Split RapierContext (#585)

CHANGELOG.md

@@ -6,15 +6,27 @@
 
 ### Modified
 
+- `RapierContext` has been split in multiple `Component`s:
+    - `RapierContextColliders`
+    - `RapierContextJoints`
+    - `RapierContextSimulation`
+    - `RapierRigidBodySet`
+- Renamed `DefaultReadRapierContext` and `DefaultWriteRapierContext`.
+  - Use `ReadRapierContext` and its associated `single()` method.
+
+## v0.28.0 (09 December 2024)
+
+### Modified
+
 - Update from rapier `0.21` to rapier `0.22`,
   see [rapier's changelog](https://github.com/dimforge/rapier/blob/master/CHANGELOG.md).
 - Update bevy to 0.15.
-- `RapierContext`, `RapierConfiguration` and `RenderToSimulationTime` are now a `Component` instead of resources.
+- `RapierContext`, `RapierConfiguration` and `SimulationToRenderTime` are now a `Component` instead of resources.
   - Rapier now supports multiple independent physics worlds, see example `multi_world3` for usage details.
   - Migration guide:
     - `ResMut<mut RapierContext>` -> `WriteDefaultRapierContext`
     - `Res<RapierContext>` -> `ReadDefaultRapierContext`
-    - Access to `RapierConfiguration` and `RenderToSimulationTime` should query for it
+    - Access to `RapierConfiguration` and `SimulationToRenderTime` should query for it
 on the responsible entity owning the `RenderContext`.
   - If you are building a library on top of `bevy_rapier` and would want to support multiple independent physics worlds too,
 you can check out the details of [#545](https://github.com/dimforge/bevy_rapier/pull/545)

bevy_rapier2d/examples/debugdump2.rs

@@ -1,6 +1,6 @@
 //! Example using bevy_mod_debugdump to output a graph of systems execution order.
 //! run with:
-//! `cargo run --example debugdump2 > dump.dot  && dot -Tsvg dump.dot > dump.svg`
+//! `cargo run --example debugdump2 > dump.dot && dot -Tsvg dump.dot > dump.svg`
 
 use bevy::prelude::*;
 use bevy_mod_debugdump::{schedule_graph, schedule_graph_dot};

bevy_rapier2d/examples/testbed2.rs

@@ -205,11 +205,12 @@ fn main() {
             OnExit(Examples::PlayerMovement2),
             (
                 cleanup,
-                |mut rapier_config: Query<&mut RapierConfiguration>,
-                 ctxt: ReadDefaultRapierContext| {
+                |mut rapier_config: Query<&mut RapierConfiguration>, ctxt: ReadRapierContext| {
                     let mut rapier_config = rapier_config.single_mut();
-                    rapier_config.gravity =
-                        RapierConfiguration::new(ctxt.integration_parameters.length_unit).gravity;
+                    rapier_config.gravity = RapierConfiguration::new(
+                        ctxt.single().simulation.integration_parameters.length_unit,
+                    )
+                    .gravity;
                 },
             ),
         )

bevy_rapier3d/examples/joints3.rs

@@ -279,7 +279,7 @@ pub fn setup_physics(mut commands: Commands) {
 }
 
 pub fn print_impulse_revolute_joints(
-    context: ReadDefaultRapierContext,
+    context: ReadRapierContext,
     joints: Query<(Entity, &ImpulseJoint)>,
 ) {
     for (entity, impulse_joint) in joints.iter() {
@@ -288,7 +288,7 @@ pub fn print_impulse_revolute_joints(
                 println!(
                     "angle for {}: {:?}",
                     entity,
-                    context.impulse_revolute_joint_angle(entity),
+                    context.single().impulse_revolute_joint_angle(entity),
                 );
             }
             _ => {}

bevy_rapier3d/examples/multi_world3.rs → bevy_rapier3d/examples/multi_contexts3.rs

@@ -1,7 +1,7 @@
 use bevy::{input::common_conditions::input_just_pressed, prelude::*};
 use bevy_rapier3d::prelude::*;
 
-const N_WORLDS: usize = 2;
+const N_CONTEXTS: usize = 2;
 
 fn main() {
     App::new()
@@ -18,21 +18,21 @@ fn main() {
         ))
         .add_systems(
             Startup,
-            ((create_worlds, setup_physics).chain(), setup_graphics),
+            ((create_contexts, setup_physics).chain(), setup_graphics),
         )
         .add_systems(Update, move_platforms)
         .add_systems(
             Update,
-            change_world.run_if(input_just_pressed(KeyCode::KeyC)),
+            change_context.run_if(input_just_pressed(KeyCode::KeyC)),
         )
         .run();
 }
 
-fn create_worlds(mut commands: Commands) {
-    for i in 0..N_WORLDS {
-        let mut world = commands.spawn((RapierContext::default(), WorldId(i)));
+fn create_contexts(mut commands: Commands) {
+    for i in 0..N_CONTEXTS {
+        let mut context = commands.spawn((RapierContextSimulation::default(), ContextId(i)));
         if i == 0 {
-            world.insert(DefaultRapierContext);
+            context.insert((DefaultRapierContext, RapierContextSimulation::default()));
         }
     }
 }
@@ -45,7 +45,7 @@ fn setup_graphics(mut commands: Commands) {
 }
 
 #[derive(Component)]
-pub struct WorldId(pub usize);
+pub struct ContextId(pub usize);
 
 #[derive(Component)]
 struct Platform {
@@ -58,8 +58,8 @@ fn move_platforms(time: Res<Time>, mut query: Query<(&mut Transform, &Platform)>
     }
 }
 
-/// Demonstrates how easy it is to move one entity to another world.
-fn change_world(
+/// Demonstrates how easy it is to move one entity to another context.
+fn change_context(
     query_context: Query<Entity, With<DefaultRapierContext>>,
     mut query_links: Query<(Entity, &mut RapierContextEntityLink)>,
 ) {
@@ -69,12 +69,12 @@ fn change_world(
             continue;
         }
         link.0 = default_context;
-        println!("changing world of {} for world {}", e, link.0);
+        println!("changing context of {} for context {}", e, link.0);
     }
 }
 
 pub fn setup_physics(
-    context: Query<(Entity, &WorldId), With<RapierContext>>,
+    context: Query<(Entity, &ContextId), With<RapierContextSimulation>>,
     mut commands: Commands,
 ) {
     for (context_entity, id) in context.iter() {

bevy_rapier3d/examples/rapier_context_component.rs

@@ -0,0 +1,62 @@
+use bevy::prelude::*;
+use bevy_rapier3d::prelude::*;
+
+fn main() {
+    App::new()
+        .add_plugins((
+            DefaultPlugins,
+            RapierPhysicsPlugin::<NoUserData>::default(),
+            RapierDebugRenderPlugin::default(),
+        ))
+        .add_systems(Startup, (setup_physics, setup_graphics))
+        .add_systems(
+            PostUpdate,
+            display_nb_colliders.after(PhysicsSet::SyncBackend),
+        )
+        .run();
+}
+
+/// Demonstrates how to access a more specific component of [`RapierContext`]
+fn display_nb_colliders(
+    query_context: Query<&RapierContextColliders, With<DefaultRapierContext>>,
+    mut exit: EventWriter<AppExit>,
+) {
+    let nb_colliders = query_context.single().colliders.len();
+    println!("There are {nb_colliders} colliders.");
+    assert!(nb_colliders > 0);
+    exit.send(AppExit::Success);
+}
+
+pub fn setup_physics(mut commands: Commands) {
+    /*
+     * Ground
+     */
+    let ground_size = 5.1;
+    let ground_height = 0.1;
+
+    let starting_y = -0.5 - ground_height;
+
+    commands.spawn((
+        Transform::from_xyz(0.0, starting_y, 0.0),
+        Collider::cuboid(ground_size, ground_height, ground_size),
+    ));
+
+    for _ in 0..3 {
+        /*
+         * Create the cubes
+         */
+
+        commands.spawn((
+            Transform::default(),
+            RigidBody::Dynamic,
+            Collider::cuboid(0.5, 0.5, 0.5),
+        ));
+    }
+}
+
+fn setup_graphics(mut commands: Commands) {
+    commands.spawn((
+        Camera3d::default(),
+        Transform::from_xyz(0.0, 3.0, -10.0).looking_at(Vec3::new(0.0, 0.0, 0.0), Vec3::Y),
+    ));
+}

bevy_rapier3d/examples/ray_casting3.rs

@@ -75,7 +75,7 @@ pub fn setup_physics(mut commands: Commands) {
 pub fn cast_ray(
     mut commands: Commands,
     windows: Query<&Window, With<PrimaryWindow>>,
-    rapier_context: ReadDefaultRapierContext,
+    rapier_context: ReadRapierContext,
     cameras: Query<(&Camera, &GlobalTransform)>,
 ) {
     let window = windows.single();
@@ -90,9 +90,9 @@ pub fn cast_ray(
         let Ok(ray) = camera.viewport_to_world(camera_transform, cursor_position) else {
             return;
         };
-
+        let context = rapier_context.single();
         // Then cast the ray.
-        let hit = rapier_context.cast_ray(
+        let hit = context.cast_ray(
             ray.origin,
             ray.direction.into(),
             f32::MAX,

bevy_rapier_benches3d/src/lib.rs

@@ -9,7 +9,7 @@ use common::default_app;
 use common::wait_app_start;
 
 use bevy::prelude::*;
-use bevy_rapier3d::plugin::RapierContext;
+use bevy_rapier3d::plugin::context::RapierContextSimulation;
 
 pub fn custom_bencher(steps: usize, setup: impl Fn(&mut App)) {
     let mut app = default_app();
@@ -28,7 +28,7 @@ pub fn custom_bencher(steps: usize, setup: impl Fn(&mut App)) {
         let elapsed_time = timer_full_update.time() as f32;
         let rc = app
             .world_mut()
-            .query::<&RapierContext>()
+            .query::<&RapierContextSimulation>()
             .single(app.world());
         rapier_step_times.push(rc.pipeline.counters.step_time.time() as f32);
         total_update_times.push(elapsed_time);

src/control/character_controller.rs

@@ -2,7 +2,7 @@ use crate::geometry::{Collider, CollisionGroups, ShapeCastHit};
 use crate::math::{Real, Rot, Vect};
 use bevy::prelude::*;
 
-use crate::plugin::RapierContext;
+use crate::plugin::context::RapierContextColliders;
 pub use rapier::control::CharacterAutostep;
 pub use rapier::control::CharacterLength;
 use rapier::prelude::{ColliderSet, QueryFilterFlags};
@@ -26,7 +26,7 @@ pub struct CharacterCollision {
 
 impl CharacterCollision {
     pub(crate) fn from_raw(
-        ctxt: &RapierContext,
+        ctxt: &RapierContextColliders,
         c: &rapier::control::CharacterCollision,
     ) -> Option<Self> {
         Self::from_raw_with_set(&ctxt.colliders, c, true)
@@ -37,7 +37,7 @@ impl CharacterCollision {
         c: &rapier::control::CharacterCollision,
         details_always_computed: bool,
     ) -> Option<Self> {
-        RapierContext::collider_entity_with_set(colliders, c.handle).map(|entity| {
+        RapierContextColliders::collider_entity_with_set(colliders, c.handle).map(|entity| {
             CharacterCollision {
                 entity,
                 character_translation: c.character_pos.translation.vector.into(),

src/dynamics/revolute_joint.rs

@@ -1,11 +1,14 @@
 use crate::dynamics::{GenericJoint, GenericJointBuilder};
 use crate::math::{Real, Vect};
-use crate::plugin::RapierContext;
+use crate::plugin::context::RapierRigidBodySet;
 use bevy::prelude::Entity;
 use rapier::dynamics::{
     JointAxesMask, JointAxis, JointLimits, JointMotor, MotorModel, RigidBodyHandle, RigidBodySet,
 };
 
+#[cfg(doc)]
+use crate::prelude::RapierContext;
+
 use super::TypedJoint;
 
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
@@ -147,7 +150,7 @@ impl RevoluteJoint {
     /// Similarly [`RapierContext::impulse_revolute_joint_angle`] only takes a single entity as argument to compute that angle.
     ///
     /// # Parameters
-    /// - `bodies` : the rigid body set from [`RapierContext`]
+    /// - `bodies` : the rigid body set from [`RapierRigidBodySet`]
     /// - `body1`: the first rigid-body attached to this revolute joint, obtained through [`rapier::dynamics::ImpulseJoint`] or [`rapier::dynamics::MultibodyJoint`].
     /// - `body2`: the second rigid-body attached to this revolute joint, obtained through [`rapier::dynamics::ImpulseJoint`] or [`rapier::dynamics::MultibodyJoint`].
     pub fn angle_from_handles(
@@ -167,13 +170,13 @@ impl RevoluteJoint {
     /// The angle along the free degree of freedom of this revolute joint in `[-π, π]`.
     ///
     /// # Parameters
-    /// - `bodies` : the rigid body set from [`RapierContext`]
+    /// - `bodies` : the rigid body set from [`RapierRigidBodySet`]
     /// - `body1`: the first rigid-body attached to this revolute joint.
     /// - `body2`: the second rigid-body attached to this revolute joint.
-    pub fn angle(&self, context: &RapierContext, body1: Entity, body2: Entity) -> f32 {
-        let rb1 = context.entity2body().get(&body1).unwrap();
-        let rb2 = context.entity2body().get(&body2).unwrap();
-        self.angle_from_handles(&context.bodies, *rb1, *rb2)
+    pub fn angle(&self, rigidbody_set: &RapierRigidBodySet, body1: Entity, body2: Entity) -> f32 {
+        let rb1 = rigidbody_set.entity2body().get(&body1).unwrap();
+        let rb2 = rigidbody_set.entity2body().get(&body2).unwrap();
+        self.angle_from_handles(&rigidbody_set.bodies, *rb1, *rb2)
     }
 }
 

src/geometry/shape_views/ball.rs

@@ -29,7 +29,7 @@ pub struct BallViewMut<'a> {
 
 impl_ref_methods!(BallViewMut);
 
-impl<'a> BallViewMut<'a> {
+impl BallViewMut<'_> {
     /// Set the radius of the ball.
     pub fn set_radius(&mut self, radius: Real) {
         self.raw.radius = radius;

src/geometry/shape_views/capsule.rs

@@ -75,7 +75,7 @@ pub struct CapsuleViewMut<'a> {
 
 impl_ref_methods!(CapsuleViewMut);
 
-impl<'a> CapsuleViewMut<'a> {
+impl CapsuleViewMut<'_> {
     /// Set the segment of this capsule.
     pub fn set_segment(&mut self, start: Vect, end: Vect) {
         self.raw.segment.a = start.into();

src/geometry/shape_views/collider_view.rs

@@ -65,7 +65,7 @@ pub enum ColliderView<'a> {
     #[cfg(feature = "dim2")]
     RoundConvexPolygon(RoundConvexPolygonView<'a>),
 }
-impl<'a> fmt::Debug for ColliderView<'a> {
+impl fmt::Debug for ColliderView<'_> {
     fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
         match self {
             ColliderView::Ball(view) => write!(f, "{:?}", view.raw),

src/geometry/shape_views/compound.rs

@@ -9,7 +9,7 @@ pub struct CompoundView<'a> {
     pub raw: &'a Compound,
 }
 
-impl<'a> CompoundView<'a> {
+impl CompoundView<'_> {
     /// The shapes of this compound shape.
     #[inline]
     pub fn shapes(&self) -> impl ExactSizeIterator<Item = (Vect, Rot, ColliderView)> {

src/geometry/shape_views/cone.rs

@@ -34,7 +34,7 @@ pub struct ConeViewMut<'a> {
 
 impl_ref_methods!(ConeViewMut);
 
-impl<'a> ConeViewMut<'a> {
+impl ConeViewMut<'_> {
     /// Set the half-height of the cone.
     pub fn set_half_height(&mut self, half_height: Real) {
         self.raw.half_height = half_height;

src/geometry/shape_views/convex_polygon.rs

@@ -8,7 +8,7 @@ pub struct ConvexPolygonView<'a> {
     pub raw: &'a ConvexPolygon,
 }
 
-impl<'a> ConvexPolygonView<'a> {
+impl ConvexPolygonView<'_> {
     /// The vertices of this convex polygon.
     pub fn points(&self) -> impl ExactSizeIterator<Item = Vect> + '_ {
         self.raw.points().iter().map(|pt| (*pt).into())
@@ -26,7 +26,7 @@ pub struct ConvexPolygonViewMut<'a> {
     pub raw: &'a mut ConvexPolygon,
 }
 
-impl<'a> ConvexPolygonViewMut<'a> {
+impl ConvexPolygonViewMut<'_> {
     /// The vertices of this convex polygon.
     pub fn points(&self) -> impl ExactSizeIterator<Item = Vect> + '_ {
         self.raw.points().iter().map(|pt| (*pt).into())

src/geometry/shape_views/convex_polyhedron.rs

@@ -8,7 +8,7 @@ pub struct ConvexPolyhedronView<'a> {
     pub raw: &'a ConvexPolyhedron,
 }
 
-impl<'a> ConvexPolyhedronView<'a> {
+impl ConvexPolyhedronView<'_> {
     /// The vertices of this convex polygon.
     pub fn points(&self) -> impl ExactSizeIterator<Item = Vect> + '_ {
         self.raw.points().iter().map(|pt| (*pt).into())
@@ -23,7 +23,7 @@ pub struct ConvexPolyhedronViewMut<'a> {
     pub raw: &'a mut ConvexPolyhedron,
 }
 
-impl<'a> ConvexPolyhedronViewMut<'a> {
+impl ConvexPolyhedronViewMut<'_> {
     /// The vertices of this convex polygon.
     pub fn points(&self) -> impl ExactSizeIterator<Item = Vect> + '_ {
         self.raw.points().iter().map(|pt| (*pt).into())