Fix early return

bevy_rapier3d/Cargo.toml

@@ -46,6 +46,7 @@ serde = { version = "1", features = [ "derive" ], optional = true}
 bevy = { version = "0.11", default-features = false, features = ["x11"]}
 approx = "0.5.1"
 glam = { version = "0.24", features = [ "approx" ] }
+bevy-inspector-egui = "0.19"
 
 [package.metadata.docs.rs]
 # Enable all the features when building the docs on docs.rs

bevy_rapier3d/examples/boxes3.rs

@@ -12,6 +12,7 @@ fn main() {
             DefaultPlugins,
             RapierPhysicsPlugin::<NoUserData>::default(),
             RapierDebugRenderPlugin::default(),
+            bevy_inspector_egui::quick::WorldInspectorPlugin::default(),
         ))
         .add_systems(Startup, (setup_graphics, setup_physics))
         .run();
@@ -33,6 +34,7 @@ pub fn setup_physics(mut commands: Commands) {
     let ground_height = 0.1;
 
     commands.spawn((
+        Name::new("Ground"),
         TransformBundle::from(Transform::from_xyz(0.0, -ground_height, 0.0)),
         Collider::cuboid(ground_size, ground_height, ground_size),
     ));

bevy_rapier3d/examples/kinematic_velocity.rs

@@ -0,0 +1,32 @@
+use bevy::prelude::*;
+use bevy_rapier3d::prelude::*;
+
+fn main() {
+    App::new()
+        .add_plugins(DefaultPlugins)
+        .add_plugins(RapierPhysicsPlugin::<NoUserData>::default())
+        .add_plugins(RapierDebugRenderPlugin::default())
+        .insert_resource(RapierConfiguration::default())
+        .add_systems(Startup, setup)
+        .add_systems(Update, test)
+        .run();
+}
+
+fn test(ctx: Res<RapierContext>, query: Query<(Entity, &Transform), With<RigidBody>>) {
+    for (entity, transform) in &query {
+        info!("transform: {:.1?}", transform.translation);
+    }
+}
+
+fn setup(mut commands: Commands) {
+    commands.spawn(Camera3dBundle {
+        transform: Transform::from_xyz(-3.0, 3.0, 10.0).looking_at(Vec3::ZERO, Vec3::Y),
+        ..Default::default()
+    });
+
+    commands
+        .spawn(RigidBody::KinematicVelocityBased)
+        .insert(Collider::ball(0.5))
+        .insert(Velocity::linear(Vec3::Y * -1.81))
+        .insert(TransformBundle::from(Transform::from_xyz(0.0, 1.0, 0.0)));
+}

src/plugin/systems.rs

@@ -538,7 +538,7 @@ pub fn writeback_rigid_bodies(
     let context = &mut *context;
     let scale = context.physics_scale;
 
-    if config.physics_pipeline_active {
+    if !config.physics_pipeline_active {
         return;
     }