Merge remote-tracking branch 'dimforge/master' into custom-shape

CHANGELOG.md

@@ -2,6 +2,16 @@
 
 ## Unreleased
 
+### Modified
+
+- Update from rapier `0.21` to rapier `0.22`,
+  see [rapier's changelog](https://github.com/dimforge/rapier/blob/master/CHANGELOG.md).
+
+### Fix
+
+- Fix a crash when using `TimestepMode::Interpolated` and removing colliders
+during a frame which would not run a simulation step.
+
 ### Added
 
 - Added a `TriMeshFlags` parameter for `ComputedColliderShape`,

bevy_rapier_benches3d/Cargo.toml

@@ -9,6 +9,6 @@ edition = "2021"
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 
 [dependencies]
-rapier3d = { features = ["profiler"], version = "0.21" }
-bevy_rapier3d = { version = "0.27.0-rc.1", path = "../bevy_rapier3d" }
-bevy = { version = "0.14.0-rc.3", default-features = false }
+rapier3d = { features = ["profiler"], version = "0.22" }
+bevy_rapier3d = { version = "0.27", path = "../bevy_rapier3d" }
+bevy = { version = "0.14", default-features = false }

src/geometry/collider.rs

@@ -171,17 +171,17 @@ impl Default for Friction {
 }
 
 impl Friction {
-    /// Creates a `Friction` component from the given friction coefficient, and using the default
-    /// `CoefficientCombineRule::Average` coefficient combine rule.
+    /// Creates a [`Friction`] component from the given friction coefficient, and using the default
+    /// [`CoefficientCombineRule::Average`] coefficient combine rule.
     pub const fn new(coefficient: f32) -> Self {
         Self {
             coefficient,
             combine_rule: CoefficientCombineRule::Average,
         }
     }
 
-    /// Creates a `Friction` component from the given friction coefficient, and using the default
-    /// `CoefficientCombineRule::Average` coefficient combine rule.
+    /// Creates a [`Friction`] component from the given friction coefficient, and using the default
+    /// [`CoefficientCombineRule::Average`] coefficient combine rule.
     pub const fn coefficient(coefficient: f32) -> Self {
         Self {
             coefficient,
@@ -204,17 +204,17 @@ pub struct Restitution {
 }
 
 impl Restitution {
-    /// Creates a `Restitution` component from the given restitution coefficient, and using the default
-    /// `CoefficientCombineRule::Average` coefficient combine rule.
+    /// Creates a [`Restitution`] component from the given restitution coefficient, and using the default
+    /// [`CoefficientCombineRule::Average`] coefficient combine rule.
     pub const fn new(coefficient: f32) -> Self {
         Self {
             coefficient,
             combine_rule: CoefficientCombineRule::Average,
         }
     }
 
-    /// Creates a `Restitution` component from the given restitution coefficient, and using the default
-    /// `CoefficientCombineRule::Average` coefficient combine rule.
+    /// Creates a [`Restitution`] component from the given restitution coefficient, and using the default
+    /// [`CoefficientCombineRule::Average`] coefficient combine rule.
     pub const fn coefficient(coefficient: f32) -> Self {
         Self {
             coefficient,

src/geometry/shape_views/triangle.rs

@@ -37,6 +37,7 @@ macro_rules! impl_ref_methods(
             ///
             /// The normal points such that it is collinear to `AB × AC` (where `×` denotes the cross
             /// product).
+            #[cfg(feature = "dim3")]
             #[inline]
             pub fn normal(&self) -> Option<Vect> {
                 self.raw.normal().map(|n| (*n).into())
@@ -46,6 +47,7 @@ macro_rules! impl_ref_methods(
             ///
             /// The vector points such that it is collinear to `AB × AC` (where `×` denotes the cross
             /// product).
+            #[cfg(feature = "dim3")]
             #[inline]
             pub fn scaled_normal(&self) -> Vect {
                 self.raw.scaled_normal().into()

src/pipeline/events.rs

@@ -125,7 +125,13 @@ impl<'a> EventHandler for EventQueue<'a> {
 
 #[cfg(test)]
 mod test {
-    use bevy::time::{TimePlugin, TimeUpdateStrategy};
+    use bevy::{
+        app::{App, Startup, Update},
+        prelude::{Commands, Component, Entity, Query, With},
+        time::{TimePlugin, TimeUpdateStrategy},
+        transform::{bundles::TransformBundle, components::Transform, TransformPlugin},
+        MinimalPlugins,
+    };
     use systems::tests::HeadlessRenderPlugin;
 
     use crate::{plugin::*, prelude::*};
@@ -231,4 +237,76 @@ mod test {
             ));
         }
     }
+
+    #[test]
+    pub fn spam_remove_rapier_entity_interpolated() {
+        let mut app = App::new();
+        app.add_plugins((
+            HeadlessRenderPlugin,
+            MinimalPlugins,
+            TransformPlugin,
+            RapierPhysicsPlugin::<NoUserData>::default(),
+        ))
+        .insert_resource(RapierConfiguration {
+            timestep_mode: TimestepMode::Interpolated {
+                dt: 1.0 / 30.0,
+                time_scale: 1.0,
+                substeps: 2,
+            },
+            ..RapierConfiguration::new(1f32)
+        })
+        .add_systems(Startup, setup_physics)
+        .add_systems(Update, remove_collider);
+        // Simulates 60 updates per seconds
+        app.insert_resource(TimeUpdateStrategy::ManualDuration(
+            std::time::Duration::from_secs_f32(1f32 / 60f32),
+        ));
+
+        for i in 0..100 {
+            dbg!(i);
+            app.update();
+        }
+        return;
+
+        #[derive(Component)]
+        pub struct ToRemove;
+
+        #[cfg(feature = "dim3")]
+        fn cuboid(hx: Real, hy: Real, hz: Real) -> Collider {
+            Collider::cuboid(hx, hy, hz)
+        }
+        #[cfg(feature = "dim2")]
+        fn cuboid(hx: Real, hy: Real, _hz: Real) -> Collider {
+            Collider::cuboid(hx, hy)
+        }
+        pub fn setup_physics(mut commands: Commands) {
+            for _i in 0..100 {
+                commands.spawn((
+                    TransformBundle::from(Transform::from_xyz(0.0, 0.0, 0.0)),
+                    RigidBody::Dynamic,
+                    cuboid(0.5, 0.5, 0.5),
+                    ActiveEvents::all(),
+                    ToRemove,
+                ));
+            }
+            /*
+             * Ground
+             */
+            let ground_size = 5.1;
+            let ground_height = 0.1;
+            let starting_y = -0.5 - ground_height;
+
+            commands.spawn((
+                TransformBundle::from(Transform::from_xyz(0.0, starting_y, 0.0)),
+                cuboid(ground_size, ground_height, ground_size),
+            ));
+        }
+
+        fn remove_collider(mut commands: Commands, query: Query<Entity, With<ToRemove>>) {
+            let Some(entity) = query.iter().next() else {
+                return;
+            };
+            commands.entity(entity).despawn();
+        }
+    }
 }

src/plugin/configuration.rs

@@ -4,7 +4,7 @@ use crate::math::{Real, Vect};
 use crate::plugin::RapierContext;
 
 #[cfg(doc)]
-use rapier::dynamics::IntegrationParameters;
+use {crate::prelude::TransformInterpolation, rapier::dynamics::IntegrationParameters};
 
 /// Difference between simulation and rendering time
 #[derive(Resource, Default)]
@@ -39,7 +39,7 @@ pub enum TimestepMode {
     },
     /// Use a fixed timestep equal to `IntegrationParameters::dt`, but don't step if the
     /// physics simulation advanced by a time greater than the real-world elapsed time multiplied by `time_scale`.
-    /// Rigid-bodies with a component `InterpolatedTransform` attached will use interpolation to
+    /// Rigid-bodies with a component [`TransformInterpolation`] attached will use interpolation to
     /// estimate the rigid-bodies position in-between steps.
     Interpolated {
         /// The physics simulation will be advanced by this total amount at each Bevy tick, unless

src/plugin/context.rs

@@ -225,6 +225,7 @@ impl RapierContext {
             .or_else(|| event_queue.as_ref().map(|q| q as &dyn EventHandler))
             .unwrap_or(&() as &dyn EventHandler);
 
+        let mut executed_steps = 0;
         match timestep_mode {
             TimestepMode::Interpolated {
                 dt,
@@ -271,6 +272,7 @@ impl RapierContext {
                             hooks,
                             events,
                         );
+                        executed_steps += 1;
                     }
 
                     sim_to_render_time.diff -= dt;
@@ -302,6 +304,7 @@ impl RapierContext {
                         hooks,
                         events,
                     );
+                    executed_steps += 1;
                 }
             }
             TimestepMode::Fixed { dt, substeps } => {
@@ -326,9 +329,14 @@ impl RapierContext {
                         hooks,
                         events,
                     );
+                    executed_steps += 1;
                 }
             }
         }
+
+        if executed_steps > 0 {
+            self.deleted_colliders.clear();
+        }
     }
 
     /// This method makes sure tha the rigid-body positions have been propagated to

src/plugin/systems/mod.rs

@@ -50,7 +50,6 @@ pub fn step_simulation<Hooks>(
             &mut sim_to_render_time,
             Some(interpolation_query),
         );
-        context.deleted_colliders.clear();
     } else {
         context.propagate_modified_body_positions_to_colliders();
     }

src/render/mod.rs

@@ -6,9 +6,12 @@ use rapier::pipeline::{DebugRenderBackend, DebugRenderObject, DebugRenderPipelin
 pub use rapier::pipeline::{DebugRenderMode, DebugRenderStyle};
 use std::fmt::Debug;
 
+#[cfg(doc)]
+use crate::prelude::Collider;
+
 /// The color of a collider when using the debug-renderer.
 ///
-/// Insert this component alongside the collider component to
+/// Insert this component alongside the [`Collider`] component to
 /// force to a specific value the color used to render the
 /// collider.
 #[derive(Copy, Clone, Component, PartialEq, Debug)]