wip rapier_0.27

Author: ThierryBerger

CHANGELOG.md

@@ -7,6 +7,11 @@
 - Expose `RapierBevyComponentApply`, to help with creating your own schedules when you set `default_system_setup` to `false`.
 - Add `set_local_axis1` and `set_local_axis2` to `RevoluteJoint` and `RevoluteJointBuilder`. [#666](https://github.com/dimforge/bevy_rapier/pull/666)
 
+### Modified
+
+- Update from rapier `0.25` to rapier `0.27`,
+  see [rapier's changelog](https://github.com/dimforge/rapier/blob/master/CHANGELOG.md).
+
 ### Fix
 
 - Fix scale being applied with a frame delay. [#659](https://github.com/dimforge/bevy_rapier/pull/659)

Cargo.toml

@@ -13,8 +13,8 @@ codegen-units = 1
 #nalgebra = { path = "../nalgebra" }
 #parry2d = { path = "../parry/crates/parry2d" }
 #parry3d = { path = "../parry/crates/parry3d" }
-# rapier2d = { path = "../rapier/crates/rapier2d" }
-# rapier3d = { path = "../rapier/crates/rapier3d" }
+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" }

bevy_rapier2d/Cargo.toml

@@ -66,7 +66,7 @@ to-bevy-mesh = ["bevy/bevy_render", "bevy/bevy_asset"]
 [dependencies]
 bevy = { version = "0.16.0", default-features = false, features = ["std"] }
 nalgebra = { version = "0.33", features = ["convert-glam029"] }
-rapier2d = "0.25"
+rapier2d = "0.27.0-beta.0"
 bitflags = "2.4"
 log = "0.4"
 serde = { version = "1", features = ["derive"], optional = true }

bevy_rapier2d/examples/voxels2.rs

@@ -1,6 +1,5 @@
 use bevy::prelude::*;
 use bevy_rapier2d::prelude::*;
-use rapier2d::prelude::VoxelPrimitiveGeometry;
 
 fn main() {
     App::new()
@@ -73,13 +72,7 @@ pub fn setup_physics(mut commands: Commands) {
 
     commands.spawn((
         Transform::from_xyz(-20.0 * scale, -10.0 * scale, 0.0),
-        Collider::voxelized_mesh(
-            VoxelPrimitiveGeometry::PseudoCube,
-            &polyline,
-            &indices,
-            0.2 * scale,
-            FillMode::default(),
-        ),
+        Collider::voxelized_mesh(&polyline, &indices, 0.2 * scale, FillMode::default()),
     ));
 
     /*
@@ -94,6 +87,6 @@ pub fn setup_physics(mut commands: Commands) {
         .collect();
     commands.spawn((
         Transform::from_xyz(0.0, 0.0, 0.0),
-        Collider::voxels_from_points(VoxelPrimitiveGeometry::PseudoCube, voxel_size, &voxels),
+        Collider::voxels_from_points(voxel_size, &voxels),
     ));
 }

bevy_rapier3d/Cargo.toml

@@ -67,7 +67,7 @@ to-bevy-mesh = ["bevy/bevy_render", "bevy/bevy_asset"]
 [dependencies]
 bevy = { version = "0.16.0", default-features = false, features = ["std"] }
 nalgebra = { version = "0.33", features = ["convert-glam029"] }
-rapier3d = "0.25"
+rapier3d = "0.27.0-beta.0"
 bitflags = "2.4"
 log = "0.4"
 serde = { version = "1", features = ["derive"], optional = true }

bevy_rapier_benches3d/Cargo.toml

@@ -9,7 +9,7 @@ edition = "2021"
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 
 [dependencies]
-rapier3d = { features = ["profiler"], version = "0.25" }
+rapier3d = { features = ["profiler"], version = "0.27.0-beta.0" }
 bevy_rapier3d = { version = "0.30", path = "../bevy_rapier3d" }
 bevy = { version = "0.16.0", default-features = false }
 

src/geometry/collider_impl.rs

@@ -8,7 +8,7 @@ use {
 
 use rapier::{
     parry::transformation::voxelization::FillMode,
-    prelude::{FeatureId, Point, Ray, SharedShape, Vector, VoxelPrimitiveGeometry, Voxels, DIM},
+    prelude::{FeatureId, Point, Ray, SharedShape, Vector, Voxels, DIM},
 };
 
 use super::{get_snapped_scale, shape_views::*};
@@ -183,15 +183,10 @@ impl Collider {
     /// For initializing a voxels shape from a mesh to voxelize, see [`Self::voxelized_mesh`].
     /// For initializing multiple voxels shape from the convex decomposition of a mesh, see
     /// [`Self::voxelized_convex_decomposition`].
-    pub fn voxels(
-        primitive_geometry: VoxelPrimitiveGeometry,
-        voxel_size: Vect,
-        grid_coords: &[IVect],
-    ) -> Self {
+    pub fn voxels(voxel_size: Vect, grid_coordinates: &[IVect]) -> Self {
         let shape = Voxels::new(
-            primitive_geometry,
             voxel_size.into(),
-            &Self::ivec_array_from_point_int_array(grid_coords),
+            &Self::ivec_array_from_point_int_array(grid_coordinates),
         );
         SharedShape::new(shape).into()
     }
@@ -200,13 +195,8 @@ impl Collider {
     ///
     /// Each voxel has the size `voxel_size` and contains at least one point from `centers`.
     /// The `primitive_geometry` controls the behavior of collision detection at voxels boundaries.
-    pub fn voxels_from_points(
-        primitive_geometry: VoxelPrimitiveGeometry,
-        voxel_size: Vect,
-        points: &[Vect],
-    ) -> Self {
+    pub fn voxels_from_points(voxel_size: Vect, points: &[Vect]) -> Self {
         SharedShape::voxels_from_points(
-            primitive_geometry,
             voxel_size.into(),
             &Self::vec_array_from_point_float_array(points),
         )
@@ -216,32 +206,19 @@ impl Collider {
     /// Initializes a voxels shape obtained from the decomposition of the given trimesh (in 3D)
     /// or polyline (in 2D) into voxelized convex parts.
     pub fn voxelized_mesh(
-        primitive_geometry: VoxelPrimitiveGeometry,
         vertices: &[Vect],
         indices: &[[u32; DIM]],
         voxel_size: Real,
         fill_mode: FillMode,
     ) -> Self {
         let vertices = Self::vec_array_from_point_float_array(vertices);
-        SharedShape::voxelized_mesh(
-            primitive_geometry,
-            &vertices,
-            indices,
-            voxel_size,
-            fill_mode,
-        )
-        .into()
+        SharedShape::voxelized_mesh(&vertices, indices, voxel_size, fill_mode).into()
     }
 
     /// Initializes a compound shape obtained from the decomposition of the given trimesh (in 3D)
     /// or polyline (in 2D) into voxelized convex parts.
-    pub fn voxelized_convex_decomposition(
-        primitive_geometry: VoxelPrimitiveGeometry,
-        vertices: &[Vect],
-        indices: &[[u32; DIM]],
-    ) -> Vec<Self> {
+    pub fn voxelized_convex_decomposition(vertices: &[Vect], indices: &[[u32; DIM]]) -> Vec<Self> {
         Self::voxelized_convex_decomposition_with_params(
-            primitive_geometry,
             vertices,
             indices,
             &VHACDParameters::default(),
@@ -251,13 +228,11 @@ impl Collider {
     /// Initializes a compound shape obtained from the decomposition of the given trimesh (in 3D)
     /// or polyline (in 2D) into voxelized convex parts.
     pub fn voxelized_convex_decomposition_with_params(
-        primitive_geometry: VoxelPrimitiveGeometry,
         vertices: &[Vect],
         indices: &[[u32; DIM]],
         params: &VHACDParameters,
     ) -> Vec<Self> {
         SharedShape::voxelized_convex_decomposition_with_params(
-            primitive_geometry,
             &Self::vec_array_from_point_float_array(vertices),
             indices,
             params,

src/geometry/shape_views/collider_view.rs

@@ -279,13 +279,7 @@ impl<'a> ColliderView<'a> {
             },
             ColliderView::Segment(s) => SharedShape::new(s.raw.scaled(&scale.into())),
             ColliderView::Triangle(t) => SharedShape::new(t.raw.scaled(&scale.into())),
-            ColliderView::Voxels(cp) => match cp.raw.clone().scaled(&scale.into()) {
-                None => {
-                    log::error!("Failed to apply scale {scale} to Voxels shape.");
-                    SharedShape::ball(0.0)
-                }
-                Some(scaled) => SharedShape::new(scaled),
-            },
+            ColliderView::Voxels(cp) => SharedShape::new(cp.raw.clone().scaled(&scale.into())),
             ColliderView::RoundTriangle(t) => SharedShape::new(RoundShape {
                 border_radius: t.raw.border_radius,
                 inner_shape: t.raw.inner_shape.scaled(&scale.into()),

src/picking_backend/mod.rs

@@ -15,6 +15,7 @@ use bevy::picking::{
 use bevy::prelude::PickingPlugin;
 use bevy::reflect::prelude::*;
 use bevy::render::{prelude::*, view::RenderLayers};
+use rapier::parry::query::DefaultQueryDispatcher;
 
 /// How a ray cast should handle [`Visibility`].
 #[derive(Clone, Copy, Reflect)]
@@ -85,7 +86,7 @@ pub fn update_hits(
     rapier_context: Query<(
         &crate::prelude::RapierContextColliders,
         &crate::prelude::RapierRigidBodySet,
-        &crate::prelude::RapierQueryPipeline,
+        &crate::prelude::RapierContextSimulation,
     )>,
     mut output: EventWriter<PointerHits>,
 ) {
@@ -97,7 +98,7 @@ pub fn update_hits(
             continue;
         }
         let order = camera.order as f32;
-        for (colliders, bodies, query_pipeline) in rapier_context.iter() {
+        for (colliders, bodies, simulation) in rapier_context.iter() {
             let predicate = |entity| {
                 let marker_requirement =
                     !backend_settings.require_markers || marked_targets.get(entity).is_ok();
@@ -130,45 +131,56 @@ pub fn update_hits(
 
                 true
             };
+            // FIXME: Due to "limitations in the borrow checker",
+            //   it's challenging to make a function to help with creating a rapier filter.
+            let rapier_predicate =
+                |h: rapier::prelude::ColliderHandle, _: &rapier::prelude::Collider| {
+                    crate::prelude::RapierContextColliders::collider_entity_with_set(
+                        &colliders.colliders,
+                        h,
+                    )
+                    .map(&predicate)
+                    .unwrap_or(false)
+                };
+            let filter = rapier::prelude::QueryFilter::default().predicate(&rapier_predicate);
+            let query_pipeline = crate::prelude::RapierQueryPipeline {
+                query_pipeline: simulation.broad_phase.as_query_pipeline(
+                    &DefaultQueryDispatcher,
+                    &bodies.bodies,
+                    &colliders.colliders,
+                    filter.predicate(&rapier_predicate),
+                ),
+            };
 
             let mut picks = Vec::new();
             #[cfg(feature = "dim2")]
-            query_pipeline.intersections_with_point(
-                colliders,
-                bodies,
-                bevy::math::Vec2::new(ray.origin.x, ray.origin.y),
-                crate::prelude::QueryFilter::default().predicate(&predicate),
-                |entity| {
-                    let hit_data = HitData {
-                        camera: ray_id.camera,
-                        position: Some(bevy::math::Vec3::new(ray.origin.x, ray.origin.y, 0.0)),
-                        normal: None,
-                        depth: 0.0,
-                    };
-                    picks.push((entity, hit_data));
-                    true
-                },
-            );
+            for entity in query_pipeline
+                .intersect_point(colliders, bevy::math::Vec2::new(ray.origin.x, ray.origin.y))
+            {
+                let hit_data = HitData {
+                    camera: ray_id.camera,
+                    position: Some(bevy::math::Vec3::new(ray.origin.x, ray.origin.y, 0.0)),
+                    normal: None,
+                    depth: 0.0,
+                };
+                picks.push((entity, hit_data));
+            }
             #[cfg(feature = "dim3")]
-            query_pipeline.intersections_with_ray(
+            for (entity, intersection) in query_pipeline.intersect_ray(
                 colliders,
-                bodies,
                 ray.origin,
                 ray.direction.into(),
                 f32::MAX,
                 true,
-                crate::prelude::QueryFilter::default().predicate(&predicate),
-                |entity, intersection| {
-                    let hit_data = HitData {
-                        camera: ray_id.camera,
-                        position: Some(intersection.point),
-                        normal: Some(intersection.normal),
-                        depth: intersection.time_of_impact,
-                    };
-                    picks.push((entity, hit_data));
-                    true
-                },
-            );
+            ) {
+                let hit_data = HitData {
+                    camera: ray_id.camera,
+                    position: Some(intersection.point),
+                    normal: Some(intersection.normal),
+                    depth: intersection.time_of_impact,
+                };
+                picks.push((entity, hit_data));
+            }
 
             if !picks.is_empty() {
                 output.write(PointerHits::new(ray_id.pointer, picks, order));

src/pipeline/query_filter.rs

@@ -8,8 +8,6 @@ use crate::geometry::CollisionGroups;
 use crate::prelude::RapierRigidBodySet;
 
 /// A filter that describes what collider should be included or excluded from a scene query.
-///
-/// For testing manually check [`RapierRigidBodySet::with_query_filter`].
 #[derive(Copy, Clone, Default)]
 pub struct QueryFilter<'a> {
     /// Flags indicating what particular type of colliders should be excluded.