Collider rotation updating

CHANGELOG.md

@@ -9,6 +9,10 @@
 - 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.

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/plugin/systems.rs

@@ -16,7 +16,7 @@ use crate::plugin::configuration::{SimulationToRenderTime, TimestepMode};
 use crate::plugin::{RapierConfiguration, RapierContext};
 use crate::prelude::{
     BevyPhysicsHooks, BevyPhysicsHooksAdapter, CollidingEntities, KinematicCharacterController,
-    KinematicCharacterControllerOutput, RigidBodyDisabled, Vect,
+    KinematicCharacterControllerOutput, RigidBodyDisabled,
 };
 use crate::utils;
 use bevy::ecs::system::{StaticSystemParam, SystemParamItem};
@@ -82,15 +82,9 @@ pub type ColliderComponents<'a> = (
 /// System responsible for applying [`GlobalTransform::scale`] and/or [`ColliderScale`] to
 /// colliders.
 pub fn apply_scale(
-    mut context: ResMut<RapierContext>,
     config: Res<RapierConfiguration>,
     mut changed_collider_scales: Query<
-        (
-            &mut Collider,
-            &RapierColliderHandle,
-            &GlobalTransform,
-            Option<&ColliderScale>,
-        ),
+        (&mut Collider, &GlobalTransform, Option<&ColliderScale>),
         Or<(
             Changed<Collider>,
             Changed<GlobalTransform>,
@@ -101,7 +95,7 @@ pub fn apply_scale(
     // NOTE: we don’t have to apply the RapierConfiguration::physics_scale here because
     //       we are applying the scale to the user-facing shape here, not the ones inside
     //       colliders (yet).
-    for (mut shape, handle, transform, custom_scale) in changed_collider_scales.iter_mut() {
+    for (mut shape, transform, custom_scale) in changed_collider_scales.iter_mut() {
         #[cfg(feature = "dim2")]
         let effective_scale = match custom_scale {
             Some(ColliderScale::Absolute(scale)) => *scale,
@@ -118,14 +112,6 @@ pub fn apply_scale(
         };
 
         if shape.scale != crate::geometry::get_snapped_scale(effective_scale) {
-            if let Some(co) = context.colliders.get_mut(handle.0) {
-                if let Some(position) = co.position_wrt_parent() {
-                    let translation: Vect = position.translation.vector.into();
-                    let unscaled_translation: Vect = translation / shape.scale();
-                    let new_translation = unscaled_translation * effective_scale;
-                    co.set_translation_wrt_parent(new_translation.into());
-                }
-            }
             shape.set_scale(effective_scale, config.scaled_shape_subdivision);
         }
     }
@@ -135,10 +121,14 @@ pub fn apply_scale(
 pub fn apply_collider_user_changes(
     config: Res<RapierConfiguration>,
     mut context: ResMut<RapierContext>,
-    changed_collider_transforms: Query<
-        (&RapierColliderHandle, &GlobalTransform),
-        (Without<RapierRigidBodyHandle>, Changed<GlobalTransform>),
-    >,
+    (changed_collider_transforms, parent_query, transform_query): (
+        Query<
+            (Entity, &RapierColliderHandle, &GlobalTransform),
+            (Without<RapierRigidBodyHandle>, Changed<GlobalTransform>),
+        >,
+        Query<&Parent>,
+        Query<&Transform>,
+    ),
 
     changed_shapes: Query<(&RapierColliderHandle, &Collider), Changed<Collider>>,
     changed_active_events: Query<(&RapierColliderHandle, &ActiveEvents), Changed<ActiveEvents>>,
@@ -167,14 +157,19 @@ pub fn apply_collider_user_changes(
 ) {
     let scale = context.physics_scale;
 
-    for (handle, transform) in changed_collider_transforms.iter() {
-        if let Some(co) = context.colliders.get_mut(handle.0) {
-            if co.parent().is_none() {
-                co.set_position(utils::transform_to_iso(
-                    &transform.compute_transform(),
-                    scale,
-                ))
+    for (entity, handle, transform) in changed_collider_transforms.iter() {
+        if context.collider_parent(entity).is_some() {
+            let (_, collider_position) =
+                collider_offset(entity, &context, &parent_query, &transform_query);
+
+            if let Some(co) = context.colliders.get_mut(handle.0) {
+                co.set_position_wrt_parent(utils::transform_to_iso(&collider_position, scale));
             }
+        } else if let Some(co) = context.colliders.get_mut(handle.0) {
+            co.set_position(utils::transform_to_iso(
+                &transform.compute_transform(),
+                scale,
+            ))
         }
     }
 
@@ -761,14 +756,51 @@ pub fn init_async_scene_colliders(
     }
 }
 
+fn collider_offset(
+    entity: Entity,
+    context: &RapierContext,
+    parent_query: &Query<&Parent>,
+    transform_query: &Query<&Transform>,
+) -> (Option<RigidBodyHandle>, Transform) {
+    let mut body_entity = entity;
+    let mut body_handle = context.entity2body.get(&body_entity).copied();
+    let mut child_transform = Transform::default();
+    while body_handle.is_none() {
+        if let Ok(parent_entity) = parent_query.get(body_entity) {
+            if let Ok(transform) = transform_query.get(body_entity) {
+                child_transform = *transform * child_transform;
+            }
+            body_entity = parent_entity.get();
+        } else {
+            break;
+        }
+
+        body_handle = context.entity2body.get(&body_entity).copied();
+    }
+
+    if body_handle.is_some() {
+        if let Ok(transform) = transform_query.get(body_entity) {
+            let scale_transform = Transform {
+                scale: transform.scale,
+                ..default()
+            };
+
+            child_transform = scale_transform * child_transform;
+        }
+    }
+
+    (body_handle, child_transform)
+}
+
 /// System responsible for creating new Rapier colliders from the related `bevy_rapier` components.
 pub fn init_colliders(
     mut commands: Commands,
     config: Res<RapierConfiguration>,
     mut context: ResMut<RapierContext>,
     colliders: Query<(ColliderComponents, Option<&GlobalTransform>), Without<RapierColliderHandle>>,
     mut rigid_body_mprops: Query<&mut ReadMassProperties>,
-    parent_query: Query<(&Parent, Option<&Transform>)>,
+    parent_query: Query<&Parent>,
+    transform_query: Query<&Transform>,
 ) {
     let context = &mut *context;
     let physics_scale = context.physics_scale;
@@ -845,21 +877,9 @@ pub fn init_colliders(
             builder = builder.contact_force_event_threshold(threshold.0);
         }
 
-        let mut body_entity = entity;
-        let mut body_handle = context.entity2body.get(&body_entity).copied();
-        let mut child_transform = Transform::default();
-        while body_handle.is_none() {
-            if let Ok((parent_entity, transform)) = parent_query.get(body_entity) {
-                if let Some(transform) = transform {
-                    child_transform = *transform * child_transform;
-                }
-                body_entity = parent_entity.get();
-            } else {
-                break;
-            }
-
-            body_handle = context.entity2body.get(&body_entity).copied();
-        }
+        let body_entity = entity;
+        let (body_handle, child_transform) =
+            collider_offset(entity, context, &parent_query, &transform_query);
 
         builder = builder.user_data(entity.to_bits() as u128);