diff --git a/src/plugins/prepare.rs b/src/plugins/prepare.rs index 9758e04a..42d92d0d 100644 --- a/src/plugins/prepare.rs +++ b/src/plugins/prepare.rs @@ -3,6 +3,8 @@ //! //! See [`PreparePlugin`]. +#![allow(clippy::type_complexity)] + use crate::prelude::*; use bevy::prelude::*; @@ -42,13 +44,16 @@ impl Plugin for PreparePlugin { app.add_systems( self.schedule.dyn_clone(), ( + apply_deferred, + // Run transform propagation if new bodies or colliders have been added ( bevy::transform::systems::sync_simple_transforms, bevy::transform::systems::propagate_transforms, - init_rigid_bodies, ) .chain() - .run_if(any_new_rigid_bodies), + .run_if(any_new_physics_entities), + init_transforms, + init_rigid_bodies, init_mass_properties, init_colliders, update_mass_properties, @@ -60,64 +65,49 @@ impl Plugin for PreparePlugin { } } -type RigidBodyComponents = ( - Entity, - // Use transform as default position and rotation if no components for them found - Option<&'static mut Transform>, - Option<&'static GlobalTransform>, - Option<&'static Position>, - Option<&'static Rotation>, - Option<&'static LinearVelocity>, - Option<&'static AngularVelocity>, - Option<&'static ExternalForce>, - Option<&'static ExternalTorque>, - Option<&'static ExternalImpulse>, - Option<&'static ExternalAngularImpulse>, - Option<&'static Restitution>, - Option<&'static Friction>, - Option<&'static TimeSleeping>, -); - -fn any_new_rigid_bodies(query: Query<(), Added>) -> bool { +/// A run condition that returns `true` if new [rigid bodies](RigidBody) or [colliders](Collider) +/// have been added. Used for avoiding unnecessary transform propagation. +fn any_new_physics_entities(query: Query<(), Or<(Added, Added)>>) -> bool { !query.is_empty() } -fn init_rigid_bodies( +/// Initializes [`Transform`] based on [`Position`] and [`Rotation`] or vice versa. +fn init_transforms( mut commands: Commands, - mut bodies: Query>, + mut query: Query< + ( + Entity, + Option<&mut Transform>, + Option<&GlobalTransform>, + Option<&Position>, + Option<&Rotation>, + Option<&Parent>, + ), + Or<(Added, Added)>, + >, + parents: Query<&GlobalTransform, With>, ) { - for ( - entity, - mut transform, - global_transform, - pos, - rot, - lin_vel, - ang_vel, - force, - torque, - impulse, - angular_impulse, - restitution, - friction, - time_sleeping, - ) in &mut bodies - { + for (entity, mut transform, global_transform, pos, rot, parent) in &mut query { let mut body = commands.entity(entity); - body.insert(AccumulatedTranslation(Vector::ZERO)); - if let Some(pos) = pos { body.insert(PreviousPosition(pos.0)); if let Some(ref mut transform) = transform { + // Initialize new translation as global position #[cfg(feature = "2d")] - { - transform.translation = pos.as_f32().extend(transform.translation.z); - } + let mut new_translation = pos.as_f32().extend(transform.translation.z); #[cfg(feature = "3d")] - { - transform.translation = pos.as_f32(); + let mut new_translation = pos.as_f32(); + + // If the body is a child, subtract the parent's global translation + // to get the local translation + if let Some(parent) = parent { + if let Ok(parent_transform) = parents.get(**parent) { + new_translation -= parent_transform.translation(); + } } + + transform.translation = new_translation; } } else { let translation; @@ -146,8 +136,18 @@ fn init_rigid_bodies( body.insert(PreviousRotation(*rot)); if let Some(mut transform) = transform { - let q: Quaternion = (*rot).into(); - transform.rotation = q.as_f32(); + // Initialize new rotation as global rotation + let mut new_rotation = Quaternion::from(*rot).as_f32(); + + // If the body is a child, subtract the parent's global rotation + // to get the local rotation + if let Some(parent) = parent { + if let Ok(parent_transform) = parents.get(**parent) { + new_rotation = new_rotation - parent_transform.compute_transform().rotation; + } + } + + transform.rotation = new_rotation; } } else { let rotation = global_transform.map_or(Rotation::default(), |t| { @@ -156,6 +156,43 @@ fn init_rigid_bodies( body.insert(rotation); body.insert(PreviousRotation(rotation)); } + } +} + +/// Initializes missing components for [rigid bodies](RigidBody). +fn init_rigid_bodies( + mut commands: Commands, + mut bodies: Query< + ( + Entity, + Option<&LinearVelocity>, + Option<&AngularVelocity>, + Option<&ExternalForce>, + Option<&ExternalTorque>, + Option<&ExternalImpulse>, + Option<&ExternalAngularImpulse>, + Option<&Restitution>, + Option<&Friction>, + Option<&TimeSleeping>, + ), + Added, + >, +) { + for ( + entity, + lin_vel, + ang_vel, + force, + torque, + impulse, + angular_impulse, + restitution, + friction, + time_sleeping, + ) in &mut bodies + { + let mut body = commands.entity(entity); + body.insert(AccumulatedTranslation(Vector::ZERO)); if lin_vel.is_none() { body.insert(LinearVelocity::default()); @@ -189,19 +226,20 @@ fn init_rigid_bodies( } } -type MassPropComponents = ( - Entity, - Option<&'static Mass>, - Option<&'static InverseMass>, - Option<&'static Inertia>, - Option<&'static InverseInertia>, - Option<&'static CenterOfMass>, -); -type MassPropComponentsQueryFilter = Or<(Added, Added)>; - +/// Initializes missing mass properties for [rigid bodies](RigidBody) and [colliders](Collider). fn init_mass_properties( mut commands: Commands, - mass_properties: Query, + mass_properties: Query< + ( + Entity, + Option<&Mass>, + Option<&InverseMass>, + Option<&Inertia>, + Option<&InverseInertia>, + Option<&CenterOfMass>, + ), + Or<(Added, Added)>, + >, ) { for (entity, mass, inverse_mass, inertia, inverse_inertia, center_of_mass) in &mass_properties { let mut body = commands.entity(entity); @@ -228,84 +266,26 @@ fn init_mass_properties( } } -type ColliderComponents = ( - Entity, - // Use transform as default position and rotation if no components for them found - Option<&'static mut Transform>, - Option<&'static GlobalTransform>, - Option<&'static Position>, - Option<&'static Rotation>, - &'static Collider, - Option<&'static ColliderAabb>, - Option<&'static CollidingEntities>, - Option<&'static ColliderMassProperties>, - Option<&'static PreviousColliderMassProperties>, -); - +/// Initializes missing components for [colliders](Collider). fn init_colliders( mut commands: Commands, - mut colliders: Query>, + mut colliders: Query< + ( + Entity, + &Collider, + Option<&ColliderAabb>, + Option<&CollidingEntities>, + Option<&ColliderMassProperties>, + Option<&PreviousColliderMassProperties>, + ), + Added, + >, ) { - for ( - entity, - mut transform, - global_transform, - pos, - rot, - collider, - aabb, - colliding_entities, - mass_properties, - previous_mass_properties, - ) in &mut colliders + for (entity, collider, aabb, colliding_entities, mass_properties, previous_mass_properties) in + &mut colliders { let mut entity_commands = commands.entity(entity); - if let Some(pos) = pos { - if let Some(ref mut transform) = transform { - #[cfg(feature = "2d")] - { - transform.translation = pos.as_f32().extend(transform.translation.z); - } - #[cfg(feature = "3d")] - { - transform.translation = pos.as_f32(); - } - } - } else { - let translation; - #[cfg(feature = "2d")] - { - translation = global_transform.as_ref().map_or(Vector::ZERO, |t| { - Vector::new(t.translation().x as Scalar, t.translation().y as Scalar) - }); - } - #[cfg(feature = "3d")] - { - translation = global_transform.as_ref().map_or(Vector::ZERO, |t| { - Vector::new( - t.translation().x as Scalar, - t.translation().y as Scalar, - t.translation().z as Scalar, - ) - }); - } - - entity_commands.insert(Position(translation)); - } - - if let Some(rot) = rot { - if let Some(mut transform) = transform { - let q: Quaternion = (*rot).into(); - transform.rotation = q.as_f32(); - } - } else { - let rotation = global_transform.map_or(Rotation::default(), |t| { - t.compute_transform().rotation.into() - }); - entity_commands.insert(rotation); - } - if aabb.is_none() { entity_commands.insert(ColliderAabb::from_shape(collider.get_shape())); } @@ -321,15 +301,6 @@ fn init_colliders( } } -type MassPropertiesComponents = ( - Entity, - Option<&'static RigidBody>, - MassPropertiesQuery, - Option<&'static Collider>, - Option<&'static mut ColliderMassProperties>, - Option<&'static mut PreviousColliderMassProperties>, -); - type MassPropertiesChanged = Or<( Changed, Changed, @@ -342,7 +313,19 @@ type MassPropertiesChanged = Or<( /// Updates each body's mass properties whenever their dependant mass properties or the body's [`Collider`] change. /// /// Also updates the collider's mass properties if the body has a collider. -fn update_mass_properties(mut bodies: Query) { +fn update_mass_properties( + mut bodies: Query< + ( + Entity, + Option<&RigidBody>, + MassPropertiesQuery, + Option<&Collider>, + Option<&mut ColliderMassProperties>, + Option<&mut PreviousColliderMassProperties>, + ), + MassPropertiesChanged, + >, +) { for ( entity, rb, @@ -397,6 +380,7 @@ fn update_mass_properties(mut bodies: Query>) { for mut restitution in &mut query { restitution.coefficient = restitution.coefficient.clamp(0.0, 1.0);