Update to Rapier 0.20 (#525)

dimforge · Jun 14, 2024 · 5fb8a4e · 5fb8a4e
1 parent 470cd9b
commit 5fb8a4e
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diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -2,9 +2,14 @@
 
 ## Unreleased
 
+**This is an update to Rapier 0.20 which includes several stability improvements
+and new features. Please have a look at the
+[0.20 changelog](https://github.com/dimforge/rapier/blob/master/CHANGELOG.md) of Rapier.**
+
 ### Modified
 
 - Renamed `has_any_active_contacts` to `has_any_active_contact` for better consistency with rapier.
+- Update to rapier `0.20`.
 
 ### Added
 

diff --git a/Cargo.toml b/Cargo.toml
@@ -20,4 +20,4 @@ codegen-units = 1
 #parry2d = { git = "https://github.com/dimforge/parry", branch = "master" }
 #parry3d = { git = "https://github.com/dimforge/parry", branch = "master" }
 #rapier2d = { git = "https://github.com/dimforge/rapier", branch = "character-controller" }
-#rapier3d = { git = "https://github.com/dimforge/rapier", branch = "character-controller" }
+#rapier3d = { git = "https://github.com/dimforge/rapier", branch = "character-controller" }
diff --git a/bevy_rapier2d/Cargo.toml b/bevy_rapier2d/Cargo.toml
@@ -20,8 +20,20 @@ required-features = ["dim2"]
 [features]
 default = ["dim2", "async-collider", "debug-render-2d"]
 dim2 = []
-debug-render-2d = ["bevy/bevy_core_pipeline", "bevy/bevy_sprite", "bevy/bevy_gizmos", "rapier2d/debug-render", "bevy/bevy_asset"]
-debug-render-3d = ["bevy/bevy_core_pipeline", "bevy/bevy_pbr", "bevy/bevy_gizmos", "rapier2d/debug-render", "bevy/bevy_asset"]
+debug-render-2d = [
+    "bevy/bevy_core_pipeline",
+    "bevy/bevy_sprite",
+    "bevy/bevy_gizmos",
+    "rapier2d/debug-render",
+    "bevy/bevy_asset",
+]
+debug-render-3d = [
+    "bevy/bevy_core_pipeline",
+    "bevy/bevy_pbr",
+    "bevy/bevy_gizmos",
+    "rapier2d/debug-render",
+    "bevy/bevy_asset",
+]
 parallel = ["rapier2d/parallel"]
 simd-stable = ["rapier2d/simd-stable"]
 simd-nightly = ["rapier2d/simd-nightly"]
@@ -34,7 +46,7 @@ async-collider = ["bevy/bevy_asset", "bevy/bevy_scene"]
 [dependencies]
 bevy = { version = "0.13", default-features = false }
 nalgebra = { version = "0.32.3", features = ["convert-glam025"] }
-rapier2d = "0.19.0"
+rapier2d = "0.20"
 bitflags = "2.4"
 log = "0.4"
 serde = { version = "1", features = ["derive"], optional = true }

diff --git a/bevy_rapier3d/Cargo.toml b/bevy_rapier3d/Cargo.toml
@@ -21,8 +21,20 @@ required-features = ["dim3"]
 default = ["dim3", "async-collider", "debug-render-3d"]
 dim3 = []
 debug-render = ["debug-render-3d"]
-debug-render-2d = ["bevy/bevy_core_pipeline", "bevy/bevy_sprite", "bevy/bevy_gizmos", "rapier3d/debug-render", "bevy/bevy_asset"]
-debug-render-3d = ["bevy/bevy_core_pipeline", "bevy/bevy_pbr", "bevy/bevy_gizmos", "rapier3d/debug-render", "bevy/bevy_asset"]
+debug-render-2d = [
+    "bevy/bevy_core_pipeline",
+    "bevy/bevy_sprite",
+    "bevy/bevy_gizmos",
+    "rapier3d/debug-render",
+    "bevy/bevy_asset",
+]
+debug-render-3d = [
+    "bevy/bevy_core_pipeline",
+    "bevy/bevy_pbr",
+    "bevy/bevy_gizmos",
+    "rapier3d/debug-render",
+    "bevy/bevy_asset",
+]
 parallel = ["rapier3d/parallel"]
 simd-stable = ["rapier3d/simd-stable"]
 simd-nightly = ["rapier3d/simd-nightly"]
@@ -35,13 +47,16 @@ async-collider = ["bevy/bevy_asset", "bevy/bevy_scene"]
 [dependencies]
 bevy = { version = "0.13", default-features = false }
 nalgebra = { version = "0.32.3", features = ["convert-glam025"] }
-rapier3d = "0.19"
+rapier3d = "0.20"
 bitflags = "2.4"
 log = "0.4"
 serde = { version = "1", features = ["derive"], optional = true }
 
 [dev-dependencies]
-bevy = { version = "0.13", default-features = false, features = ["x11", "tonemapping_luts"] }
+bevy = { version = "0.13", default-features = false, features = [
+    "x11",
+    "tonemapping_luts",
+] }
 approx = "0.5.1"
 glam = { version = "0.25", features = ["approx"] }
 

diff --git a/src/dynamics/prismatic_joint.rs b/src/dynamics/prismatic_joint.rs
@@ -89,19 +89,19 @@ impl PrismaticJoint {
     /// The motor affecting the joint’s translational degree of freedom.
     #[must_use]
     pub fn motor(&self) -> Option<&JointMotor> {
-        self.data.motor(JointAxis::X)
+        self.data.motor(JointAxis::LinX)
     }
 
     /// Set the spring-like model used by the motor to reach the desired target velocity and position.
     pub fn set_motor_model(&mut self, model: MotorModel) -> &mut Self {
-        self.data.set_motor_model(JointAxis::X, model);
+        self.data.set_motor_model(JointAxis::LinX, model);
         self
     }
 
     /// Sets the target velocity this motor needs to reach.
     pub fn set_motor_velocity(&mut self, target_vel: Real, factor: Real) -> &mut Self {
         self.data
-            .set_motor_velocity(JointAxis::X, target_vel, factor);
+            .set_motor_velocity(JointAxis::LinX, target_vel, factor);
         self
     }
 
@@ -113,7 +113,7 @@ impl PrismaticJoint {
         damping: Real,
     ) -> &mut Self {
         self.data
-            .set_motor_position(JointAxis::X, target_pos, stiffness, damping);
+            .set_motor_position(JointAxis::LinX, target_pos, stiffness, damping);
         self
     }
 
@@ -126,25 +126,25 @@ impl PrismaticJoint {
         damping: Real,
     ) -> &mut Self {
         self.data
-            .set_motor(JointAxis::X, target_pos, target_vel, stiffness, damping);
+            .set_motor(JointAxis::LinX, target_pos, target_vel, stiffness, damping);
         self
     }
 
     /// Sets the maximum force the motor can deliver.
     pub fn set_motor_max_force(&mut self, max_force: Real) -> &mut Self {
-        self.data.set_motor_max_force(JointAxis::X, max_force);
+        self.data.set_motor_max_force(JointAxis::LinX, max_force);
         self
     }
 
     /// The limit distance attached bodies can translate along the joint’s principal axis.
     #[must_use]
     pub fn limits(&self) -> Option<&JointLimits<Real>> {
-        self.data.limits(JointAxis::X)
+        self.data.limits(JointAxis::LinX)
     }
 
     /// Sets the `[min,max]` limit distances attached bodies can translate along the joint’s principal axis.
     pub fn set_limits(&mut self, limits: [Real; 2]) -> &mut Self {
-        self.data.set_limits(JointAxis::X, limits);
+        self.data.set_limits(JointAxis::LinX, limits);
         self
     }
 }

diff --git a/src/dynamics/rope_joint.rs b/src/dynamics/rope_joint.rs
@@ -93,14 +93,14 @@ impl RopeJoint {
 
     /// Set the spring-like model used by the motor to reach the desired target velocity and position.
     pub fn set_motor_model(&mut self, model: MotorModel) -> &mut Self {
-        self.data.set_motor_model(JointAxis::X, model);
+        self.data.set_motor_model(JointAxis::LinX, model);
         self
     }
 
     /// Sets the target velocity this motor needs to reach.
     pub fn set_motor_velocity(&mut self, target_vel: Real, factor: Real) -> &mut Self {
         self.data
-            .set_motor_velocity(JointAxis::X, target_vel, factor);
+            .set_motor_velocity(JointAxis::LinX, target_vel, factor);
         self
     }
 
@@ -112,7 +112,7 @@ impl RopeJoint {
         damping: Real,
     ) -> &mut Self {
         self.data
-            .set_motor_position(JointAxis::X, target_pos, stiffness, damping);
+            .set_motor_position(JointAxis::LinX, target_pos, stiffness, damping);
         self
     }
 
@@ -125,13 +125,13 @@ impl RopeJoint {
         damping: Real,
     ) -> &mut Self {
         self.data
-            .set_motor(JointAxis::X, target_pos, target_vel, stiffness, damping);
+            .set_motor(JointAxis::LinX, target_pos, target_vel, stiffness, damping);
         self
     }
 
     /// Sets the maximum force the motor can deliver.
     pub fn set_motor_max_force(&mut self, max_force: Real) -> &mut Self {
-        self.data.set_motor_max_force(JointAxis::X, max_force);
+        self.data.set_motor_max_force(JointAxis::LinX, max_force);
         self
     }
 
@@ -145,14 +145,14 @@ impl RopeJoint {
     ///
     /// The `max_dist` must be strictly greater than 0.0.
     pub fn set_max_distance(&mut self, max_dist: Real) -> &mut Self {
-        self.data.set_limits(JointAxis::X, [0.0, max_dist]);
+        self.data.set_limits(JointAxis::LinX, [0.0, max_dist]);
         self
     }
 
     /// The maximum distance between the attached bodies.
     pub fn max_distance(&self) -> Real {
         self.data
-            .limits(JointAxis::X)
+            .limits(JointAxis::LinX)
             .map(|l| l.max)
             .unwrap_or(Real::MAX)
     }

diff --git a/src/dynamics/spring_joint.rs b/src/dynamics/spring_joint.rs
@@ -22,8 +22,8 @@ impl SpringJoint {
     pub fn new(rest_length: Real, stiffness: Real, damping: Real) -> Self {
         let data = GenericJointBuilder::new(JointAxesMask::empty())
             .coupled_axes(JointAxesMask::LIN_AXES)
-            .motor_position(JointAxis::X, rest_length, stiffness, damping)
-            .motor_model(JointAxis::X, MotorModel::ForceBased)
+            .motor_position(JointAxis::LinX, rest_length, stiffness, damping)
+            .motor_model(JointAxis::LinX, MotorModel::ForceBased)
             .build();
         Self { data }
     }
@@ -75,7 +75,7 @@ impl SpringJoint {
     /// `MotorModel::AccelerationBased`, the spring constants will be automatically scaled by the attached masses,
     /// making the spring more mass-independent.
     pub fn set_spring_model(&mut self, model: MotorModel) -> &mut Self {
-        self.data.set_motor_model(JointAxis::X, model);
+        self.data.set_motor_model(JointAxis::LinX, model);
         self
     }
 }

diff --git a/src/plugin/context.rs b/src/plugin/context.rs
@@ -338,7 +338,7 @@ impl RapierContext {
     /// Updates the state of the query pipeline, based on the collider positions known
     /// from the last timestep or the last call to `self.propagate_modified_body_positions_to_colliders()`.
     pub fn update_query_pipeline(&mut self) {
-        self.query_pipeline.update(&self.bodies, &self.colliders);
+        self.query_pipeline.update(&self.colliders);
     }
 
     /// The map from entities to rigid-body handles.
@@ -447,18 +447,16 @@ impl RapierContext {
                 );
 
                 if options.apply_impulse_to_dynamic_bodies {
-                    for collision in &*collisions {
-                        controller.solve_character_collision_impulses(
-                            dt,
-                            bodies,
-                            colliders,
-                            query_pipeline,
-                            (&scaled_shape).into(),
-                            shape_mass,
-                            collision,
-                            filter,
-                        )
-                    }
+                    controller.solve_character_collision_impulses(
+                        dt,
+                        bodies,
+                        colliders,
+                        query_pipeline,
+                        (&scaled_shape).into(),
+                        shape_mass,
+                        collisions.iter().copied(),
+                        filter,
+                    )
                 }
 
                 result

diff --git a/src/plugin/systems/character_controller.rs b/src/plugin/systems/character_controller.rs
@@ -115,18 +115,16 @@ pub fn update_character_controls(
             );
 
             if controller.apply_impulse_to_dynamic_bodies {
-                for collision in &*collisions {
-                    raw_controller.solve_character_collision_impulses(
-                        context.integration_parameters.dt,
-                        &mut context.bodies,
-                        &context.colliders,
-                        &context.query_pipeline,
-                        character_shape,
-                        character_mass,
-                        collision,
-                        filter,
-                    )
-                }
+                raw_controller.solve_character_collision_impulses(
+                    context.integration_parameters.dt,
+                    &mut context.bodies,
+                    &context.colliders,
+                    &context.query_pipeline,
+                    character_shape,
+                    character_mass,
+                    collisions.iter().copied(),
+                    filter,
+                )
             }
 
             if let Ok(mut transform) = transforms.get_mut(entity_to_move) {