Merge remote-tracking branch 'dimforge/master' into custom-shape

Author: PixelDust22

.github/workflows/main.yml

@@ -8,7 +8,8 @@ on:
 
 env:
   CARGO_TERM_COLOR: always
-  RUST_CACHE_KEY: rust-cache-20240617
+  RUST_CACHE_KEY: rust-cache-20240701
+  CARGO_PROFILE_DEV_DEBUG: none
 
 jobs:
   check-fmt:
@@ -20,6 +21,18 @@ jobs:
           components: rustfmt
       - name: Check formatting
         run: cargo fmt -- --check
+  doc:
+    runs-on: ubuntu-latest
+    env:
+      RUSTDOCFLAGS: -D warnings
+    steps:
+      - uses: actions/checkout@v4
+      - uses: dtolnay/rust-toolchain@stable
+      - uses: Swatinem/rust-cache@v2
+        with:
+          prefix-key: ${{ env.RUST_CACHE_KEY }}
+      - name: Cargo doc
+        run: cargo doc
   test:
     runs-on: ubuntu-latest
     env:

CHANGELOG.md

@@ -1,24 +1,37 @@
 # Changelog
 
-## v0.27.0-rc.1 (18 June 2024)
+## Unreleased
 
-**This is an update to Rapier 0.20 which includes several stability improvements
+### Added
+
+- Added a `TriMeshFlags` parameter for `ComputedColliderShape`,
+its default value is `TriMeshFlags::MERGE_DUPLICATE_VERTICES`,
+which was its hardcoded behaviour.
+
+## v0.27.0 (07 July 2024)
+
+**This is an update from rapier 0.19 to Rapier 0.21 which includes several stability improvements
 and new features. Please have a look at the
-[0.20 changelog](https://github.com/dimforge/rapier/blob/master/CHANGELOG.md) of Rapier.**
+[0.20 and 0.21 changelogs](https://github.com/dimforge/rapier/blob/master/CHANGELOG.md) of Rapier.**
 
 ### Modified
 
-- Update to rapier `0.20`.
+- Update from rapier `0.19` to rapier `0.21`.
+- Update to nalgebra `0.33`.
 - Update to bevy `0.14`.
 - Renamed `has_any_active_contacts` to `has_any_active_contact` for better consistency with rapier.
 - `ColliderDebugColor`'s property is now a `bevy::color::Hsla`.
-- Added serialization support for `CollisionGroups`, `SolverGroups`, `ContactForceEventThreshold`, `ContactSkin`.
+- `ImpulseJoint::data` and `MultibodyJoint::data` are now a more detailed enum `TypedJoint` instead of a `GenericJoint`.
+You can still access its inner `GenericJoint` with `.as_ref()` or `as_mut()`.
+- `data` fields from all joints (`FixedJoint`, …) are now public, and their getters removed.
 
 ### Added
 
 - Derive `Debug` for `LockedAxes`.
 - Expose `is_sliding_down_slope` to both `MoveShapeOutput` and `KinematicCharacterControllerOutput`.
 - Added a First Person Shooter `character_controller` example for `bevy_rapier3d`.
+- Added serialization support for `CollisionGroups`, `SolverGroups`, `ContactForceEventThreshold`, `ContactSkin`.
+- Added `RapierContext::context.impulse_revolute_joint_angle` to compute the angle along a revolute joint’s principal axis.
 
 ### Fix
 

Cargo.toml

@@ -1,5 +1,5 @@
 [workspace]
-members = ["bevy_rapier2d", "bevy_rapier3d"]
+members = ["bevy_rapier2d", "bevy_rapier3d", "bevy_rapier_benches3d"]
 resolver = "2"
 
 [profile.dev]

bevy_rapier2d/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "bevy_rapier2d"
-version = "0.27.0-rc.1"
+version = "0.27.0"
 authors = ["Sébastien Crozet <[email protected]>"]
 description = "2-dimensional physics engine in Rust, official Bevy plugin."
 documentation = "http://docs.rs/bevy_rapier2d"
@@ -44,21 +44,23 @@ headless = []
 async-collider = ["bevy/bevy_asset", "bevy/bevy_scene"]
 
 [dependencies]
-bevy = { version = "0.14.0", default-features = false }
+bevy = { version = "0.14", default-features = false }
 nalgebra = { version = "0.33", features = ["convert-glam027"] }
 rapier2d = "0.22"
 bitflags = "2.4"
 log = "0.4"
 serde = { version = "1", features = ["derive"], optional = true }
 
 [dev-dependencies]
-bevy = { version = "0.14.0", default-features = false, features = [
+bevy = { version = "0.14", default-features = false, features = [
     "x11",
     "bevy_state",
 ] }
 oorandom = "11"
 approx = "0.5.1"
 glam = { version = "0.27", features = ["approx"] }
+bevy-inspector-egui = "0.25.1"
+bevy_egui = "0.28.0"
 
 [package.metadata.docs.rs]
 # Enable all the features when building the docs on docs.rs

bevy_rapier2d/examples/debug_despawn2.rs

@@ -174,8 +174,7 @@ fn spawn_cube(commands: &mut Commands, game: &mut Game) {
                         block_entities[*i],
                         RevoluteJointBuilder::new()
                             .local_anchor1(anchor_1)
-                            .local_anchor2(anchor_2)
-                            .build(),
+                            .local_anchor2(anchor_2),
                     ))
                     .id();
                 game.current_cube_joints.push(id);

bevy_rapier2d/examples/testbed2.rs

@@ -12,9 +12,11 @@ mod player_movement2;
 mod rope_joint2;
 
 use bevy::prelude::*;
+use bevy_egui::{egui, EguiContexts, EguiPlugin};
+use bevy_inspector_egui::quick::WorldInspectorPlugin;
 use bevy_rapier2d::prelude::*;
 
-#[derive(Debug, Clone, Eq, PartialEq, Default, Hash, States)]
+#[derive(Debug, Reflect, Clone, Copy, Eq, PartialEq, Default, Hash, States)]
 pub enum Examples {
     #[default]
     None,
@@ -25,25 +27,61 @@ pub enum Examples {
     Events2,
     Joints2,
     JointsDespawn2,
-    LockedRotation2,
+    LockedRotations2,
     MultipleColliders2,
     PlayerMovement2,
 }
 
-#[derive(Resource, Default)]
+#[derive(Resource, Default, Reflect)]
 struct ExamplesRes {
     entities_before: Vec<Entity>,
 }
 
+#[derive(Resource, Debug, Default, Reflect)]
+struct ExampleSelected(pub usize);
+
+#[derive(Debug, Reflect)]
+struct ExampleDefinition {
+    pub state: Examples,
+    pub name: &'static str,
+}
+
+impl From<(Examples, &'static str)> for ExampleDefinition {
+    fn from((state, name): (Examples, &'static str)) -> Self {
+        Self { state, name }
+    }
+}
+
+#[derive(Resource, Debug, Reflect)]
+struct ExampleSet(pub Vec<ExampleDefinition>);
+
 fn main() {
     let mut app = App::new();
-    app.init_state::<Examples>()
-        .init_resource::<ExamplesRes>()
+    app.init_resource::<ExamplesRes>()
         .add_plugins((
             DefaultPlugins,
+            EguiPlugin,
             RapierPhysicsPlugin::<NoUserData>::pixels_per_meter(10.0),
             RapierDebugRenderPlugin::default(),
+            WorldInspectorPlugin::new(),
         ))
+        .register_type::<Examples>()
+        .register_type::<ExamplesRes>()
+        .register_type::<ExampleSelected>()
+        .init_state::<Examples>()
+        .insert_resource(ExampleSet(vec![
+            (Examples::Boxes2, "Boxes3").into(),
+            (Examples::RopeJoint2, "RopeJoint2").into(),
+            (Examples::DebugDespawn2, "DebugDespawn2").into(),
+            (Examples::Despawn2, "Despawn3").into(),
+            (Examples::Events2, "Events3").into(),
+            (Examples::Joints2, "Joints3").into(),
+            (Examples::JointsDespawn2, "JointsDespawn3").into(),
+            (Examples::LockedRotations2, "LockedRotations3").into(),
+            (Examples::MultipleColliders2, "MultipleColliders3").into(),
+            (Examples::PlayerMovement2, "PlayerMovement2").into(),
+        ]))
+        .init_resource::<ExampleSelected>()
         //
         //boxes2
         .add_systems(
@@ -116,13 +154,13 @@ fn main() {
         //
         //locked rotations
         .add_systems(
-            OnEnter(Examples::LockedRotation2),
+            OnEnter(Examples::LockedRotations2),
             (
                 locked_rotations2::setup_graphics,
                 locked_rotations2::setup_physics,
             ),
         )
-        .add_systems(OnExit(Examples::LockedRotation2), cleanup)
+        .add_systems(OnExit(Examples::LockedRotations2), cleanup)
         //
         //multiple colliders
         .add_systems(
@@ -162,7 +200,14 @@ fn main() {
             },
         )
         .add_systems(OnExit(Examples::None), init)
-        .add_systems(Update, check_toggle);
+        .add_systems(
+            Update,
+            (
+                ui_example_system,
+                change_example.run_if(resource_changed::<ExampleSelected>),
+            )
+                .chain(),
+        );
 
     app.run();
 }
@@ -187,25 +232,34 @@ fn cleanup(world: &mut World) {
     }
 }
 
-fn check_toggle(
-    state: Res<State<Examples>>,
+fn change_example(
+    example_selected: Res<ExampleSelected>,
+    examples_available: Res<ExampleSet>,
     mut next_state: ResMut<NextState<Examples>>,
-    mouse_input: Res<ButtonInput<MouseButton>>,
 ) {
-    if mouse_input.just_pressed(MouseButton::Left) {
-        let next = match *state.get() {
-            Examples::None => Examples::Boxes2,
-            Examples::Boxes2 => Examples::RopeJoint2,
-            Examples::RopeJoint2 => Examples::DebugDespawn2,
-            Examples::DebugDespawn2 => Examples::Despawn2,
-            Examples::Despawn2 => Examples::Events2,
-            Examples::Events2 => Examples::Joints2,
-            Examples::Joints2 => Examples::JointsDespawn2,
-            Examples::JointsDespawn2 => Examples::LockedRotation2,
-            Examples::LockedRotation2 => Examples::MultipleColliders2,
-            Examples::MultipleColliders2 => Examples::PlayerMovement2,
-            Examples::PlayerMovement2 => Examples::Boxes2,
-        };
-        next_state.set(next);
-    }
+    next_state.set(examples_available.0[example_selected.0].state);
+}
+
+fn ui_example_system(
+    mut contexts: EguiContexts,
+    mut current_example: ResMut<ExampleSelected>,
+    examples_available: Res<ExampleSet>,
+) {
+    egui::Window::new("Testbed").show(contexts.ctx_mut(), |ui| {
+        let mut changed = false;
+        egui::ComboBox::from_label("example")
+            .width(150.0)
+            .selected_text(examples_available.0[current_example.0].name)
+            .show_ui(ui, |ui| {
+                for (id, value) in examples_available.0.iter().enumerate() {
+                    changed = ui
+                        .selectable_value(&mut current_example.0, id, value.name)
+                        .changed()
+                        || changed;
+                }
+            });
+        if ui.button("Next").clicked() {
+            current_example.0 = (current_example.0 + 1) % examples_available.0.len();
+        }
+    });
 }

bevy_rapier3d/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "bevy_rapier3d"
-version = "0.27.0-rc.1"
+version = "0.27.0"
 authors = ["Sébastien Crozet <[email protected]>"]
 description = "3-dimensional physics engine in Rust, official Bevy plugin."
 documentation = "http://docs.rs/bevy_rapier3d"
@@ -45,22 +45,34 @@ headless = []
 async-collider = ["bevy/bevy_asset", "bevy/bevy_scene"]
 
 [dependencies]
-bevy = { version = "0.14.0", default-features = false }
+bevy = { version = "0.14", default-features = false }
 nalgebra = { version = "0.33", features = ["convert-glam027"] }
 rapier3d = "0.22"
 bitflags = "2.4"
 log = "0.4"
 serde = { version = "1", features = ["derive"], optional = true }
 
 [dev-dependencies]
-bevy = { version = "0.14.0", default-features = false, features = [
+bevy = { version = "0.14", default-features = false, features = [
     "x11",
     "tonemapping_luts",
     "bevy_state",
 ] }
 approx = "0.5.1"
 glam = { version = "0.27", features = ["approx"] }
+bevy-inspector-egui = "0.25.1"
+bevy_egui = "0.28.0"
+divan = "0.1"
+bevy_rapier_benches3d = { version = "0.1", path = "../bevy_rapier_benches3d" }
 
 [package.metadata.docs.rs]
 # Enable all the features when building the docs on docs.rs
 features = ["debug-render-3d", "serde-serialize"]
+
+[[bench]]
+name = "cubes"
+harness = false
+
+[[bench]]
+name = "many_pyramids3"
+harness = false

bevy_rapier3d/benches/common.rs

@@ -0,0 +1,12 @@
+use bevy::app::App;
+use bevy_rapier_benches3d::common::{default_app, wait_app_start};
+
+pub fn bench_app_updates(bencher: divan::Bencher, setup: impl Fn(&mut App)) {
+    let mut app = default_app();
+    setup(&mut app);
+    wait_app_start(&mut app);
+
+    bencher.bench_local(|| {
+        app.update();
+    });
+}

bevy_rapier3d/benches/cubes.rs

@@ -0,0 +1,52 @@
+//! Translated from avian benchmark.
+//!
+//! <https://github.com/Jondolf/avian/blob/81290423e146264120cf9711af716f6faf669717/crates/avian3d/benches/cubes.rs>
+
+mod common;
+
+use common::bench_app_updates;
+
+use bevy::prelude::*;
+use bevy_rapier3d::math::*;
+use bevy_rapier3d::prelude::*;
+
+fn setup_cubes(app: &mut App, size: u32) {
+    app.add_systems(Startup, move |mut commands: Commands| {
+        commands.spawn((
+            RigidBody::Fixed,
+            Transform::from_translation(-2.0 * Vect::Z),
+            Collider::cuboid(100.0, 1.0, 100.0),
+        ));
+        for x in 0..size {
+            for z in 0..size {
+                commands.spawn((
+                    RigidBody::Dynamic,
+                    Transform::from_translation(Vec3::new(x as f32, 2.0, z as f32)),
+                    Collider::cuboid(1.0, 1.0, 1.0),
+                ));
+            }
+        }
+    });
+}
+
+#[divan::bench(sample_count = 60, sample_size = 1)]
+fn cubes_3x3(bencher: divan::Bencher) {
+    bench_app_updates(bencher, |app| setup_cubes(app, 3))
+}
+#[divan::bench(sample_count = 60, sample_size = 1)]
+fn cubes_5x5(bencher: divan::Bencher) {
+    bench_app_updates(bencher, |app| setup_cubes(app, 5))
+}
+#[divan::bench(sample_count = 60, sample_size = 1)]
+fn cubes_10x10(bencher: divan::Bencher) {
+    bench_app_updates(bencher, |app| setup_cubes(app, 10))
+}
+#[divan::bench(sample_count = 60, sample_size = 1)]
+fn cubes_20x20(bencher: divan::Bencher) {
+    bench_app_updates(bencher, |app| setup_cubes(app, 20))
+}
+
+fn main() {
+    // Run registered benchmarks.
+    divan::main();
+}