Improve system schedules

bevy_rapier2d/Cargo.toml

@@ -64,6 +64,7 @@ approx = "0.5.1"
 glam = { version = "0.27", features = ["approx"] }
 bevy-inspector-egui = "0.25.1"
 bevy_egui = "0.28.0"
+bevy_mod_debugdump = "0.11"
 
 [package.metadata.docs.rs]
 # Enable all the features when building the docs on docs.rs

bevy_rapier2d/examples/debugdump2.rs

@@ -0,0 +1,61 @@
+use bevy::prelude::*;
+use bevy_rapier2d::prelude::*;
+
+fn main() {
+    let mut app = App::new();
+    app.insert_resource(ClearColor(Color::srgb(
+        0xF9 as f32 / 255.0,
+        0xF9 as f32 / 255.0,
+        0xFF as f32 / 255.0,
+    )))
+    .add_plugins((
+        DefaultPlugins,
+        RapierPhysicsPlugin::<NoUserData>::pixels_per_meter(100.0),
+        RapierDebugRenderPlugin::default(),
+    ))
+    .add_systems(Startup, (setup_graphics, setup_physics))
+    .add_systems(PostUpdate, display_events);
+
+    bevy_mod_debugdump::print_schedule_graph(&mut app, PostUpdate);
+}
+
+pub fn setup_graphics(mut commands: Commands) {
+    commands.spawn(Camera2dBundle::default());
+}
+
+pub fn display_events(
+    mut collision_events: EventReader<CollisionEvent>,
+    mut contact_force_events: EventReader<ContactForceEvent>,
+) {
+    for collision_event in collision_events.read() {
+        println!("Received collision event: {collision_event:?}");
+    }
+
+    for contact_force_event in contact_force_events.read() {
+        println!("Received contact force event: {contact_force_event:?}");
+    }
+}
+
+pub fn setup_physics(mut commands: Commands) {
+    /*
+     * Ground
+     */
+    commands.spawn((
+        TransformBundle::from(Transform::from_xyz(0.0, -24.0, 0.0)),
+        Collider::cuboid(80.0, 20.0),
+    ));
+
+    commands.spawn((
+        TransformBundle::from(Transform::from_xyz(0.0, 100.0, 0.0)),
+        Collider::cuboid(80.0, 30.0),
+        Sensor,
+    ));
+
+    commands.spawn((
+        TransformBundle::from(Transform::from_xyz(0.0, 260.0, 0.0)),
+        RigidBody::Dynamic,
+        Collider::cuboid(10.0, 10.0),
+        ActiveEvents::COLLISION_EVENTS,
+        ContactForceEventThreshold(10.0),
+    ));
+}

src/plugin/plugin.rs

@@ -80,38 +80,45 @@ where
         match set {
             PhysicsSet::SyncBackend => (
                 // Run the character controller before the manual transform propagation.
-                systems::update_character_controls,
+                systems::update_character_controls.in_set(PhysicsSet::SyncBackend),
                 // Run Bevy transform propagation additionally to sync [`GlobalTransform`]
                 (
                     bevy::transform::systems::sync_simple_transforms,
                     bevy::transform::systems::propagate_transforms,
                 )
                     .chain()
                     .in_set(RapierTransformPropagateSet),
-                #[cfg(all(feature = "dim3", feature = "async-collider"))]
-                systems::init_async_scene_colliders,
-                #[cfg(all(feature = "dim3", feature = "async-collider"))]
-                systems::init_async_colliders,
-                systems::init_rigid_bodies,
-                systems::init_colliders,
-                systems::init_joints,
-                systems::sync_removals,
-                // Run this here so the following systems do not have a 1 frame delay.
-                apply_deferred,
-                systems::apply_scale,
-                systems::apply_collider_user_changes,
-                systems::apply_rigid_body_user_changes,
-                systems::apply_joint_user_changes,
-                systems::apply_initial_rigid_body_impulses,
+                (
+                    #[cfg(all(feature = "dim3", feature = "async-collider"))]
+                    systems::init_async_scene_colliders,
+                    #[cfg(all(feature = "dim3", feature = "async-collider"))]
+                    systems::init_async_colliders,
+                    systems::init_rigid_bodies,
+                    systems::init_colliders,
+                    systems::init_joints,
+                    systems::sync_removals,
+                    // Run this here so the following systems do not have a 1 frame delay.
+                    apply_deferred,
+                    systems::apply_scale,
+                    systems::apply_collider_user_changes,
+                    systems::apply_rigid_body_user_changes,
+                    systems::apply_joint_user_changes,
+                    systems::apply_initial_rigid_body_impulses,
+                )
+                    .chain()
+                    .in_set(PhysicsSet::SyncBackend),
             )
                 .chain()
                 .into_configs(),
-            PhysicsSet::StepSimulation => (systems::step_simulation::<PhysicsHooks>).into_configs(),
+            PhysicsSet::StepSimulation => (systems::step_simulation::<PhysicsHooks>)
+                .in_set(PhysicsSet::StepSimulation)
+                .into_configs(),
             PhysicsSet::Writeback => (
                 systems::update_colliding_entities,
                 systems::writeback_rigid_bodies,
                 systems::writeback_mass_properties,
             )
+                .in_set(PhysicsSet::Writeback)
                 .into_configs(),
         }
     }
@@ -214,17 +221,20 @@ where
                     .chain()
                     .before(TransformSystem::TransformPropagate),
             );
+            app.configure_sets(
+                self.schedule,
+                RapierTransformPropagateSet.in_set(PhysicsSet::SyncBackend),
+            );
 
             // These *must* be in the main schedule currently so that they do not miss events.
             app.add_systems(PostUpdate, (systems::sync_removals,));
 
             app.add_systems(
                 self.schedule,
                 (
-                    Self::get_systems(PhysicsSet::SyncBackend).in_set(PhysicsSet::SyncBackend),
-                    Self::get_systems(PhysicsSet::StepSimulation)
-                        .in_set(PhysicsSet::StepSimulation),
-                    Self::get_systems(PhysicsSet::Writeback).in_set(PhysicsSet::Writeback),
+                    Self::get_systems(PhysicsSet::SyncBackend),
+                    Self::get_systems(PhysicsSet::StepSimulation),
+                    Self::get_systems(PhysicsSet::Writeback),
                 ),
             );