feat: add configurable StagedPhysicsPlugin

core/src/lib.rs

@@ -54,11 +54,22 @@ pub enum PhysicsSystem {
 /// Plugin that registers stage resources and components.
 ///
 /// It does **NOT** enable physics behavior.
-#[derive(Debug, Copy, Clone, Default)]
-pub struct CorePlugin;
+#[derive(Debug, Copy, Clone)]
+pub struct CorePlugin<StepStage: StageLabel + Clone> {
+    /// The stage to run [`PhysicsSteps::update`] to tick the physics system timer
+    pub step_stage: StepStage,
+}
+
+impl Default for CorePlugin<CoreStage> {
+    fn default() -> Self {
+        Self {
+            step_stage: CoreStage::First,
+        }
+    }
+}
 
 #[allow(deprecated)]
-impl Plugin for CorePlugin {
+impl<StepStage: StageLabel + Clone> Plugin for CorePlugin<StepStage> {
     fn build(&self, app: &mut App) {
         app.init_resource::<Gravity>()
             .init_resource::<PhysicsTime>()
@@ -72,10 +83,7 @@ impl Plugin for CorePlugin {
             .register_type::<RotationConstraints>()
             .register_type::<CollisionLayers>()
             .register_type::<SensorShape>()
-            .add_system_to_stage(CoreStage::First, PhysicsSteps::update.system())
-            .add_stage_before(CoreStage::PostUpdate, crate::stage::ROOT, {
-                Schedule::default().with_stage(crate::stage::UPDATE, SystemStage::parallel())
-            });
+            .add_system_to_stage(self.step_stage.clone(), PhysicsSteps::update);
     }
 }
 

examples/custom_schedule.rs

@@ -0,0 +1,95 @@
+use std::f32::consts::PI;
+
+use bevy::prelude::*;
+
+use heron::*;
+
+fn main() {
+    let physics_schedule = "Physics-stage";
+    let post_physics_stage = CoreStage::PostUpdate;
+    let step_physics_stage = CoreStage::First;
+    App::new()
+        // need to setup the custom physics schedule
+        .add_stage_before(CoreStage::Update, physics_schedule, Schedule::default())
+        .add_plugins(DefaultPlugins)
+        .add_plugin(StagedPhysicsPlugin::new(
+            physics_schedule,
+            post_physics_stage,
+            step_physics_stage,
+        )) // Add the plugin
+        .insert_resource(Gravity::from(Vec2::new(0.0, -600.0))) // Define the gravity
+        .add_startup_system(spawn)
+        .add_system(log_collisions)
+        .run();
+}
+
+fn spawn(mut commands: Commands) {
+    commands.spawn_bundle(OrthographicCameraBundle::new_2d());
+
+    // The ground
+    let size = Vec2::new(1000.0, 50.0);
+    commands
+        // Spawn a bundle that contains at least a `GlobalTransform`
+        .spawn_bundle(SpriteBundle {
+            sprite: Sprite {
+                color: Color::WHITE,
+                custom_size: Some(size),
+                ..Default::default()
+            },
+            transform: Transform::from_translation(Vec3::new(0.0, -300.0, 0.0)),
+            ..Default::default()
+        })
+        // Make it a rigid body
+        .insert(RigidBody::Static)
+        // Attach a collision shape
+        .insert(CollisionShape::Cuboid {
+            half_extends: size.extend(0.0) / 2.0,
+            border_radius: None,
+        })
+        // Define restitution (so that it bounces)
+        .insert(PhysicMaterial {
+            restitution: 0.5,
+            ..Default::default()
+        });
+
+    // The Ball
+    let size = Vec2::new(30.0, 30.0);
+    commands
+        // Spawn a bundle that contains at least a `GlobalTransform`
+        .spawn_bundle(SpriteBundle {
+            sprite: Sprite {
+                color: Color::GREEN,
+                custom_size: Some(size),
+                ..Default::default()
+            },
+            transform: Transform::from_translation(Vec3::new(-400.0, 200.0, 0.0)),
+            ..Default::default()
+        })
+        // Make it a rigid body
+        .insert(RigidBody::Dynamic)
+        // Attach a collision shape
+        .insert(CollisionShape::Cuboid {
+            half_extends: size.extend(0.0) / 2.0,
+            border_radius: None,
+        })
+        // Add an initial velocity. (it is also possible to read/mutate this component later)
+        .insert(Velocity::from(Vec2::X * 300.0).with_angular(AxisAngle::new(Vec3::Z, -PI)))
+        // Define restitution (so that it bounces)
+        .insert(PhysicMaterial {
+            restitution: 0.7,
+            ..Default::default()
+        });
+}
+
+fn log_collisions(mut events: EventReader<CollisionEvent>) {
+    for event in events.iter() {
+        match event {
+            CollisionEvent::Started(d1, d2) => {
+                println!("Collision started between {:?} and {:?}", d1, d2)
+            }
+            CollisionEvent::Stopped(d1, d2) => {
+                println!("Collision stopped between {:?} and {:?}", d1, d2)
+            }
+        }
+    }
+}

rapier/src/lib.rs

@@ -48,8 +48,29 @@ mod velocity;
 
 /// Plugin that enables collision detection and physics behavior, powered by rapier.
 #[must_use]
-#[derive(Debug, Copy, Clone, Default)]
-pub struct RapierPlugin;
+#[derive(Debug, Copy, Clone)]
+pub struct RapierPlugin<
+    PhysicsSchedule: StageLabel + Clone,
+    PostPhysicsStage: StageLabel + Clone,
+    StepStage: StageLabel + Clone,
+> {
+    /// The stage where heron will run rapier physics logic
+    pub physics_schedule: PhysicsSchedule,
+    /// The stage where heron will update bevy components based on the rapier physics results
+    pub post_physics_stage: PostPhysicsStage,
+    /// The stage to run [`heron_core::step::PhysicsSteps::update`] to tick the physics system timer
+    pub step_physics_stage: StepStage,
+}
+
+impl Default for RapierPlugin<&'static str, CoreStage, CoreStage> {
+    fn default() -> Self {
+        Self {
+            physics_schedule: "heron-physics",
+            post_physics_stage: CoreStage::PostUpdate,
+            step_physics_stage: CoreStage::First,
+        }
+    }
+}
 
 /// Component that holds a reference to the rapier rigid body
 ///
@@ -70,30 +91,41 @@ enum InternalSystem {
     TransformPropagation,
 }
 
-impl Plugin for RapierPlugin {
+impl<
+        PhysicsSchedule: StageLabel + Clone,
+        PostPhysicsStage: StageLabel + Clone,
+        StepStage: StageLabel + Clone,
+    > Plugin for RapierPlugin<PhysicsSchedule, PostPhysicsStage, StepStage>
+{
     fn build(&self, app: &mut App) {
-        app.add_plugin(heron_core::CorePlugin)
-            .init_resource::<PhysicsPipeline>()
-            .init_resource::<body::HandleMap>()
-            .init_resource::<shape::HandleMap>()
-            .init_resource::<IntegrationParameters>()
-            .add_event::<CollisionEvent>()
-            .insert_resource(BroadPhase::new())
-            .insert_resource(NarrowPhase::new())
-            .insert_resource(RigidBodySet::new())
-            .insert_resource(QueryPipeline::new())
-            .insert_resource(IslandManager::new())
-            .insert_resource(ColliderSet::new())
-            .insert_resource(JointSet::new())
-            .insert_resource(CCDSolver::new())
-            .stage("heron-physics", |schedule: &mut Schedule| {
-                schedule
-                    .add_stage("heron-remove", removal_stage())
-                    .add_stage("heron-update-rapier-world", update_rapier_world_stage())
-                    .add_stage("heron-create-new-bodies", body_update_stage())
-                    .add_stage("heron-create-new-colliders", create_collider_stage())
-            })
-            .add_system_set_to_stage(CoreStage::PostUpdate, step_systems());
+        app.add_plugin(heron_core::CorePlugin {
+            step_stage: self.step_physics_stage.clone(),
+        })
+        .init_resource::<PhysicsPipeline>()
+        .init_resource::<body::HandleMap>()
+        .init_resource::<shape::HandleMap>()
+        .init_resource::<IntegrationParameters>()
+        .add_event::<CollisionEvent>()
+        .insert_resource(BroadPhase::new())
+        .insert_resource(NarrowPhase::new())
+        .insert_resource(RigidBodySet::new())
+        .insert_resource(QueryPipeline::new())
+        .insert_resource(IslandManager::new())
+        .insert_resource(ColliderSet::new())
+        .insert_resource(JointSet::new())
+        .insert_resource(CCDSolver::new())
+        .add_system_set_to_stage(self.post_physics_stage.clone(), step_systems());
+
+        let physics_schedule = app
+            .schedule
+            .get_stage_mut::<Schedule>(&self.physics_schedule)
+            .expect("The provided physics_schedule was not found.");
+
+        physics_schedule
+            .add_stage("heron-remove", removal_stage())
+            .add_stage("heron-update-rapier-world", update_rapier_world_stage())
+            .add_stage("heron-create-new-bodies", body_update_stage())
+            .add_stage("heron-create-new-colliders", create_collider_stage());
     }
 }
 

rapier/src/pipeline.rs

@@ -746,7 +746,7 @@ mod tests {
 
         let mut app = App::new();
         app.add_plugins(MinimalPlugins)
-            .add_plugin(RapierPlugin)
+            .add_plugin(RapierPlugin::default())
             .add_startup_system(setup.system());
 
         app

rapier/tests/acceleration.rs

@@ -20,7 +20,7 @@ fn test_app() -> App {
         .init_resource::<TypeRegistryArc>()
         .insert_resource(PhysicsSteps::every_frame(Duration::from_secs(1)))
         .add_plugin(CorePlugin)
-        .add_plugin(RapierPlugin);
+        .add_plugin(RapierPlugin::default());
     builder
 }
 

rapier/tests/bodies.rs

@@ -21,7 +21,7 @@ fn test_app() -> App {
         .init_resource::<TypeRegistryArc>()
         .insert_resource(PhysicsSteps::every_frame(Duration::from_secs(1)))
         .add_plugin(CorePlugin)
-        .add_plugin(RapierPlugin);
+        .add_plugin(RapierPlugin::default());
     builder
 }
 

rapier/tests/body_types.rs

@@ -19,7 +19,7 @@ fn test_app() -> App {
         .init_resource::<TypeRegistryArc>()
         .insert_resource(PhysicsSteps::every_frame(Duration::from_secs(1)))
         .add_plugin(CorePlugin)
-        .add_plugin(RapierPlugin);
+        .add_plugin(RapierPlugin::default());
     builder
 }
 

rapier/tests/children_collision_shapes.rs

@@ -19,7 +19,7 @@ fn test_app() -> App {
         .init_resource::<TypeRegistryArc>()
         .insert_resource(PhysicsSteps::every_frame(Duration::from_secs(1)))
         .add_plugin(CorePlugin)
-        .add_plugin(RapierPlugin);
+        .add_plugin(RapierPlugin::default());
 
     builder
 }

rapier/tests/constraints.rs

@@ -19,7 +19,7 @@ fn test_app() -> App {
         .init_resource::<TypeRegistryArc>()
         .insert_resource(PhysicsSteps::every_frame(Duration::from_secs(1)))
         .add_plugin(CorePlugin)
-        .add_plugin(RapierPlugin);
+        .add_plugin(RapierPlugin::default());
     builder
 }
 

rapier/tests/damping.rs

@@ -18,7 +18,7 @@ fn test_app() -> App {
     app.init_resource::<TypeRegistryArc>()
         .insert_resource(PhysicsSteps::every_frame(Duration::from_secs(1)))
         .add_plugin(CorePlugin)
-        .add_plugin(RapierPlugin);
+        .add_plugin(RapierPlugin::default());
     app
 }
 

rapier/tests/density.rs

@@ -20,7 +20,7 @@ fn test_app() -> App {
         .init_resource::<TypeRegistryArc>()
         .insert_resource(PhysicsSteps::every_frame(Duration::from_secs(1)))
         .add_plugin(CorePlugin)
-        .add_plugin(RapierPlugin);
+        .add_plugin(RapierPlugin::default());
     builder
 }
 

rapier/tests/events.rs

@@ -23,7 +23,7 @@ fn test_app() -> App {
         .init_resource::<TypeRegistryArc>()
         .insert_resource(PhysicsSteps::every_frame(Duration::from_secs(1)))
         .add_plugin(CorePlugin)
-        .add_plugin(RapierPlugin)
+        .add_plugin(RapierPlugin::default())
         .add_system_to_stage(
             bevy::app::CoreStage::PostUpdate,
             bevy::transform::transform_propagate_system::transform_propagate_system.system(),

rapier/tests/friction.rs

@@ -19,7 +19,7 @@ fn test_app() -> App {
         .init_resource::<TypeRegistryArc>()
         .insert_resource(PhysicsSteps::every_frame(Duration::from_secs(1)))
         .add_plugin(CorePlugin)
-        .add_plugin(RapierPlugin);
+        .add_plugin(RapierPlugin::default());
     builder
 }
 

rapier/tests/layers.rs

@@ -37,7 +37,7 @@ fn test_app() -> App {
         .init_resource::<TypeRegistryArc>()
         .insert_resource(PhysicsSteps::every_frame(Duration::from_secs(1)))
         .add_plugin(CorePlugin)
-        .add_plugin(RapierPlugin);
+        .add_plugin(RapierPlugin::default());
     builder
 }
 

rapier/tests/restitution.rs

@@ -19,7 +19,7 @@ fn test_app() -> App {
         .init_resource::<TypeRegistryArc>()
         .insert_resource(PhysicsSteps::every_frame(Duration::from_secs(1)))
         .add_plugin(CorePlugin)
-        .add_plugin(RapierPlugin);
+        .add_plugin(RapierPlugin::default());
     builder
 }
 

rapier/tests/sensor_shape.rs

@@ -22,7 +22,7 @@ fn test_app() -> App {
         .init_resource::<TypeRegistryArc>()
         .insert_resource(PhysicsSteps::every_frame(Duration::from_secs(1)))
         .add_plugin(CorePlugin)
-        .add_plugin(RapierPlugin);
+        .add_plugin(RapierPlugin::default());
     builder
 }
 

rapier/tests/velocity.rs

@@ -21,7 +21,7 @@ fn test_app() -> App {
         .init_resource::<TypeRegistryArc>()
         .insert_resource(PhysicsSteps::every_frame(Duration::from_secs(1)))
         .add_plugin(CorePlugin)
-        .add_plugin(RapierPlugin);
+        .add_plugin(RapierPlugin::default());
     builder
 }