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feat(heron_rapier): compatibility with heron_rapier v5 (#323)
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@jcornaz
jcornaz authored Nov 12, 2022
1 parent 11af348 commit 6465780
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Showing 3 changed files with 13 additions and 133 deletions.
6 changes: 3 additions & 3 deletions .github/workflows/build.yml
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Expand Up @@ -52,7 +52,7 @@ jobs:
toolchain: ${{ env.RUST_VERSION }}
profile: minimal
override: true
- run: cargo test -p heron_rapier --no-default-features --features 2d
- run: cargo test -p heron_rapier@4.0.0 --no-default-features --features 2d
- run: cargo test -p heron_debug --no-default-features --features 2d
- run: cargo test --no-default-features --features 2d
test-3d:
Expand All @@ -66,7 +66,7 @@ jobs:
profile: minimal
override: true
- run: cargo test -p heron_core@4.0.0 --no-default-features --features 3d
- run: cargo test -p heron_rapier --no-default-features --features 3d
- run: cargo test -p heron_rapier@4.0.0 --no-default-features --features 3d
- run: cargo test -p heron_debug --no-default-features --features 3d
- run: cargo test --no-default-features --features 3d
test-debug-2d:
Expand Down Expand Up @@ -101,7 +101,7 @@ jobs:
toolchain: ${{ env.RUST_VERSION }}
profile: minimal
override: true
- run: cargo test -p heron_rapier --no-default-features --features enhanced-determinism
- run: cargo test -p heron_rapier@4.0.0 --no-default-features --features enhanced-determinism
- run: cargo test --no-default-features --features enhanced-determinism
test-collision-from-mesh:
runs-on: ubuntu-latest
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9 changes: 4 additions & 5 deletions rapier/Cargo.toml
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Expand Up @@ -13,17 +13,16 @@ all-features = true

[features]
default = []
2d = ["rapier2d"]
3d = ["rapier3d", "heron_core/3d"]
enhanced-determinism = ["rapier2d?/enhanced-determinism", "rapier3d?/enhanced-determinism"]
2d = ["heron_rapier_v5/2d", "rapier2d"]
3d = ["heron_rapier_v5/3d", "rapier3d", "heron_core/3d"]
enhanced-determinism = ["heron_rapier_v5/enhanced-determinism", "rapier2d?/enhanced-determinism", "rapier3d?/enhanced-determinism"]

[dependencies]
heron_core = { version = "4.0.0", path = "../core" }
heron_rapier_v5 = { package = "heron_rapier", version = "5.0" }
bevy = { version = "0.8.0", default-features = false }
rapier2d = { version = "0.13.0", optional = true }
rapier3d = { version = "0.13.0", optional = true }
fnv = "1.0"
crossbeam = "0.8.2"

[dev-dependencies]
rstest = "0.15"
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131 changes: 6 additions & 125 deletions rapier/src/lib.rs
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Expand Up @@ -13,151 +13,32 @@
//!
//! The following types are accepted as [`heron_core::CustomCollisionShape`]
//! values.
//!
//! - [`rapier::geometry::ColliderBuilder`]
#[cfg(feature = "rapier2d")]
pub extern crate rapier2d;
#[cfg(feature = "rapier3d")]
pub extern crate rapier3d;

use bevy::ecs::component::Component;
use bevy::prelude::*;
use bevy::time::TimePlugin;
use bevy::transform::TransformSystem;
#[cfg(dim2)]
pub(crate) use rapier2d as rapier;
#[cfg(dim3)]
pub(crate) use rapier3d as rapier;

use heron_core::{CollisionEvent, PhysicsSystem};
pub use pipeline::{PhysicsWorld, RayCastInfo, ShapeCastCollisionInfo, ShapeCastCollisionType};

use crate::rapier::dynamics::{
self, CCDSolver, ImpulseJointSet, IntegrationParameters, IslandManager, MultibodyJointSet,
RigidBodySet,

pub use heron_rapier_v5::{
convert, nalgebra, ColliderHandle, PhysicsWorld, RayCastInfo, RigidBodyHandle,
ShapeCastCollisionInfo, ShapeCastCollisionType,
};
use crate::rapier::geometry::{self, BroadPhase, ColliderSet, NarrowPhase};
pub use crate::rapier::na as nalgebra;
use crate::rapier::pipeline::{PhysicsPipeline, QueryPipeline};

mod acceleration;
mod body;
pub mod convert;
mod damping;
mod pipeline;
mod shape;
mod velocity;

/// Plugin that enables collision detection and physics behavior, powered by rapier.
#[must_use]
#[derive(Debug, Copy, Clone, Default)]
pub struct RapierPlugin;

/// Component that holds a reference to the rapier rigid body
///
/// It is automatically inserted and removed by heron.
/// It is only useful for advanced, direct access to the rapier world
#[derive(Debug, Copy, Clone, Eq, PartialEq, Component)]
pub struct RigidBodyHandle(dynamics::RigidBodyHandle);

/// Component that holds a reference to the rapier collider
///
/// It is automatically inserted and removed by heron.
/// It is only useful for advanced, direct access to the rapier world
#[derive(Debug, Copy, Clone, Eq, PartialEq, Component)]
pub struct ColliderHandle(geometry::ColliderHandle);

impl Plugin for RapierPlugin {
fn build(&self, app: &mut App) {
app.add_plugin(heron_core::CorePlugin)
.add_plugin(TimePlugin)
.init_resource::<PhysicsPipeline>()
.init_resource::<body::HandleMap>()
.init_resource::<shape::HandleMap>()
.init_resource::<IntegrationParameters>()
.add_event::<CollisionEvent>()
.insert_resource(BroadPhase::new())
.insert_resource(NarrowPhase::new())
.insert_resource(RigidBodySet::new())
.insert_resource(QueryPipeline::new())
.insert_resource(IslandManager::new())
.insert_resource(ColliderSet::new())
.insert_resource(ImpulseJointSet::new())
.insert_resource(MultibodyJointSet::new())
.insert_resource(CCDSolver::new())
.stage("heron-physics", |schedule: &mut Schedule| {
schedule
.add_stage("heron-remove", removal_stage())
.add_stage("heron-update-rapier-world", update_rapier_world_stage())
.add_stage("heron-create-new-bodies", body_update_stage())
.add_stage("heron-create-new-colliders", create_collider_stage())
})
.add_system_set_to_stage(CoreStage::PostUpdate, step_systems());
app.add_plugin(TimePlugin)
.add_plugin(heron_rapier_v5::RapierPlugin::default());
}
}

fn removal_stage() -> SystemStage {
SystemStage::single_threaded()
.with_system(body::remove_invalids_after_components_removed)
.with_system(shape::remove_invalids_after_components_removed)
.with_system(body::remove_invalids_after_component_changed)
.with_system(shape::remove_invalids_after_component_changed)
}

fn update_rapier_world_stage() -> SystemStage {
SystemStage::parallel()
.with_run_criteria(heron_core::should_run)
.with_system(bevy::transform::transform_propagate_system)
.with_system(
body::update_rapier_position.after(bevy::transform::transform_propagate_system),
)
.with_system(velocity::update_rapier_velocity)
.with_system(acceleration::update_rapier_force_and_torque)
.with_system(damping::update_rapier_damping)
.with_system(damping::reset_rapier_damping)
.with_system(shape::update_position)
.with_system(shape::update_collision_groups)
.with_system(shape::update_sensor_flag)
.with_system(shape::remove_sensor_flag)
.with_system(shape::reset_collision_groups)
}

fn body_update_stage() -> SystemStage {
SystemStage::single_threaded()
.with_run_criteria(heron_core::should_run)
.with_system(body::create)
}

fn create_collider_stage() -> SystemStage {
SystemStage::single_threaded()
.with_run_criteria(heron_core::should_run)
.with_system(shape::create)
}

fn step_systems() -> SystemSet {
SystemSet::new()
.with_run_criteria(heron_core::should_run)
.with_system(pipeline::update_integration_parameters.before(PhysicsSystem::Events))
.with_system(pipeline::step.label(PhysicsSystem::Events))
.with_system(
body::update_bevy_transform
.label(PhysicsSystem::TransformUpdate)
.after(PhysicsSystem::Events)
.before(TransformSystem::TransformPropagate),
)
.with_system(
velocity::update_velocity_component
.label(PhysicsSystem::VelocityUpdate)
.after(PhysicsSystem::Events),
)
.with_system(
velocity::update_rapier_velocity
.after(PhysicsSystem::Events)
.after(PhysicsSystem::VelocityUpdate),
)
}

#[cfg(test)]
mod tests {
use std::time::Duration;
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