry/collider.rs

@@ -467,6 +467,8 @@ impl Default for ContactForceEventThreshold {
 
 /// Component which will be filled (if present) with a list of entities with which the current
 /// entity is currently in contact.
+///
+/// This currently only updates when on an entity with a `Collider`.
 #[derive(Component, Default, Reflect)]
 #[reflect(Component)]
 pub struct CollidingEntities(pub(crate) HashSet<Entity>);

src/geometry/shape_views/ball.rs

@@ -2,6 +2,7 @@ use crate::math::Real;
 use rapier::parry::shape::Ball;
 
 /// Read-only access to the properties of a ball.
+#[derive(Copy, Clone)]
 pub struct BallView<'a> {
     /// The raw shape from Rapier.
     pub raw: &'a Ball,

src/geometry/shape_views/capsule.rs

@@ -3,6 +3,7 @@ use crate::math::{Real, Rot, Vect};
 use rapier::parry::shape::Capsule;
 
 /// Read-only access to the properties of a capsule.
+#[derive(Copy, Clone)]
 pub struct CapsuleView<'a> {
     /// The raw shape from Rapier.
     pub raw: &'a Capsule,

src/geometry/shape_views/collider_view.rs

@@ -7,6 +7,7 @@ use rapier::parry::either::Either;
 use rapier::parry::shape::TypedShape;
 
 /// Read-only access to the properties of a collider.
+#[derive(Copy, Clone)]
 pub enum ColliderView<'a> {
     /// A ball shape.
     Ball(BallView<'a>),
@@ -146,7 +147,107 @@ impl<'a> From<TypedShape<'a>> for ColliderView<'a> {
     }
 }
 
+impl<'a> From<ColliderView<'a>> for TypedShape<'a> {
+    fn from(collider_view: ColliderView<'a>) -> TypedShape<'a> {
+        collider_view.as_typed_shape()
+    }
+}
+
+impl<'a> From<ColliderView<'a>> for SharedShape {
+    fn from(collider_view: ColliderView<'a>) -> SharedShape {
+        collider_view.to_shared_shape()
+    }
+}
+
 impl<'a> ColliderView<'a> {
+    /// Convert to [`parry::TypedShape`].
+    pub fn as_typed_shape(self) -> TypedShape<'a> {
+        match self {
+            ColliderView::Ball(BallView { raw: s }) => TypedShape::Ball(s),
+            ColliderView::Cuboid(CuboidView { raw: s }) => TypedShape::Cuboid(s),
+            ColliderView::Capsule(CapsuleView { raw: s }) => TypedShape::Capsule(s),
+            ColliderView::Segment(SegmentView { raw: s }) => TypedShape::Segment(s),
+            ColliderView::Triangle(TriangleView { raw: s }) => TypedShape::Triangle(s),
+            ColliderView::TriMesh(TriMeshView { raw: s }) => TypedShape::TriMesh(s),
+            ColliderView::Polyline(PolylineView { raw: s }) => TypedShape::Polyline(s),
+            ColliderView::HalfSpace(HalfSpaceView { raw: s }) => TypedShape::HalfSpace(s),
+            ColliderView::HeightField(HeightFieldView { raw: s }) => TypedShape::HeightField(s),
+            ColliderView::Compound(CompoundView { raw: s }) => TypedShape::Compound(s),
+            #[cfg(feature = "dim2")]
+            ColliderView::ConvexPolygon(ConvexPolygonView { raw: s }) => {
+                TypedShape::ConvexPolygon(s)
+            }
+            #[cfg(feature = "dim3")]
+            ColliderView::ConvexPolyhedron(ConvexPolyhedronView { raw: s }) => {
+                TypedShape::ConvexPolyhedron(s)
+            }
+            #[cfg(feature = "dim3")]
+            ColliderView::Cylinder(CylinderView { raw: s }) => TypedShape::Cylinder(s),
+            #[cfg(feature = "dim3")]
+            ColliderView::Cone(ConeView { raw: s }) => TypedShape::Cone(s),
+            ColliderView::RoundCuboid(RoundCuboidView { raw: s }) => TypedShape::RoundCuboid(s),
+            ColliderView::RoundTriangle(RoundTriangleView { raw: s }) => {
+                TypedShape::RoundTriangle(s)
+            }
+            // RoundedTriMesh,
+            // RoundedHeightField,
+            #[cfg(feature = "dim2")]
+            ColliderView::RoundConvexPolygon(RoundConvexPolygonView { raw: s }) => {
+                TypedShape::RoundConvexPolygon(s)
+            }
+            #[cfg(feature = "dim3")]
+            ColliderView::RoundCylinder(RoundCylinderView { raw: s }) => {
+                TypedShape::RoundCylinder(s)
+            }
+            #[cfg(feature = "dim3")]
+            ColliderView::RoundCone(RoundConeView { raw: s }) => TypedShape::RoundCone(s),
+            #[cfg(feature = "dim3")]
+            ColliderView::RoundConvexPolyhedron(RoundConvexPolyhedronView { raw: s }) => {
+                TypedShape::RoundConvexPolyhedron(s)
+            }
+        }
+    }
+
+    /// Convert to [`parry::SharedShape`].
+    pub fn to_shared_shape(self) -> SharedShape {
+        match self {
+            ColliderView::Ball(BallView { raw }) => SharedShape::new(*raw),
+            ColliderView::Cuboid(CuboidView { raw }) => SharedShape::new(*raw),
+            ColliderView::Capsule(CapsuleView { raw }) => SharedShape::new(*raw),
+            ColliderView::Segment(SegmentView { raw }) => SharedShape::new(*raw),
+            ColliderView::Triangle(TriangleView { raw }) => SharedShape::new(*raw),
+            ColliderView::TriMesh(TriMeshView { raw }) => SharedShape::new(raw.clone()),
+            ColliderView::Polyline(PolylineView { raw }) => SharedShape::new(raw.clone()),
+            ColliderView::HalfSpace(HalfSpaceView { raw }) => SharedShape::new(*raw),
+            ColliderView::HeightField(HeightFieldView { raw }) => SharedShape::new(raw.clone()),
+            ColliderView::Compound(CompoundView { raw }) => SharedShape::new(raw.clone()),
+            #[cfg(feature = "dim2")]
+            ColliderView::ConvexPolygon(ConvexPolygonView { raw }) => SharedShape::new(raw.clone()),
+            #[cfg(feature = "dim3")]
+            ColliderView::ConvexPolyhedron(ConvexPolyhedronView { raw }) => {
+                SharedShape::new(raw.clone())
+            }
+            #[cfg(feature = "dim3")]
+            ColliderView::Cylinder(CylinderView { raw }) => SharedShape::new(*raw),
+            #[cfg(feature = "dim3")]
+            ColliderView::Cone(ConeView { raw }) => SharedShape::new(*raw),
+            ColliderView::RoundCuboid(RoundCuboidView { raw }) => SharedShape::new(*raw),
+            ColliderView::RoundTriangle(RoundTriangleView { raw }) => SharedShape::new(*raw),
+            #[cfg(feature = "dim2")]
+            ColliderView::RoundConvexPolygon(RoundConvexPolygonView { raw }) => {
+                SharedShape::new(raw.clone())
+            }
+            #[cfg(feature = "dim3")]
+            ColliderView::RoundCylinder(RoundCylinderView { raw }) => SharedShape::new(*raw),
+            #[cfg(feature = "dim3")]
+            ColliderView::RoundCone(RoundConeView { raw }) => SharedShape::new(*raw),
+            #[cfg(feature = "dim3")]
+            ColliderView::RoundConvexPolyhedron(RoundConvexPolyhedronView { raw }) => {
+                SharedShape::new(raw.clone())
+            }
+        }
+    }
+
     /// Compute the scaled version of `self.raw`.
     pub fn raw_scale_by(&self, scale: Vect, num_subdivisions: u32) -> Option<SharedShape> {
         let result = match self {

src/geometry/shape_views/compound.rs

@@ -3,6 +3,7 @@ use crate::math::{Rot, Vect};
 use rapier::parry::shape::Compound;
 
 /// Read-only access to the properties of a compound shape.
+#[derive(Copy, Clone)]
 pub struct CompoundView<'a> {
     /// The raw shape from Rapier.
     pub raw: &'a Compound,

src/geometry/shape_views/cone.rs

@@ -2,6 +2,7 @@ use crate::math::Real;
 use rapier::parry::shape::Cone;
 
 /// Read-only access to the properties of a cone.
+#[derive(Copy, Clone)]
 pub struct ConeView<'a> {
     /// The raw shape from Rapier.
     pub raw: &'a Cone,

src/geometry/shape_views/convex_polygon.rs

@@ -2,6 +2,7 @@ use crate::math::Vect;
 use rapier::parry::shape::ConvexPolygon;
 
 /// Read-only access to the properties of a convex polygon.
+#[derive(Copy, Clone)]
 pub struct ConvexPolygonView<'a> {
     /// The raw shape from Rapier.
     pub raw: &'a ConvexPolygon,

src/geometry/shape_views/convex_polyhedron.rs

@@ -2,6 +2,7 @@ use crate::math::Vect;
 use rapier::parry::shape::ConvexPolyhedron;
 
 /// Read-only access to the properties of a convex polyhedron.
+#[derive(Copy, Clone)]
 pub struct ConvexPolyhedronView<'a> {
     /// The raw shape from Rapier.
     pub raw: &'a ConvexPolyhedron,

src/geometry/shape_views/cuboid.rs

@@ -2,6 +2,7 @@ use crate::math::Vect;
 use rapier::geometry::Cuboid;
 
 /// Read-only access to the properties of a cuboid.
+#[derive(Copy, Clone)]
 pub struct CuboidView<'a> {
     /// The raw shape from Rapier.
     pub raw: &'a Cuboid,

src/geometry/shape_views/cylinder.rs

@@ -2,6 +2,7 @@ use crate::math::Real;
 use rapier::parry::shape::Cylinder;
 
 /// Read-only access to the properties of a cylinder.
+#[derive(Copy, Clone)]
 pub struct CylinderView<'a> {
     /// The raw shape from Rapier.
     pub raw: &'a Cylinder,

src/geometry/shape_views/halfspace.rs

@@ -2,6 +2,7 @@ use crate::math::Vect;
 use rapier::parry::shape::HalfSpace;
 
 /// Read-only access to the properties of a half-space.
+#[derive(Copy, Clone)]
 pub struct HalfSpaceView<'a> {
     /// The raw shape from Rapier.
     pub raw: &'a HalfSpace,

src/geometry/shape_views/heightfield.rs

@@ -3,6 +3,7 @@ use rapier::parry::shape::HeightField;
 pub use rapier::parry::shape::HeightFieldCellStatus;
 
 /// Read-only access to the properties of a heightfield.
+#[derive(Copy, Clone)]
 pub struct HeightFieldView<'a> {
     /// The raw shape from Rapier.
     pub raw: &'a HeightField,

src/geometry/shape_views/polyline.rs

@@ -2,6 +2,7 @@ use crate::math::Vect;
 use rapier::parry::shape::Polyline;
 
 /// Read-only access to the properties of a polyline.
+#[derive(Copy, Clone)]
 pub struct PolylineView<'a> {
     /// The raw shape from Rapier.
     pub raw: &'a Polyline,

src/geometry/shape_views/round_shape.rs

@@ -19,6 +19,7 @@ use {
 macro_rules!  round_shape_view(
     ($RoundShape: ident, $RoundShapeView: ident, $ShapeView: ident, $RoundShapeViewMut: ident, $ShapeViewMut: ident) => {
         /// Read-only access to the properties of a round shape.
+        #[derive(Copy, Clone)]
         pub struct $RoundShapeView<'a> {
             /// The raw shape from Rapier.
             pub raw: &'a $RoundShape,

src/geometry/shape_views/segment.rs

@@ -2,6 +2,7 @@ use crate::math::{Real, Vect};
 use rapier::parry::shape::Segment;
 
 /// Read-only access to the properties of a segment.
+#[derive(Copy, Clone)]
 pub struct SegmentView<'a> {
     /// The raw shape from Rapier.
     pub raw: &'a Segment,

src/geometry/shape_views/triangle.rs

@@ -2,6 +2,7 @@ use crate::math::{Real, Vect};
 use rapier::parry::shape::Triangle;
 
 /// Read-only access to the properties of a triangle.
+#[derive(Copy, Clone)]
 pub struct TriangleView<'a> {
     /// The raw shape from Rapier.
     pub raw: &'a Triangle,

src/geometry/shape_views/trimesh.rs

@@ -2,6 +2,7 @@ use crate::math::Vect;
 use rapier::parry::shape::{TopologyError, TriMesh, TriMeshFlags};
 
 /// Read-only access to the properties of a triangle mesh.
+#[derive(Copy, Clone)]
 pub struct TriMeshView<'a> {
     /// The raw shape from Rapier.
     pub raw: &'a TriMesh,

src/plugin/context.rs

@@ -117,6 +117,21 @@ impl RapierContext {
             .and_then(|h| self.rigid_body_entity(h))
     }
 
+    /// If entity is a rigid-body, this returns the collider `Entity`s attached
+    /// to that rigid-body.
+    pub fn rigid_body_colliders(&self, entity: Entity) -> impl Iterator<Item = Entity> + '_ {
+        self.entity2body()
+            .get(&entity)
+            .and_then(|handle| self.bodies.get(*handle))
+            .map(|body| {
+                body.colliders()
+                    .iter()
+                    .filter_map(|handle| self.collider_entity(*handle))
+            })
+            .into_iter()
+            .flatten()
+    }
+
     /// Retrieve the Bevy entity the given Rapier collider (identified by its handle) is attached.
     pub fn collider_entity(&self, handle: ColliderHandle) -> Option<Entity> {
         Self::collider_entity_with_set(&self.colliders, handle)