Update to rapier 0.31.0 and bevy to 0.17.3

Author: Deniskore

bevy_rapier2d/Cargo.toml

@@ -64,15 +64,15 @@ async-collider = [
 to-bevy-mesh = ["bevy/bevy_render", "bevy/bevy_asset"]
 
 [dependencies]
-bevy = { version = "0.17.2", default-features = false, features = ["std"] }
+bevy = { version = "0.17.3", default-features = false, features = ["std"] }
 nalgebra = { version = "0.34.1", features = ["convert-glam030"] }
-rapier2d = "0.30.1"
+rapier2d = "0.31.0"
 bitflags = "2.10.0"
 log = "0.4"
 serde = { version = "1", features = ["derive"], optional = true }
 
 [dev-dependencies]
-bevy = { version = "0.17.2", default-features = false, features = [
+bevy = { version = "0.17.3", default-features = false, features = [
     "x11",
     "bevy_state",
     "bevy_window",

bevy_rapier3d/Cargo.toml

@@ -65,15 +65,15 @@ async-collider = [
 to-bevy-mesh = ["bevy/bevy_render", "bevy/bevy_asset"]
 
 [dependencies]
-bevy = { version = "0.17.2", default-features = false, features = ["std"] }
+bevy = { version = "0.17.3", default-features = false, features = ["std"] }
 nalgebra = { version = "0.34.1", features = ["convert-glam030"] }
-rapier3d = "0.30.1"
+rapier3d = "0.31.0"
 bitflags = "2.10.0"
 log = "0.4"
 serde = { version = "1", features = ["derive"], optional = true }
 
 [dev-dependencies]
-bevy = { version = "0.17.2", default-features = false, features = [
+bevy = { version = "0.17.3", default-features = false, features = [
     "bevy_window",
     "x11",
     "tonemapping_luts",

bevy_rapier_benches3d/Cargo.toml

@@ -9,9 +9,9 @@ edition = "2021"
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 
 [dependencies]
-rapier3d = { features = ["profiler"], version = "0.30.1" }
+rapier3d = "0.31.0"
 bevy_rapier3d = { version = "0.31", path = "../bevy_rapier3d" }
-bevy = { version = "0.17.2", default-features = false }
+bevy = { version = "0.17.3", default-features = false }
 
 [dev-dependencies]
 divan = "0.1"

ci/Cargo.toml

@@ -4,7 +4,7 @@ version = "0.1.0"
 edition = "2021"
 
 [dependencies]
-bevy = "0.17.2"
+bevy = "0.17.3"
 bevy_rapier3d = { version = "0.31", path = "../bevy_rapier3d" }
 bevy_rapier2d = { version = "0.31", path = "../bevy_rapier2d" }
 

src/geometry/collider.rs

@@ -10,7 +10,7 @@ use bevy::prelude::*;
 
 use bevy::platform::collections::HashSet;
 use rapier::geometry::Shape;
-use rapier::prelude::{ColliderHandle, InteractionGroups, SharedShape};
+use rapier::prelude::{ColliderHandle, InteractionGroups, InteractionTestMode, SharedShape};
 
 use crate::dynamics::{CoefficientCombineRule, MassProperties};
 use crate::math::Vect;
@@ -405,6 +405,7 @@ impl From<CollisionGroups> for InteractionGroups {
             memberships: rapier::geometry::Group::from_bits(collision_groups.memberships.bits())
                 .unwrap(),
             filter: rapier::geometry::Group::from_bits(collision_groups.filters.bits()).unwrap(),
+            test_mode: InteractionTestMode::And,
         }
     }
 }
@@ -438,6 +439,7 @@ impl From<SolverGroups> for InteractionGroups {
             memberships: rapier::geometry::Group::from_bits(solver_groups.memberships.bits())
                 .unwrap(),
             filter: rapier::geometry::Group::from_bits(solver_groups.filters.bits()).unwrap(),
+            test_mode: InteractionTestMode::And,
         }
     }
 }

src/plugin/plugin.rs

@@ -1,6 +1,6 @@
 use crate::pipeline::{CollisionEvent, ContactForceEvent};
 use crate::prelude::*;
-use crate::reflect::IntegrationParametersWrapper;
+use crate::reflect::{IntegrationParametersWrapper, SpringCoefficientsWrapper};
 use bevy::app::DynEq;
 use bevy::ecs::{
     intern::Interned,
@@ -266,7 +266,8 @@ where
             .register_type::<RapierConfiguration>()
             .register_type::<SimulationToRenderTime>()
             .register_type::<DefaultRapierContext>()
-            .register_type::<RapierContextInitialization>();
+            .register_type::<RapierContextInitialization>()
+            .register_type::<SpringCoefficientsWrapper>();
 
         app.insert_resource(Messages::<CollisionEvent>::default())
             .insert_resource(Messages::<ContactForceEvent>::default())

src/reflect/mod.rs

@@ -1,8 +1,9 @@
 use crate::math::Real;
 use bevy::reflect::reflect_remote;
+use rapier::{dynamics::IntegrationParameters, prelude::SpringCoefficients};
+
 #[cfg(feature = "dim3")]
 use rapier::dynamics::FrictionModel;
-use rapier::dynamics::IntegrationParameters;
 
 /// Friction models used for all contact constraints between two rigid-bodies.
 ///
@@ -27,6 +28,21 @@ pub enum FrictionModelWrapper {
     Coulomb,
 }
 
+#[reflect_remote(SpringCoefficients<Real>)]
+#[derive(Copy, Clone, Debug, PartialEq)]
+/// Coefficients for a spring, typically used for configuring constraint softness for contacts and
+/// joints.
+pub struct SpringCoefficientsWrapper {
+    /// Sets the natural frequency (Hz) of the spring-like constraint.
+    ///
+    /// Higher values make the constraint stiffer and resolve constraint violations more quickly.
+    pub natural_frequency: Real,
+    /// Sets the damping ratio for the spring-like constraint.
+    ///
+    /// Larger values make the joint more compliant (allowing more drift before stabilization).
+    pub damping_ratio: Real,
+}
+
 #[cfg(not(feature = "dim3"))]
 #[reflect_remote(IntegrationParameters)]
 #[derive(Copy, Clone, Debug, PartialEq)]
@@ -46,34 +62,9 @@ pub struct IntegrationParametersWrapper {
     /// to numerical instabilities.
     pub min_ccd_dt: Real,
 
-    /// > 0: the damping ratio used by the springs for contact constraint stabilization.
-    ///
-    /// Larger values make the constraints more compliant (allowing more visible
-    /// penetrations before stabilization).
-    /// (default `5.0`).
-    pub contact_damping_ratio: Real,
-
-    /// > 0: the natural frequency used by the springs for contact constraint regularization.
-    ///
-    /// Increasing this value will make it so that penetrations get fixed more quickly at the
-    /// expense of potential jitter effects due to overshooting. In order to make the simulation
-    /// look stiffer, it is recommended to increase the [`Self::contact_damping_ratio`] instead of this
-    /// value.
-    /// (default: `30.0`).
-    pub contact_natural_frequency: Real,
-
-    /// > 0: the natural frequency used by the springs for joint constraint regularization.
-    ///
-    /// Increasing this value will make it so that penetrations get fixed more quickly.
-    /// (default: `1.0e6`).
-    pub joint_natural_frequency: Real,
-
-    /// The fraction of critical damping applied to the joint for constraints regularization.
-    ///
-    /// Larger values make the constraints more compliant (allowing more joint
-    /// drift before stabilization).
-    /// (default `1.0`).
-    pub joint_damping_ratio: Real,
+    /// Softness coefficients for contact constraints.
+    #[reflect(remote = SpringCoefficientsWrapper)]
+    pub contact_softness: SpringCoefficients<Real>,
 
     /// The coefficient in `[0, 1]` applied to warmstart impulses, i.e., impulses that are used as the
     /// initial solution (instead of 0) at the next simulation step.
@@ -114,7 +105,7 @@ pub struct IntegrationParametersWrapper {
     pub num_solver_iterations: usize,
     /// Number of internal Project Gauss Seidel (PGS) iterations run at each solver iteration (default: `1`).
     pub num_internal_pgs_iterations: usize,
-    /// The number of stabilization iterations run at each solver iterations (default: `2`).
+    /// The number of stabilization iterations run at each solver iterations (default: `1`).
     pub num_internal_stabilization_iterations: usize,
     /// Minimum number of dynamic bodies in each active island (default: `128`).
     pub min_island_size: usize,
@@ -142,34 +133,9 @@ pub struct IntegrationParametersWrapper {
     /// to numerical instabilities.
     pub min_ccd_dt: Real,
 
-    /// > 0: the damping ratio used by the springs for contact constraint stabilization.
-    ///
-    /// Larger values make the constraints more compliant (allowing more visible
-    /// penetrations before stabilization).
-    /// (default `5.0`).
-    pub contact_damping_ratio: Real,
-
-    /// > 0: the natural frequency used by the springs for contact constraint regularization.
-    ///
-    /// Increasing this value will make it so that penetrations get fixed more quickly at the
-    /// expense of potential jitter effects due to overshooting. In order to make the simulation
-    /// look stiffer, it is recommended to increase the [`Self::contact_damping_ratio`] instead of this
-    /// value.
-    /// (default: `30.0`).
-    pub contact_natural_frequency: Real,
-
-    /// > 0: the natural frequency used by the springs for joint constraint regularization.
-    ///
-    /// Increasing this value will make it so that penetrations get fixed more quickly.
-    /// (default: `1.0e6`).
-    pub joint_natural_frequency: Real,
-
-    /// The fraction of critical damping applied to the joint for constraints regularization.
-    ///
-    /// Larger values make the constraints more compliant (allowing more joint
-    /// drift before stabilization).
-    /// (default `1.0`).
-    pub joint_damping_ratio: Real,
+    /// Softness coefficients for contact constraints.
+    #[reflect(remote = SpringCoefficientsWrapper)]
+    pub contact_softness: SpringCoefficients<Real>,
 
     /// The coefficient in `[0, 1]` applied to warmstart impulses, i.e., impulses that are used as the
     /// initial solution (instead of 0) at the next simulation step.
@@ -210,7 +176,7 @@ pub struct IntegrationParametersWrapper {
     pub num_solver_iterations: usize,
     /// Number of internal Project Gauss Seidel (PGS) iterations run at each solver iteration (default: `1`).
     pub num_internal_pgs_iterations: usize,
-    /// The number of stabilization iterations run at each solver iterations (default: `2`).
+    /// The number of stabilization iterations run at each solver iterations (default: `1`).
     pub num_internal_stabilization_iterations: usize,
     /// Minimum number of dynamic bodies in each active island (default: `128`).
     pub min_island_size: usize,