working boxes2 example

dimforge · Jun 12, 2024 · 202d756 · 202d756
1 parent 0d9c1d7
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Showing 8 changed files with 94 additions and 58 deletions.
diff --git a/Cargo.toml b/Cargo.toml
@@ -10,14 +10,19 @@ opt-level = 1
 codegen-units = 1
 
 [patch.crates-io]
-#nalgebra = { path = "../nalgebra" }
-#parry2d = { path = "../parry/crates/parry2d" }
-#parry3d = { path = "../parry/crates/parry3d" }
+nalgebra = { path = "../nalgebra" }
+# parry2d = { path = "../parry/crates/parry2d" }
+# parry3d = { path = "../parry/crates/parry3d" }
 #rapier2d = { path = "../rapier/crates/rapier2d" }
 #rapier3d = { path = "../rapier/crates/rapier3d" }
 
 #nalgebra = { git = "https://github.com/dimforge/nalgebra", branch = "dev" }
 #parry2d = { git = "https://github.com/dimforge/parry", branch = "master" }
 #parry3d = { git = "https://github.com/dimforge/parry", branch = "master" }
 #rapier2d = { git = "https://github.com/dimforge/rapier", branch = "character-controller" }
-#rapier3d = { git = "https://github.com/dimforge/rapier", branch = "character-controller" }
+#rapier3d = { git = "https://github.com/dimforge/rapier", branch = "character-controller" }
+
+# nalgebra = { git = 'https://github.com/waywardmonkeys/nalgebra.git', branch = "support-glam-027", features = [
+#     "glam027",
+#     "approx",
+# ] }
diff --git a/bevy_rapier2d/Cargo.toml b/bevy_rapier2d/Cargo.toml
@@ -20,8 +20,20 @@ required-features = ["dim2"]
 [features]
 default = ["dim2", "async-collider", "debug-render-2d"]
 dim2 = []
-debug-render-2d = ["bevy/bevy_core_pipeline", "bevy/bevy_sprite", "bevy/bevy_gizmos", "rapier2d/debug-render", "bevy/bevy_asset"]
-debug-render-3d = ["bevy/bevy_core_pipeline", "bevy/bevy_pbr", "bevy/bevy_gizmos", "rapier2d/debug-render", "bevy/bevy_asset"]
+debug-render-2d = [
+    "bevy/bevy_core_pipeline",
+    "bevy/bevy_sprite",
+    "bevy/bevy_gizmos",
+    "rapier2d/debug-render",
+    "bevy/bevy_asset",
+]
+debug-render-3d = [
+    "bevy/bevy_core_pipeline",
+    "bevy/bevy_pbr",
+    "bevy/bevy_gizmos",
+    "rapier2d/debug-render",
+    "bevy/bevy_asset",
+]
 parallel = ["rapier2d/parallel"]
 simd-stable = ["rapier2d/simd-stable"]
 simd-nightly = ["rapier2d/simd-nightly"]
@@ -32,18 +44,18 @@ headless = []
 async-collider = ["bevy/bevy_asset", "bevy/bevy_scene"]
 
 [dependencies]
-bevy = { version = "0.13", default-features = false }
-nalgebra = { version = "0.32.3", features = ["convert-glam025"] }
+bevy = { version = "0.14.0-rc.2", default-features = false }
+nalgebra = { version = "0.32.5", features = ["convert-glam027"] }
 rapier2d = "0.19.0"
 bitflags = "2.4"
 log = "0.4"
 serde = { version = "1", features = ["derive"], optional = true }
 
 [dev-dependencies]
-bevy = { version = "0.13", default-features = false, features = ["x11"] }
+bevy = { version = "0.14.0-rc.2", default-features = false, features = ["x11"] }
 oorandom = "11"
 approx = "0.5.1"
-glam = { version = "0.25", features = ["approx"] }
+glam = { version = "0.27", features = ["approx"] }
 
 [package.metadata.docs.rs]
 # Enable all the features when building the docs on docs.rs

diff --git a/bevy_rapier3d/Cargo.toml b/bevy_rapier3d/Cargo.toml
@@ -21,8 +21,20 @@ required-features = ["dim3"]
 default = ["dim3", "async-collider", "debug-render-3d"]
 dim3 = []
 debug-render = ["debug-render-3d"]
-debug-render-2d = ["bevy/bevy_core_pipeline", "bevy/bevy_sprite", "bevy/bevy_gizmos", "rapier3d/debug-render", "bevy/bevy_asset"]
-debug-render-3d = ["bevy/bevy_core_pipeline", "bevy/bevy_pbr", "bevy/bevy_gizmos", "rapier3d/debug-render", "bevy/bevy_asset"]
+debug-render-2d = [
+    "bevy/bevy_core_pipeline",
+    "bevy/bevy_sprite",
+    "bevy/bevy_gizmos",
+    "rapier3d/debug-render",
+    "bevy/bevy_asset",
+]
+debug-render-3d = [
+    "bevy/bevy_core_pipeline",
+    "bevy/bevy_pbr",
+    "bevy/bevy_gizmos",
+    "rapier3d/debug-render",
+    "bevy/bevy_asset",
+]
 parallel = ["rapier3d/parallel"]
 simd-stable = ["rapier3d/simd-stable"]
 simd-nightly = ["rapier3d/simd-nightly"]
@@ -33,17 +45,21 @@ headless = []
 async-collider = ["bevy/bevy_asset", "bevy/bevy_scene"]
 
 [dependencies]
-bevy = { version = "0.13", default-features = false }
-nalgebra = { version = "0.32.3", features = ["convert-glam025"] }
+bevy = { version = "0.14.0-rc.2", default-features = false }
+# nalgebra = { version = "0.32.5", features = ["convert-glam027"] }
+nalgebra = { path = "../../nalgebra", features = ["convert-glam027"] }
 rapier3d = "0.19"
 bitflags = "2.4"
 log = "0.4"
 serde = { version = "1", features = ["derive"], optional = true }
 
 [dev-dependencies]
-bevy = { version = "0.13", default-features = false, features = ["x11", "tonemapping_luts"] }
+bevy = { version = "0.14.0-rc.2", default-features = false, features = [
+    "x11",
+    "tonemapping_luts",
+] }
 approx = "0.5.1"
-glam = { version = "0.25", features = ["approx"] }
+glam = { version = "0.27", features = ["approx"] }
 
 [package.metadata.docs.rs]
 # Enable all the features when building the docs on docs.rs

diff --git a/bevy_rapier3d/examples/boxes3.rs b/bevy_rapier3d/examples/boxes3.rs
@@ -3,7 +3,7 @@ use bevy_rapier3d::prelude::*;
 
 fn main() {
     App::new()
-        .insert_resource(ClearColor(Color::rgb(
+        .insert_resource(ClearColor(Color::srgb(
             0xF9 as f32 / 255.0,
             0xF9 as f32 / 255.0,
             0xFF as f32 / 255.0,

diff --git a/src/plugin/plugin.rs b/src/plugin/plugin.rs
@@ -2,13 +2,11 @@ use crate::pipeline::{CollisionEvent, ContactForceEvent};
 use crate::plugin::configuration::SimulationToRenderTime;
 use crate::plugin::{systems, RapierConfiguration, RapierContext};
 use crate::prelude::*;
-use bevy::{
-    ecs::{
-        event::{event_update_system, Events},
-        schedule::{ScheduleLabel, SystemConfigs},
-        system::SystemParamItem,
-    },
-    utils::intern::Interned,
+use bevy::ecs::{
+    event::{event_update_system, Events},
+    intern::Interned,
+    schedule::{ScheduleLabel, SystemConfigs},
+    system::SystemParamItem,
 };
 use bevy::{prelude::*, transform::TransformSystem};
 use rapier::dynamics::IntegrationParameters;
@@ -111,17 +109,14 @@ where
                 .into_configs(),
             PhysicsSet::StepSimulation => (
                 systems::step_simulation::<PhysicsHooks>,
-                event_update_system::<CollisionEvent>
-                    .before(systems::step_simulation::<PhysicsHooks>),
-                event_update_system::<ContactForceEvent>
-                    .before(systems::step_simulation::<PhysicsHooks>),
+                event_update_system.before(systems::step_simulation::<PhysicsHooks>),
             )
                 .into_configs(),
             PhysicsSet::Writeback => (
                 systems::update_colliding_entities,
                 systems::writeback_rigid_bodies,
                 systems::writeback_mass_properties,
-                event_update_system::<MassModifiedEvent>.after(systems::writeback_mass_properties),
+                event_update_system.after(systems::writeback_mass_properties),
             )
                 .into_configs(),
         }
@@ -241,7 +236,7 @@ where
 
             // Warn user if the timestep mode isn't in Fixed
             if self.schedule.as_dyn_eq().dyn_eq(FixedUpdate.as_dyn_eq()) {
-                let config = app.world.resource::<RapierConfiguration>();
+                let config = app.world_mut().resource::<RapierConfiguration>();
                 match config.timestep_mode {
                     TimestepMode::Fixed { .. } => {}
                     mode => {

diff --git a/src/plugin/systems/collider.rs b/src/plugin/systems/collider.rs
@@ -492,14 +492,14 @@ pub mod test {
         app.add_plugins(HeadlessRenderPlugin)
             .add_systems(Update, init_async_colliders);
 
-        let mut meshes = app.world.resource_mut::<Assets<Mesh>>();
+        let mut meshes = app.world_mut().resource_mut::<Assets<Mesh>>();
         let cube = meshes.add(Cuboid::default());
 
-        let entity = app.world.spawn((cube, AsyncCollider::default())).id();
+        let entity = app.world_mut().spawn((cube, AsyncCollider::default())).id();
 
         app.update();
 
-        let entity = app.world.entity(entity);
+        let entity = app.world().entity(entity);
         assert!(
             entity.get::<Collider>().is_some(),
             "Collider component should be added"
@@ -520,19 +520,22 @@ pub mod test {
         app.add_plugins(HeadlessRenderPlugin)
             .add_systems(PostUpdate, init_async_scene_colliders);
 
-        let mut meshes = app.world.resource_mut::<Assets<Mesh>>();
+        let mut meshes = app.world_mut().resource_mut::<Assets<Mesh>>();
         let cube_handle = meshes.add(Cuboid::default());
         let capsule_handle = meshes.add(Capsule3d::default());
-        let cube = app.world.spawn((Name::new("Cube"), cube_handle)).id();
-        let capsule = app.world.spawn((Name::new("Capsule"), capsule_handle)).id();
+        let cube = app.world_mut().spawn((Name::new("Cube"), cube_handle)).id();
+        let capsule = app
+            .world_mut()
+            .spawn((Name::new("Capsule"), capsule_handle))
+            .id();
 
-        let mut scenes = app.world.resource_mut::<Assets<Scene>>();
+        let mut scenes = app.world_mut().resource_mut::<Assets<Scene>>();
         let scene = scenes.add(Scene::new(World::new()));
 
         let mut named_shapes = bevy::utils::HashMap::new();
         named_shapes.insert("Capsule".to_string(), None);
         let parent = app
-            .world
+            .world_mut()
             .spawn((
                 scene,
                 AsyncSceneCollider {
@@ -546,15 +549,18 @@ pub mod test {
         app.update();
 
         assert!(
-            app.world.entity(cube).get::<Collider>().is_some(),
+            app.world_mut().entity(cube).get::<Collider>().is_some(),
             "Collider component should be added for cube"
         );
         assert!(
-            app.world.entity(capsule).get::<Collider>().is_none(),
+            app.world_mut().entity(capsule).get::<Collider>().is_none(),
             "Collider component shouldn't be added for capsule"
         );
         assert!(
-            app.world.entity(parent).get::<AsyncCollider>().is_none(),
+            app.world_mut()
+                .entity(parent)
+                .get::<AsyncCollider>()
+                .is_none(),
             "AsyncSceneCollider component should be removed after Collider components creation"
         );
     }

diff --git a/src/plugin/systems/mod.rs b/src/plugin/systems/mod.rs
@@ -89,11 +89,11 @@ mod tests {
         app.add_event::<CollisionEvent>()
             .add_systems(Update, update_colliding_entities);
 
-        let entity1 = app.world.spawn(CollidingEntities::default()).id();
-        let entity2 = app.world.spawn(CollidingEntities::default()).id();
+        let entity1 = app.world_mut().spawn(CollidingEntities::default()).id();
+        let entity2 = app.world_mut().spawn(CollidingEntities::default()).id();
 
         let mut collision_events = app
-            .world
+            .world_mut()
             .get_resource_mut::<Events<CollisionEvent>>()
             .unwrap();
         collision_events.send(CollisionEvent::Started(
@@ -105,7 +105,7 @@ mod tests {
         app.update();
 
         let colliding_entities1 = app
-            .world
+            .world()
             .entity(entity1)
             .get::<CollidingEntities>()
             .unwrap();
@@ -121,7 +121,7 @@ mod tests {
         );
 
         let colliding_entities2 = app
-            .world
+            .world()
             .entity(entity2)
             .get::<CollidingEntities>()
             .unwrap();
@@ -137,7 +137,7 @@ mod tests {
         );
 
         let mut collision_events = app
-            .world
+            .world_mut()
             .get_resource_mut::<Events<CollisionEvent>>()
             .unwrap();
         collision_events.send(CollisionEvent::Stopped(
@@ -149,7 +149,7 @@ mod tests {
         app.update();
 
         let colliding_entities1 = app
-            .world
+            .world()
             .entity(entity1)
             .get::<CollidingEntities>()
             .unwrap();
@@ -159,7 +159,7 @@ mod tests {
         );
 
         let colliding_entities2 = app
-            .world
+            .world()
             .entity(entity2)
             .get::<CollidingEntities>()
             .unwrap();
@@ -198,22 +198,22 @@ mod tests {
 
         for (child_transform, parent_transform) in [zero, same, different] {
             let child = app
-                .world
+                .world_mut()
                 .spawn((
                     TransformBundle::from(child_transform),
                     RigidBody::Fixed,
                     Collider::ball(1.0),
                 ))
                 .id();
 
-            app.world
+            app.world_mut()
                 .spawn(TransformBundle::from(parent_transform))
                 .push_children(&[child]);
 
             app.update();
 
-            let child_transform = app.world.entity(child).get::<GlobalTransform>().unwrap();
-            let context = app.world.resource::<RapierContext>();
+            let child_transform = app.world().entity(child).get::<GlobalTransform>().unwrap();
+            let context = app.world().resource::<RapierContext>();
             let child_handle = context.entity2body[&child];
             let child_body = context.bodies.get(child_handle).unwrap();
             let body_transform = utils::iso_to_transform(child_body.position());
@@ -257,25 +257,25 @@ mod tests {
 
         for (child_transform, parent_transform) in [zero, same, different] {
             let child = app
-                .world
+                .world_mut()
                 .spawn((TransformBundle::from(child_transform), Collider::ball(1.0)))
                 .id();
 
             let parent = app
-                .world
+                .world_mut()
                 .spawn((TransformBundle::from(parent_transform), RigidBody::Fixed))
                 .push_children(&[child])
                 .id();
 
             app.update();
 
             let child_transform = app
-                .world
+                .world()
                 .entity(child)
                 .get::<GlobalTransform>()
                 .unwrap()
                 .compute_transform();
-            let context = app.world.resource::<RapierContext>();
+            let context = app.world().resource::<RapierContext>();
             let parent_handle = context.entity2body[&parent];
             let parent_body = context.bodies.get(parent_handle).unwrap();
             let child_collider_handle = parent_body.colliders()[0];

diff --git a/src/render/mod.rs b/src/render/mod.rs
@@ -112,7 +112,9 @@ impl<'world, 'state, 'a, 'b> BevyLinesRenderBackend<'world, 'state, 'a, 'b> {
             _ => None,
         };
 
-        color.map(|co| co.as_hsla_f32()).unwrap_or(default)
+        color
+            .map(|co: Color| co.linear().to_f32_array())
+            .unwrap_or(default)
     }
 }