Merge pull request bevyengine#54 from dimforge/rapier_up

Update to the latest version of Rapier.

Cargo.toml

@@ -5,5 +5,7 @@ members = ["bevy_rapier2d", "bevy_rapier3d"]
 codegen-units = 1
 
 [patch.crates-io]
+#parry2d = { path = "../parry/build/parry2d" }
+#parry3d = { path = "../parry/build/parry3d" }
 #rapier2d = { path = "../rapier/build/rapier2d" }
 #rapier3d = { path = "../rapier/build/rapier3d" }

bevy_rapier2d/Cargo.toml

@@ -30,8 +30,8 @@ enhanced-determinism = [ "rapier2d/enhanced-determinism" ]
 
 [dependencies]
 bevy = { version = "0.4", default-features = false }
-nalgebra = "0.23"
-rapier2d = "0.4"
+nalgebra = "0.24"
+rapier2d = "0.5"
 concurrent-queue = "1"
 
 [dev-dependencies]

bevy_rapier2d/examples/events2.rs

@@ -52,8 +52,8 @@ fn setup_graphics(commands: &mut Commands, mut configuration: ResMut<RapierConfi
 }
 
 fn display_events(events: Res<EventQueue>) {
-    while let Ok(proximity_event) = events.proximity_events.pop() {
-        println!("Received proximity event: {:?}", proximity_event);
+    while let Ok(intersection_event) = events.intersection_events.pop() {
+        println!("Received intersection event: {:?}", intersection_event);
     }
 
     while let Ok(contact_event) = events.contact_events.pop() {

bevy_rapier3d/Cargo.toml

@@ -30,8 +30,8 @@ enhanced-determinism = [ "rapier3d/enhanced-determinism" ]
 
 [dependencies]
 bevy = { version = "0.4", default-features = false }
-nalgebra = "0.23"
-rapier3d = "0.4"
+nalgebra = "0.24"
+rapier3d = "0.5"
 concurrent-queue = "1"
 
 [dev-dependencies]

bevy_rapier3d/examples/events3.rs

@@ -54,8 +54,8 @@ fn setup_graphics(commands: &mut Commands) {
 }
 
 fn display_events(events: Res<EventQueue>) {
-    while let Ok(proximity_event) = events.proximity_events.pop() {
-        println!("Received proximity event: {:?}", proximity_event);
+    while let Ok(intersection_event) = events.intersection_events.pop() {
+        println!("Received intersection event: {:?}", intersection_event);
     }
 
     while let Ok(contact_event) = events.contact_events.pop() {

bevy_rapier3d/examples/locked_rotations3.rs

@@ -70,7 +70,7 @@ pub fn setup_physics(commands: &mut Commands) {
     let rigid_body = RigidBodyBuilder::new_dynamic()
         .translation(0.0, 3.0, 0.0)
         .lock_translations()
-        .principal_angular_inertia(Vector3::zeros(), Vector3::new(true, false, false));
+        .restrict_rotations(true, false, false);
     let collider = ColliderBuilder::cuboid(0.2, 0.6, 2.0);
     commands.spawn((rigid_body, collider));
 

bevy_rapier3d/examples/static_trimesh3.rs

@@ -65,7 +65,7 @@ pub fn setup_physics(commands: &mut Commands) {
 
     // Create the ramp.
     let mut vertices: Vec<Point3<f32>> = Vec::new();
-    let mut indices: Vec<Point3<u32>> = Vec::new();
+    let mut indices: Vec<[u32; 3]> = Vec::new();
     let segments = 32;
     let ramp_size = ramp_size();
     for i in 0..=segments {
@@ -77,8 +77,8 @@ pub fn setup_physics(commands: &mut Commands) {
     }
     for i in 0..segments {
         // Two triangles making up a flat quad for each segment of the ramp.
-        indices.push(Point3::new(2 * i + 0, 2 * i + 1, 2 * i + 2));
-        indices.push(Point3::new(2 * i + 2, 2 * i + 1, 2 * i + 3));
+        indices.push([2 * i + 0, 2 * i + 1, 2 * i + 2]);
+        indices.push([2 * i + 2, 2 * i + 1, 2 * i + 3]);
     }
     let rigid_body = RigidBodyBuilder::new_static().translation(0.0, 0.0, 0.0);
     let collider = ColliderBuilder::trimesh(vertices, indices);
@@ -88,7 +88,7 @@ pub fn setup_physics(commands: &mut Commands) {
     // so that we can join the end of the ramp smoothly
     // to the lip of the bowl.
     let mut vertices: Vec<Point3<f32>> = Vec::new();
-    let mut indices: Vec<Point3<u32>> = Vec::new();
+    let mut indices: Vec<[u32; 3]> = Vec::new();
     let segments = 32;
     let bowl_size = Vec3::new(10.0, 3.0, 10.0);
     for ix in 0..=segments {
@@ -110,8 +110,8 @@ pub fn setup_physics(commands: &mut Commands) {
             let row0 = ix * (segments + 1);
             let row1 = (ix + 1) * (segments + 1);
             // Two triangles making up a not-very-flat quad for each segment of the bowl.
-            indices.push(Point3::new(row0 + iz + 0, row0 + iz + 1, row1 + iz + 0));
-            indices.push(Point3::new(row1 + iz + 0, row0 + iz + 1, row1 + iz + 1));
+            indices.push([row0 + iz + 0, row0 + iz + 1, row1 + iz + 0]);
+            indices.push([row1 + iz + 0, row0 + iz + 1, row1 + iz + 1]);
         }
     }
     // Position so ramp connects smoothly
@@ -154,7 +154,7 @@ fn ball_spawner(
 
     // NOTE: The timing here only works properly with `time_dependent_number_of_timesteps`
     // disabled, as it is for examples.
-    ball_state.seconds_until_next_spawn -= integration_parameters.dt();
+    ball_state.seconds_until_next_spawn -= integration_parameters.dt;
     if ball_state.seconds_until_next_spawn > 0.0 {
         return;
     }

src/physics/resources.rs

@@ -1,7 +1,7 @@
 use crate::rapier::{
     dynamics::{JointHandle, RigidBodyHandle},
     geometry::{
-        ColliderHandle, ContactEvent, ContactPairFilter, ProximityEvent, ProximityPairFilter,
+        ColliderHandle, ContactEvent, ContactPairFilter, IntersectionEvent, IntersectionPairFilter,
     },
     pipeline::EventHandler,
 };
@@ -47,8 +47,8 @@ impl Default for RapierConfiguration {
 pub struct EventQueue {
     /// The unbounded contact event queue.
     pub contact_events: ConcurrentQueue<ContactEvent>,
-    /// The unbounded proximity event queue.
-    pub proximity_events: ConcurrentQueue<ProximityEvent>,
+    /// The unbounded intersection event queue.
+    pub intersection_events: ConcurrentQueue<IntersectionEvent>,
     /// Are these queues automatically cleared before each simulation timestep?
     pub auto_clear: bool,
 }
@@ -58,21 +58,21 @@ impl EventQueue {
     pub fn new(auto_clear: bool) -> Self {
         Self {
             contact_events: ConcurrentQueue::unbounded(),
-            proximity_events: ConcurrentQueue::unbounded(),
+            intersection_events: ConcurrentQueue::unbounded(),
             auto_clear,
         }
     }
 
     /// Removes all events contained by this queue.
     pub fn clear(&self) {
         while let Ok(_) = self.contact_events.pop() {}
-        while let Ok(_) = self.proximity_events.pop() {}
+        while let Ok(_) = self.intersection_events.pop() {}
     }
 }
 
 impl EventHandler for EventQueue {
-    fn handle_proximity_event(&self, event: ProximityEvent) {
-        let _ = self.proximity_events.push(event);
+    fn handle_intersection_event(&self, event: IntersectionEvent) {
+        let _ = self.intersection_events.push(event);
     }
 
     fn handle_contact_event(&self, event: ContactEvent) {
@@ -87,19 +87,19 @@ pub struct SimulationToRenderTime {
     pub diff: f32,
 }
 
-/// Custom filters for proximity and contact pairs.
+/// Custom filters for intersection and contact pairs.
 pub struct InteractionPairFilters {
-    /// Custom proximity pair filter.
-    pub proximity_filter: Option<Box<dyn ProximityPairFilter>>,
+    /// Custom intersection pair filter.
+    pub intersection_filter: Option<Box<dyn IntersectionPairFilter>>,
     /// Custom contact pair filter.
     pub contact_filter: Option<Box<dyn ContactPairFilter>>,
 }
 
 impl InteractionPairFilters {
-    /// A new interaction pair filter with no custom proximity and contact pair filters.
+    /// A new interaction pair filter with no custom intersection and contact pair filters.
     pub fn new() -> Self {
         Self {
-            proximity_filter: None,
+            intersection_filter: None,
             contact_filter: None,
         }
     }
@@ -110,9 +110,9 @@ impl InteractionPairFilters {
         self
     }
 
-    /// Sets the custom proximity pair filter.
-    pub fn proximity_filter(mut self, filter: impl ProximityPairFilter + 'static) -> Self {
-        self.proximity_filter = Some(Box::new(filter) as Box<dyn ProximityPairFilter>);
+    /// Sets the custom intersection pair filter.
+    pub fn intersection_filter(mut self, filter: impl IntersectionPairFilter + 'static) -> Self {
+        self.intersection_filter = Some(Box::new(filter) as Box<dyn IntersectionPairFilter>);
         self
     }
 }

src/physics/systems.rs

@@ -193,7 +193,7 @@ pub fn step_world_system(
     if configuration.time_dependent_number_of_timesteps {
         sim_to_render_time.diff += time.delta_seconds();
 
-        let sim_dt = integration_parameters.dt();
+        let sim_dt = integration_parameters.dt;
         while sim_to_render_time.diff >= sim_dt {
             if configuration.physics_pipeline_active {
                 // NOTE: in this comparison we do the same computations we
@@ -217,7 +217,7 @@ pub fn step_world_system(
                     &mut colliders,
                     &mut joints,
                     filter.contact_filter.as_deref(),
-                    filter.proximity_filter.as_deref(),
+                    filter.intersection_filter.as_deref(),
                     &*events,
                 );
             }
@@ -233,7 +233,7 @@ pub fn step_world_system(
             &mut colliders,
             &mut joints,
             filter.contact_filter.as_deref(),
-            filter.proximity_filter.as_deref(),
+            filter.intersection_filter.as_deref(),
             &*events,
         );
     }
@@ -285,7 +285,7 @@ pub fn sync_transform_system(
     >,
 ) {
     let dt = sim_to_render_time.diff;
-    let sim_dt = integration_parameters.dt();
+    let sim_dt = integration_parameters.dt;
     let alpha = dt / sim_dt;
     for (rigid_body, previous_pos, mut transform) in interpolation_query.iter_mut() {
         if let Some(rb) = bodies.get(rigid_body.handle()) {

src/render/systems.rs

@@ -77,7 +77,7 @@ pub fn create_collider_renders_system(
                         radius: 1.0,
                     }),
                     #[cfg(feature = "dim2")]
-                    ShapeType::Trimesh => {
+                    ShapeType::TriMesh => {
                         let mut mesh =
                             Mesh::new(bevy::render::pipeline::PrimitiveTopology::TriangleList);
                         let trimesh = shape.as_trimesh().unwrap();
@@ -102,7 +102,7 @@ pub fn create_collider_renders_system(
                         mesh
                     }
                     #[cfg(feature = "dim3")]
-                    ShapeType::Trimesh => {
+                    ShapeType::TriMesh => {
                         let mut mesh =
                             Mesh::new(bevy::render::pipeline::PrimitiveTopology::TriangleList);
                         let trimesh = shape.as_trimesh().unwrap();
@@ -182,7 +182,7 @@ pub fn create_collider_renders_system(
                         let b = shape.as_ball().unwrap();
                         Vec3::new(b.radius, b.radius, b.radius)
                     }
-                    ShapeType::Trimesh => Vec3::one(),
+                    ShapeType::TriMesh => Vec3::one(),
                     _ => unimplemented!(),
                 } * configuration.scale;