Fixed dimforge#383

AnthonyTornetta · Jun 14, 2023 · fb4f69a · fb4f69a
1 parent c8a10cd
commit fb4f69a
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Showing 5 changed files with 423 additions and 73 deletions.
diff --git a/bevy_rapier2d/examples/custom_system_setup2.rs b/bevy_rapier2d/examples/custom_system_setup2.rs
@@ -29,6 +29,7 @@ fn main() {
     schedule.configure_sets(
         (
             PhysicsSet::SyncBackend,
+            PhysicsSet::SyncBackend2,
             PhysicsSet::SyncBackendFlush,
             PhysicsSet::StepSimulation,
             PhysicsSet::Writeback,
@@ -41,6 +42,11 @@ fn main() {
             .in_base_set(PhysicsSet::SyncBackend),
     );
 
+    schedule.add_systems(
+        RapierPhysicsPlugin::<NoUserData>::get_systems(PhysicsSet::SyncBackend2)
+            .in_base_set(PhysicsSet::SyncBackend2),
+    );
+
     schedule.add_systems(
         RapierPhysicsPlugin::<NoUserData>::get_systems(PhysicsSet::SyncBackendFlush)
             .in_base_set(PhysicsSet::SyncBackendFlush),

diff --git a/bevy_rapier3d/examples/custom_system_setup3.rs b/bevy_rapier3d/examples/custom_system_setup3.rs
@@ -29,6 +29,7 @@ fn main() {
     schedule.configure_sets(
         (
             PhysicsSet::SyncBackend,
+            PhysicsSet::SyncBackend2,
             PhysicsSet::SyncBackendFlush,
             PhysicsSet::StepSimulation,
             PhysicsSet::Writeback,
@@ -41,6 +42,11 @@ fn main() {
             .in_base_set(PhysicsSet::SyncBackend),
     );
 
+    schedule.add_systems(
+        RapierPhysicsPlugin::<NoUserData>::get_systems(PhysicsSet::SyncBackend2)
+            .in_base_set(PhysicsSet::SyncBackend2),
+    );
+
     schedule.add_systems(
         RapierPhysicsPlugin::<NoUserData>::get_systems(PhysicsSet::SyncBackendFlush)
             .in_base_set(PhysicsSet::SyncBackendFlush),

diff --git a/bevy_rapier3d/examples/super_fast3.rs b/bevy_rapier3d/examples/super_fast3.rs
@@ -0,0 +1,95 @@
+use bevy::prelude::*;
+use bevy_rapier3d::prelude::*;
+
+fn main() {
+    App::new()
+        .insert_resource(ClearColor(Color::rgb(
+            0xF9 as f32 / 255.0,
+            0xF9 as f32 / 255.0,
+            0xFF as f32 / 255.0,
+        )))
+        .add_plugins(DefaultPlugins)
+        .add_plugin(RapierPhysicsPlugin::<NoUserData>::default())
+        .add_plugin(RapierDebugRenderPlugin::default())
+        .add_startup_system(setup_simulation)
+        // .add_system(update_cam_pos)
+        .run();
+}
+
+const VEL_Y: f32 = 1000.0;
+const TOP_CUBE_DIFF_VEL: f32 = -1.0;
+
+#[derive(Component)]
+struct FollowMe;
+
+fn setup_simulation(mut commands: Commands) {
+    // Right side - independent entities
+
+    commands
+        .spawn((
+            TransformBundle::from(Transform::from_xyz(1.0, 0.0, 0.0)),
+            RigidBody::Dynamic,
+            Collider::cuboid(0.5, 0.5, 0.5),
+            ColliderDebugColor(Color::hsl(180.0, 1.0, 0.3)),
+            Velocity {
+                linvel: Vec3::new(0.0, VEL_Y, 0.0),
+                angvel: Vec3::new(0.0, 0.0, 0.0),
+            },
+            GravityScale(0.0),
+            Ccd::enabled(),
+        ))
+        .with_children(|child| {
+            child.spawn((
+                TransformBundle::from(Transform::from_xyz(0.0, 5.0, 0.0)),
+                RigidBody::Dynamic,
+                Collider::cuboid(0.5, 0.5, 0.5),
+                ColliderDebugColor(Color::hsl(220.0, 1.0, 0.3)),
+                Ccd::enabled(),
+                FollowMe,
+                Velocity::linear(Vec3::new(0.0, TOP_CUBE_DIFF_VEL, 0.0)),
+                GravityScale(0.0),
+            ));
+
+            child.spawn(Camera3dBundle {
+                transform: Transform::from_xyz(0.0, 10.0, 10.0)
+                    .looking_at(Vec3::new(0.0, 0.0, 0.0), Vec3::Y),
+                ..Default::default()
+            });
+        });
+
+    // Left side - independent entities are fine
+
+    commands.spawn((
+        TransformBundle::from(Transform::from_xyz(-1.0, 0.0, 0.0)),
+        RigidBody::Dynamic,
+        Collider::cuboid(0.5, 0.5, 0.5),
+        ColliderDebugColor(Color::hsl(180.0, 1.0, 0.3)),
+        Velocity {
+            linvel: Vec3::new(0.0, VEL_Y, 0.0),
+            angvel: Vec3::new(0.0, 0.0, 0.0),
+        },
+        GravityScale(0.0),
+        Ccd::enabled(),
+    ));
+
+    commands.spawn((
+        TransformBundle::from(Transform::from_xyz(-1.0, 5.0, 0.0)),
+        RigidBody::Dynamic,
+        Collider::cuboid(0.5, 0.5, 0.5),
+        ColliderDebugColor(Color::hsl(220.0, 1.0, 0.3)),
+        Ccd::enabled(),
+        Velocity {
+            linvel: Vec3::new(0.0, VEL_Y + TOP_CUBE_DIFF_VEL, 0.0),
+            angvel: Vec3::new(0.0, 0.0, 0.0),
+        },
+        GravityScale(0.0),
+    ));
+}
+
+fn update_cam_pos(
+    follow_me: Query<&GlobalTransform, (Without<Camera>, With<FollowMe>)>,
+    mut cam_trans: Query<&mut Transform, With<Camera>>,
+) {
+    let trans = follow_me.get_single().unwrap().translation();
+    cam_trans.get_single_mut().unwrap().translation = Vec3::new(0.0, trans.y + 10.0, 10.0);
+}
diff --git a/src/plugin/plugin.rs b/src/plugin/plugin.rs
@@ -86,14 +86,18 @@ where
                     .after(systems::update_character_controls)
                     .in_set(PropagateTransformsSet)
                     .in_set(RapierTransformPropagateSet),
+            )
+                .into_configs(),
+            PhysicsSet::SyncBackend2 => (
                 systems::init_async_colliders.after(RapierTransformPropagateSet),
                 systems::apply_scale.after(systems::init_async_colliders),
                 systems::apply_collider_user_changes.after(systems::apply_scale),
                 systems::apply_rigid_body_user_changes.after(systems::apply_collider_user_changes),
                 systems::apply_joint_user_changes.after(systems::apply_rigid_body_user_changes),
                 systems::init_rigid_bodies.after(systems::apply_joint_user_changes),
+                systems::sync_velocity.after(systems::init_rigid_bodies),
                 systems::init_colliders
-                    .after(systems::init_rigid_bodies)
+                    .after(systems::sync_velocity)
                     .after(systems::init_async_colliders),
                 systems::init_joints.after(systems::init_colliders),
                 systems::apply_initial_rigid_body_impulses.after(systems::init_colliders),
@@ -145,7 +149,11 @@ pub enum PhysicsSet {
     /// initializing) backend data structures with current component state.
     /// These systems typically run at the after [`CoreSet::Update`].
     SyncBackend,
-    /// The copy of [`apply_system_buffers`] that runs immediately after [`PhysicsSet::SyncBackend`].
+    /// This set runs the systems responsible for synchronizing (and
+    /// initializing) backend data structures with current component state.
+    /// These systems typically run immediately after [`PhysicsSet::SyncBackend`].
+    SyncBackend2,
+    /// The copy of [`apply_system_buffers`] that runs immediately after [`PhysicsSet::SyncBackend2`].
     SyncBackendFlush,
     /// The systems responsible for advancing the physics simulation, and
     /// updating the internal state for scene queries.
@@ -205,6 +213,7 @@ where
             app.configure_sets(
                 (
                     PhysicsSet::SyncBackend,
+                    PhysicsSet::SyncBackend2,
                     PhysicsSet::SyncBackendFlush,
                     PhysicsSet::StepSimulation,
                     PhysicsSet::Writeback,
@@ -217,6 +226,11 @@ where
             app.add_systems(
                 Self::get_systems(PhysicsSet::SyncBackend).in_base_set(PhysicsSet::SyncBackend),
             );
+
+            app.add_systems(
+                Self::get_systems(PhysicsSet::SyncBackend2).in_base_set(PhysicsSet::SyncBackend2),
+            );
+
             app.add_systems(
                 Self::get_systems(PhysicsSet::SyncBackendFlush)
                     .in_base_set(PhysicsSet::SyncBackendFlush),