Start experimenting with the bevy/glam versions of rapier/parry

More wrapper removal

Cargo.toml

@@ -3,21 +3,25 @@ members = ["bevy_rapier2d", "bevy_rapier3d"]
 resolver = "2"
 
 [profile.dev]
- # Use slightly better optimization by default, as examples otherwise seem laggy.
+# Use slightly better optimization by default, as examples otherwise seem laggy.
 opt-level = 1
 
 [profile.release]
 codegen-units = 1
 
 [patch.crates-io]
+#simba = { path = "../simba" }
 #nalgebra = { path = "../nalgebra" }
 #parry2d = { path = "../parry/crates/parry2d" }
 #parry3d = { path = "../parry/crates/parry3d" }
 #rapier2d = { path = "../rapier/crates/rapier2d" }
 #rapier3d = { path = "../rapier/crates/rapier3d" }
 
-#nalgebra = { git = "https://github.com/dimforge/nalgebra", branch = "dev" }
-#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" }
+
+
+simba = { git = "https://github.com/dimforge/simba", rev = "7b50b3eb568e9c551431286a95c913a7057de58f" }
+nalgebra = { git = "https://github.com/dimforge/nalgebra", rev = "25032f089bb2e8a8bd2c1d419f1613911a042895" }
+parry2d = { git = "https://github.com/dimforge/parry", rev = "c0e6f8032396396f93b5ad687504bed9d676aaee" }
+parry3d = { git = "https://github.com/dimforge/parry", rev = "c0e6f8032396396f93b5ad687504bed9d676aaee" }
+rapier2d = { git = "https://github.com/dimforge/rapier", rev = "ecd308338b189ab569816a38a03e3f8b89669dde" }
+rapier3d = { git = "https://github.com/dimforge/rapier", rev = "ecd308338b189ab569816a38a03e3f8b89669dde" }

bevy_rapier2d/Cargo.toml

@@ -7,44 +7,44 @@ documentation = "http://docs.rs/bevy_rapier2d"
 homepage = "http://rapier.rs"
 repository = "https://github.com/dimforge/bevy_rapier"
 readme = "../README.md"
-keywords = [ "physics", "dynamics", "rigid", "real-time", "joints" ]
+keywords = ["physics", "dynamics", "rigid", "real-time", "joints"]
 license = "Apache-2.0"
 edition = "2021"
 
 
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 [lib]
 path = "../src/lib.rs"
-required-features = [ "dim2" ]
+required-features = ["dim2"]
 
 [features]
-default = [ "dim2", "async-collider", "debug-render-2d" ]
+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" ]
-parallel = [ "rapier2d/parallel" ]
-simd-stable = [ "rapier2d/simd-stable" ]
-simd-nightly = [ "rapier2d/simd-nightly" ]
-wasm-bindgen = [ "rapier2d/wasm-bindgen" ]
-serde-serialize = [ "rapier2d/serde-serialize", "bevy/serialize", "serde" ]
-enhanced-determinism = [ "rapier2d/enhanced-determinism" ]
+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"]
+wasm-bindgen = ["rapier2d/wasm-bindgen"]
+serde-serialize = ["rapier2d/serde-serialize", "bevy/serialize", "serde"]
+enhanced-determinism = ["rapier2d/enhanced-determinism"]
 headless = []
-async-collider = [ "bevy/bevy_asset", "bevy/bevy_scene" ]
+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 = "0.18.0"
+nalgebra = { version = "0.32.3", features = ["convert-glam025"] }
+rapier2d = { version = "0.18", features = ["linalg-glam"] }
 bitflags = "2.4"
 log = "0.4"
-serde = { version = "1", features = [ "derive" ], optional = true}
+serde = { version = "1", features = ["derive"], optional = true }
 
 [dev-dependencies]
 bevy = { version = "0.13", default-features = false, features = ["x11"] }
 oorandom = "11"
 approx = "0.5.1"
-glam = { version = "0.25", features = [ "approx" ] }
+glam = { version = "0.25", features = ["approx"] }
 
 [package.metadata.docs.rs]
 # Enable all the features when building the docs on docs.rs
-features = [ "debug-render-2d", "serde-serialize" ]
+features = ["debug-render-2d", "serde-serialize"]

bevy_rapier3d/Cargo.toml

@@ -7,44 +7,44 @@ documentation = "http://docs.rs/bevy_rapier3d"
 homepage = "http://rapier.rs"
 repository = "https://github.com/dimforge/bevy_rapier"
 readme = "../README.md"
-keywords = [ "physics", "dynamics", "rigid", "real-time", "joints" ]
+keywords = ["physics", "dynamics", "rigid", "real-time", "joints"]
 license = "Apache-2.0"
 edition = "2021"
 
 
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 [lib]
 path = "../src/lib.rs"
-required-features = [ "dim3" ]
+required-features = ["dim3"]
 
 [features]
-default = [ "dim3", "async-collider", "debug-render-3d" ]
+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" ]
-parallel = [ "rapier3d/parallel" ]
-simd-stable = [ "rapier3d/simd-stable" ]
-simd-nightly = [ "rapier3d/simd-nightly" ]
-wasm-bindgen = [ "rapier3d/wasm-bindgen" ]
-serde-serialize = [ "rapier3d/serde-serialize", "bevy/serialize", "serde" ]
-enhanced-determinism = [ "rapier3d/enhanced-determinism" ]
-headless = [ ]
-async-collider = [ "bevy/bevy_asset", "bevy/bevy_scene" ]
+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"]
+parallel = ["rapier3d/parallel"]
+simd-stable = ["rapier3d/simd-stable"]
+simd-nightly = ["rapier3d/simd-nightly"]
+wasm-bindgen = ["rapier3d/wasm-bindgen"]
+serde-serialize = ["rapier3d/serde-serialize", "bevy/serialize", "serde"]
+enhanced-determinism = ["rapier3d/enhanced-determinism"]
+headless = []
+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 = "0.18"
+nalgebra = { version = "0.32.3", features = ["convert-glam025"] }
+rapier3d = { version = "0.18", features = ["linalg-glam"] }
 bitflags = "2.4"
 log = "0.4"
-serde = { version = "1", features = [ "derive" ], optional = true}
+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" ] }
+glam = { version = "0.25", features = ["approx"] }
 
 [package.metadata.docs.rs]
 # Enable all the features when building the docs on docs.rs
-features = [ "debug-render-3d", "serde-serialize" ]
+features = ["debug-render-3d", "serde-serialize"]

bevy_rapier3d/examples/ray_casting3.rs

@@ -92,13 +92,7 @@ pub fn cast_ray(
         };
 
         // Then cast the ray.
-        let hit = rapier_context.cast_ray(
-            ray.origin,
-            ray.direction.into(),
-            f32::MAX,
-            true,
-            QueryFilter::only_dynamic(),
-        );
+        let hit = rapier_context.cast_ray(ray, f32::MAX, true, QueryFilter::only_dynamic());
 
         if let Some((entity, _toi)) = hit {
             // Color in blue the entity we just hit.

bevy_rapier3d/examples/static_trimesh3.rs

@@ -137,7 +137,7 @@ pub fn ball_spawner(mut commands: Commands, time: Res<Time>, mut ball_state: Res
             )),
             RigidBody::Dynamic,
             Collider::ball(rad),
-            Restitution::new(0.5),
+            Restitution::coefficient(0.5),
         ));
 
         ball_state.balls_spawned += 1;

src/control/character_controller.rs

@@ -1,57 +1,12 @@
-use crate::geometry::{Collider, CollisionGroups, Toi};
-use crate::math::{Real, Rot, Vect};
+use crate::geometry::{Collider, CollisionGroups};
+use crate::math::{Isometry, Real, Vect};
 use bevy::prelude::*;
 
 use crate::plugin::RapierContext;
 pub use rapier::control::CharacterAutostep;
+pub use rapier::control::CharacterCollision;
 pub use rapier::control::CharacterLength;
-use rapier::prelude::{ColliderSet, QueryFilterFlags};
-
-/// A collision between the character and its environment during its movement.
-#[derive(Copy, Clone, PartialEq, Debug)]
-pub struct CharacterCollision {
-    /// The entity hit by the character.
-    pub entity: Entity,
-    /// The position of the character when the collider was hit.
-    pub character_translation: Vect,
-    /// The rotation of the character when the collider was hit.
-    pub character_rotation: Rot,
-    /// The translation that was already applied to the character when the hit happens.
-    pub translation_applied: Vect,
-    /// The translations that was still waiting to be applied to the character when the hit happens.
-    pub translation_remaining: Vect,
-    /// Geometric information about the hit.
-    pub toi: Toi,
-}
-
-impl CharacterCollision {
-    pub(crate) fn from_raw(
-        ctxt: &RapierContext,
-        c: &rapier::control::CharacterCollision,
-    ) -> Option<Self> {
-        Self::from_raw_with_set(ctxt.physics_scale, &ctxt.colliders, c)
-    }
-
-    pub(crate) fn from_raw_with_set(
-        physics_scale: Real,
-        colliders: &ColliderSet,
-        c: &rapier::control::CharacterCollision,
-    ) -> Option<Self> {
-        RapierContext::collider_entity_with_set(colliders, c.handle).map(|entity| {
-            CharacterCollision {
-                entity,
-                character_translation: (c.character_pos.translation.vector * physics_scale).into(),
-                #[cfg(feature = "dim2")]
-                character_rotation: c.character_pos.rotation.angle(),
-                #[cfg(feature = "dim3")]
-                character_rotation: c.character_pos.rotation.into(),
-                translation_applied: (c.translation_applied * physics_scale).into(),
-                translation_remaining: (c.translation_remaining * physics_scale).into(),
-                toi: Toi::from_rapier(physics_scale, c.toi),
-            }
-        })
-    }
-}
+use rapier::prelude::{ColliderSet, QueryFilterFlags, TOI};
 
 /// Options for moving a shape using `RapierContext::move_shape`.
 #[derive(Clone, Debug, Copy, PartialEq)]
@@ -84,7 +39,7 @@ impl Default for MoveShapeOptions {
     fn default() -> Self {
         let def = rapier::control::KinematicCharacterController::default();
         Self {
-            up: def.up.into(),
+            up: def.up,
             offset: def.offset,
             slide: def.slide,
             autostep: def.autostep,
@@ -103,7 +58,7 @@ pub struct KinematicCharacterController {
     pub translation: Option<Vect>,
     /// The shape, and its position, to be used instead of the shape of the collider attached to
     /// the same entity is this `KinematicCharacterController`.
-    pub custom_shape: Option<(Collider, Vect, Rot)>,
+    pub custom_shape: Option<(Collider, Isometry)>,
     /// The mass to be used for impulse of dynamic bodies. This replaces the mass of the rigid-body
     /// potentially associated to the collider attached to the same entity as this
     /// `KinematicCharacterController`.
@@ -141,26 +96,17 @@ pub struct KinematicCharacterController {
 }
 
 impl KinematicCharacterController {
-    pub(crate) fn to_raw(
-        &self,
-        physics_scale: Real,
-    ) -> Option<rapier::control::KinematicCharacterController> {
-        let autostep = self.autostep.map(|autostep| CharacterAutostep {
-            max_height: autostep.max_height.map_absolute(|x| x / physics_scale),
-            min_width: autostep.min_width.map_absolute(|x| x / physics_scale),
-            include_dynamic_bodies: autostep.include_dynamic_bodies,
-        });
+    pub(crate) fn to_raw(&self) -> Option<rapier::control::KinematicCharacterController> {
+        let autostep = self.autostep;
 
         Some(rapier::control::KinematicCharacterController {
             up: self.up.try_into().ok()?,
-            offset: self.offset.map_absolute(|x| x / physics_scale),
+            offset: self.offset,
             slide: self.slide,
             autostep,
             max_slope_climb_angle: self.max_slope_climb_angle,
             min_slope_slide_angle: self.min_slope_slide_angle,
-            snap_to_ground: self
-                .snap_to_ground
-                .map(|x| x.map_absolute(|x| x / physics_scale)),
+            snap_to_ground: self.snap_to_ground,
         })
     }
 }
@@ -172,7 +118,7 @@ impl Default for KinematicCharacterController {
             translation: None,
             custom_shape: None,
             custom_mass: None,
-            up: def.up.into(),
+            up: def.up,
             offset: def.offset,
             slide: def.slide,
             autostep: def.autostep,