Split RapierContext #585

ThierryBerger · 2024-12-09T14:44:45Z

We could avoid this indirection to single() if we implemented all methods of RapierContext on its systemParam ; but:

it would require making the query each time we call a method

Probably not so much of an issue if queries are cached

it would require to add another 400 lines of code, I already fear for the maintenance of current layer of indirection, I'd like to keep it at the minimum.

a declarative macro to generate those ended up a bit too complex, and not much lines saved

maybe a procedural or a template step could be interesting.

-Original file line number
+Diff line change
@@ Expand Up / @@ -6,15 +6,27 @@ @@
     ### Modified
+    - `RapierContext` has been split in multiple `Component`s:
+        - `RapierContextColliders`
+        - `RapierContextJoints`
+        - `RapierContextSimulation`
+        - `RapierRigidBodySet`
+    - Renamed `DefaultReadRapierContext` and `DefaultWriteRapierContext`.
+      - Use `ReadRapierContext` and its associated `single()` method.
+    ## v0.28.0 (09 December 2024)
+    ### Modified
     - Update from rapier `0.21` to rapier `0.22`,
       see [rapier's changelog](https://github.com/dimforge/rapier/blob/master/CHANGELOG.md).
     - Update bevy to 0.15.
-    - `RapierContext`, `RapierConfiguration` and `RenderToSimulationTime` are now a `Component` instead of resources.
+    - `RapierContext`, `RapierConfiguration` and `SimulationToRenderTime` are now a `Component` instead of resources.
       - Rapier now supports multiple independent physics worlds, see example `multi_world3` for usage details.
       - Migration guide:
         - `ResMut<mut RapierContext>` -> `WriteDefaultRapierContext`
         - `Res<RapierContext>` -> `ReadDefaultRapierContext`
-        - Access to `RapierConfiguration` and `RenderToSimulationTime` should query for it
+        - Access to `RapierConfiguration` and `SimulationToRenderTime` should query for it
     on the responsible entity owning the `RenderContext`.
       - If you are building a library on top of `bevy_rapier` and would want to support multiple independent physics worlds too,
     you can check out the details of [#545](https://github.com/dimforge/bevy_rapier/pull/545)
@@ Expand Down @@

-Original file line number
+Diff line change
@@ -1,6 +1,6 @@
     //! Example using bevy_mod_debugdump to output a graph of systems execution order.
     //! run with:
-    //! `cargo run --example debugdump2 > dump.dot  && dot -Tsvg dump.dot > dump.svg`
+    //! `cargo run --example debugdump2 > dump.dot && dot -Tsvg dump.dot > dump.svg`
     use bevy::prelude::*;
     use bevy_mod_debugdump::{schedule_graph, schedule_graph_dot};
@@ Expand Down @@

-Original file line number
+Diff line change
@@ Expand Up / @@ -205,11 +205,12 @@ fn main() { @@
                 OnExit(Examples::PlayerMovement2),
                 (
                     cleanup,
-                    |mut rapier_config: Query<&mut RapierConfiguration>,
-                     ctxt: ReadDefaultRapierContext| {
+                    |mut rapier_config: Query<&mut RapierConfiguration>, ctxt: ReadRapierContext| {
                         let mut rapier_config = rapier_config.single_mut();
-                        rapier_config.gravity =
-                            RapierConfiguration::new(ctxt.integration_parameters.length_unit).gravity;
+                        rapier_config.gravity = RapierConfiguration::new(
+                            ctxt.single().simulation.integration_parameters.length_unit,
+                        )
+                        .gravity;
                     },
                 ),
             )
@@ Expand Down @@

-Original file line number
+Diff line change
@@ Expand Up / @@ -279,7 +279,7 @@ pub fn setup_physics(mut commands: Commands) { @@
     }
     pub fn print_impulse_revolute_joints(
-        context: ReadDefaultRapierContext,
+        context: ReadRapierContext,
         joints: Query<(Entity, &ImpulseJoint)>,
     ) {
         for (entity, impulse_joint) in joints.iter() {
@@ Expand All / @@ -288,7 +288,7 @@ pub fn print_impulse_revolute_joints( @@
                     println!(
                         "angle for {}: {:?}",
                         entity,
-                        context.impulse_revolute_joint_angle(entity),
+                        context.single().impulse_revolute_joint_angle(entity),
                     );
                 }
                 _ => {}
@@ Expand Down @@

-Original file line number
+Diff line change
@@ -1,7 +1,7 @@
     use bevy::{input::common_conditions::input_just_pressed, prelude::*};
     use bevy_rapier3d::prelude::*;
-    const N_WORLDS: usize = 2;
+    const N_CONTEXTS: usize = 2;
     fn main() {
         App::new()
@@ Expand All / @@ -18,21 +18,21 @@ fn main() { @@
             ))
             .add_systems(
                 Startup,
-                ((create_worlds, setup_physics).chain(), setup_graphics),
+                ((create_contexts, setup_physics).chain(), setup_graphics),
             )
             .add_systems(Update, move_platforms)
             .add_systems(
                 Update,
-                change_world.run_if(input_just_pressed(KeyCode::KeyC)),
+                change_context.run_if(input_just_pressed(KeyCode::KeyC)),
             )
             .run();
     }
-    fn create_worlds(mut commands: Commands) {
-        for i in 0..N_WORLDS {
-            let mut world = commands.spawn((RapierContext::default(), WorldId(i)));
+    fn create_contexts(mut commands: Commands) {
+        for i in 0..N_CONTEXTS {
+            let mut context = commands.spawn((RapierContextSimulation::default(), ContextId(i)));
             if i == 0 {
-                world.insert(DefaultRapierContext);
+                context.insert((DefaultRapierContext, RapierContextSimulation::default()));
             }
         }
     }
@@ Expand All / @@ -45,7 +45,7 @@ fn setup_graphics(mut commands: Commands) { @@
     }
     #[derive(Component)]
-    pub struct WorldId(pub usize);
+    pub struct ContextId(pub usize);
     #[derive(Component)]
     struct Platform {
@@ Expand All @@
         }
     }
-    /// Demonstrates how easy it is to move one entity to another world.
-    fn change_world(
+    /// Demonstrates how easy it is to move one entity to another context.
+    fn change_context(
         query_context: Query<Entity, With<DefaultRapierContext>>,
         mut query_links: Query<(Entity, &mut RapierContextEntityLink)>,
     ) {
@@ Expand All / @@ -69,12 +69,12 @@ fn change_world( @@
                 continue;
             }
             link.0 = default_context;
-            println!("changing world of {} for world {}", e, link.0);
+            println!("changing context of {} for context {}", e, link.0);
         }
     }
     pub fn setup_physics(
-        context: Query<(Entity, &WorldId), With<RapierContext>>,
+        context: Query<(Entity, &ContextId), With<RapierContextSimulation>>,
         mut commands: Commands,
     ) {
         for (context_entity, id) in context.iter() {
@@ Expand Down @@

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ThierryBerger Dec 9, 2024 •

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-Original file line number
+Diff line change
@@ -0,0 +1,62 @@
+    use bevy::prelude::*;
+    use bevy_rapier3d::prelude::*;
+    fn main() {
+        App::new()
+            .add_plugins((
+                DefaultPlugins,
+                RapierPhysicsPlugin::<NoUserData>::default(),
+                RapierDebugRenderPlugin::default(),
+            ))
+            .add_systems(Startup, (setup_physics, setup_graphics))
+            .add_systems(
+                PostUpdate,
+                display_nb_colliders.after(PhysicsSet::SyncBackend),
+            )
+            .run();
+    }
+    /// Demonstrates how to access a more specific component of [`RapierContext`]
+    fn display_nb_colliders(
+        query_context: Query<&RapierContextColliders, With<DefaultRapierContext>>,
+        mut exit: EventWriter<AppExit>,
+    ) {
+        let nb_colliders = query_context.single().colliders.len();
+        println!("There are {nb_colliders} colliders.");
+        assert!(nb_colliders > 0);
+        exit.send(AppExit::Success);
+    }
+    pub fn setup_physics(mut commands: Commands) {
+        /*
+         * Ground
+         */
+        let ground_size = 5.1;
+        let ground_height = 0.1;
+        let starting_y = -0.5 - ground_height;
+        commands.spawn((
+            Transform::from_xyz(0.0, starting_y, 0.0),
+            Collider::cuboid(ground_size, ground_height, ground_size),
+        ));
+        for _ in 0..3 {
+            /*
+             * Create the cubes
+             */
+            commands.spawn((
+                Transform::default(),
+                RigidBody::Dynamic,
+                Collider::cuboid(0.5, 0.5, 0.5),
+            ));
+        }
+    }
+    fn setup_graphics(mut commands: Commands) {
+        commands.spawn((
+            Camera3d::default(),
+            Transform::from_xyz(0.0, 3.0, -10.0).looking_at(Vec3::new(0.0, 0.0, 0.0), Vec3::Y),
+        ));
+    }

-Original file line number
+Diff line change
@@ Expand Up / @@ -75,7 +75,7 @@ pub fn setup_physics(mut commands: Commands) { @@
     pub fn cast_ray(
         mut commands: Commands,
         windows: Query<&Window, With<PrimaryWindow>>,
-        rapier_context: ReadDefaultRapierContext,
+        rapier_context: ReadRapierContext,
         cameras: Query<(&Camera, &GlobalTransform)>,
     ) {
         let window = windows.single();
@@ Expand All / @@ -90,9 +90,9 @@ pub fn cast_ray( @@
             let Ok(ray) = camera.viewport_to_world(camera_transform, cursor_position) else {
                 return;
             };
+            let context = rapier_context.single();
             // Then cast the ray.
-            let hit = rapier_context.cast_ray(
+            let hit = context.cast_ray(
                 ray.origin,
                 ray.direction.into(),
                 f32::MAX,
@@ Expand Down @@

-Original file line number
+Diff line change
@@ Expand Up / @@ -9,7 +9,7 @@ use common::default_app; @@
     use common::wait_app_start;
     use bevy::prelude::*;
-    use bevy_rapier3d::plugin::RapierContext;
+    use bevy_rapier3d::plugin::context::RapierContextSimulation;
     pub fn custom_bencher(steps: usize, setup: impl Fn(&mut App)) {
         let mut app = default_app();
@@ Expand All @@
             let elapsed_time = timer_full_update.time() as f32;
             let rc = app
                 .world_mut()
-                .query::<&RapierContext>()
+                .query::<&RapierContextSimulation>()
                 .single(app.world());
             rapier_step_times.push(rc.pipeline.counters.step_time.time() as f32);
             total_update_times.push(elapsed_time);
@@ Expand Down @@

-Original file line number
+Diff line change
@@ Expand Up / @@ -2,7 +2,7 @@ use crate::geometry::{Collider, CollisionGroups, ShapeCastHit}; @@
     use crate::math::{Real, Rot, Vect};
     use bevy::prelude::*;
-    use crate::plugin::RapierContext;
+    use crate::plugin::context::RapierContextColliders;
     pub use rapier::control::CharacterAutostep;
     pub use rapier::control::CharacterLength;
     use rapier::prelude::{ColliderSet, QueryFilterFlags};
@@ Expand All / @@ -26,7 +26,7 @@ pub struct CharacterCollision { @@
     impl CharacterCollision {
         pub(crate) fn from_raw(
-            ctxt: &RapierContext,
+            ctxt: &RapierContextColliders,
             c: &rapier::control::CharacterCollision,
         ) -> Option<Self> {
             Self::from_raw_with_set(&ctxt.colliders, c, true)
@@ Expand All / @@ -37,7 +37,7 @@ impl CharacterCollision { @@
             c: &rapier::control::CharacterCollision,
             details_always_computed: bool,
         ) -> Option<Self> {
-            RapierContext::collider_entity_with_set(colliders, c.handle).map(|entity| {
+            RapierContextColliders::collider_entity_with_set(colliders, c.handle).map(|entity| {
                 CharacterCollision {
                     entity,
                     character_translation: c.character_pos.translation.vector.into(),
@@ Expand Down @@

-Original file line number
+Diff line change
@@ -1,11 +1,14 @@
     use crate::dynamics::{GenericJoint, GenericJointBuilder};
     use crate::math::{Real, Vect};
-    use crate::plugin::RapierContext;
+    use crate::plugin::context::RapierRigidBodySet;
     use bevy::prelude::Entity;
     use rapier::dynamics::{
         JointAxesMask, JointAxis, JointLimits, JointMotor, MotorModel, RigidBodyHandle, RigidBodySet,
     };
+    #[cfg(doc)]
+    use crate::prelude::RapierContext;
     use super::TypedJoint;
     #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
@@ Expand Down Expand Up / @@ -147,7 +150,7 @@ impl RevoluteJoint { @@
         /// Similarly [`RapierContext::impulse_revolute_joint_angle`] only takes a single entity as argument to compute that angle.
         ///
         /// # Parameters
-        /// - `bodies` : the rigid body set from [`RapierContext`]
+        /// - `bodies` : the rigid body set from [`RapierRigidBodySet`]
         /// - `body1`: the first rigid-body attached to this revolute joint, obtained through [`rapier::dynamics::ImpulseJoint`] or [`rapier::dynamics::MultibodyJoint`].
         /// - `body2`: the second rigid-body attached to this revolute joint, obtained through [`rapier::dynamics::ImpulseJoint`] or [`rapier::dynamics::MultibodyJoint`].
         pub fn angle_from_handles(
@@ Expand All / @@ -167,13 +170,13 @@ impl RevoluteJoint { @@
         /// The angle along the free degree of freedom of this revolute joint in `[-π, π]`.
         ///
         /// # Parameters
-        /// - `bodies` : the rigid body set from [`RapierContext`]
+        /// - `bodies` : the rigid body set from [`RapierRigidBodySet`]
         /// - `body1`: the first rigid-body attached to this revolute joint.
         /// - `body2`: the second rigid-body attached to this revolute joint.
-        pub fn angle(&self, context: &RapierContext, body1: Entity, body2: Entity) -> f32 {
-            let rb1 = context.entity2body().get(&body1).unwrap();
-            let rb2 = context.entity2body().get(&body2).unwrap();
-            self.angle_from_handles(&context.bodies, *rb1, *rb2)
+        pub fn angle(&self, rigidbody_set: &RapierRigidBodySet, body1: Entity, body2: Entity) -> f32 {
+            let rb1 = rigidbody_set.entity2body().get(&body1).unwrap();
+            let rb2 = rigidbody_set.entity2body().get(&body2).unwrap();
+            self.angle_from_handles(&rigidbody_set.bodies, *rb1, *rb2)
         }
     }
@@ Expand Down @@

-Original file line number
+Diff line change
@@ Expand Up / @@ -29,7 +29,7 @@ pub struct BallViewMut<'a> { @@
     impl_ref_methods!(BallViewMut);
-    impl<'a> BallViewMut<'a> {
+    impl BallViewMut<'_> {
         /// Set the radius of the ball.
         pub fn set_radius(&mut self, radius: Real) {
             self.raw.radius = radius;
@@ Expand Down @@

-Original file line number
+Diff line change
@@ Expand Up / @@ -75,7 +75,7 @@ pub struct CapsuleViewMut<'a> { @@
     impl_ref_methods!(CapsuleViewMut);
-    impl<'a> CapsuleViewMut<'a> {
+    impl CapsuleViewMut<'_> {
         /// Set the segment of this capsule.
         pub fn set_segment(&mut self, start: Vect, end: Vect) {
             self.raw.segment.a = start.into();
@@ Expand Down @@

-Original file line number
+Diff line change
@@ Expand Up / @@ -65,7 +65,7 @@ pub enum ColliderView<'a> { @@
         #[cfg(feature = "dim2")]
         RoundConvexPolygon(RoundConvexPolygonView<'a>),
     }
-    impl<'a> fmt::Debug for ColliderView<'a> {
+    impl fmt::Debug for ColliderView<'_> {
         fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
             match self {
                 ColliderView::Ball(view) => write!(f, "{:?}", view.raw),
@@ Expand Down @@

-Original file line number
+Diff line change
@@ Expand Up / @@ -9,7 +9,7 @@ pub struct CompoundView<'a> { @@
         pub raw: &'a Compound,
     }
-    impl<'a> CompoundView<'a> {
+    impl CompoundView<'_> {
         /// The shapes of this compound shape.
         #[inline]
         pub fn shapes(&self) -> impl ExactSizeIterator<Item = (Vect, Rot, ColliderView)> {
@@ Expand Down @@

-Original file line number
+Diff line change
@@ Expand Up / @@ -34,7 +34,7 @@ pub struct ConeViewMut<'a> { @@
     impl_ref_methods!(ConeViewMut);
-    impl<'a> ConeViewMut<'a> {
+    impl ConeViewMut<'_> {
         /// Set the half-height of the cone.
         pub fn set_half_height(&mut self, half_height: Real) {
             self.raw.half_height = half_height;
@@ Expand Down @@

-Original file line number
+Diff line change
@@ Expand Up / @@ -8,7 +8,7 @@ pub struct ConvexPolygonView<'a> { @@
         pub raw: &'a ConvexPolygon,
     }
-    impl<'a> ConvexPolygonView<'a> {
+    impl ConvexPolygonView<'_> {
         /// The vertices of this convex polygon.
         pub fn points(&self) -> impl ExactSizeIterator<Item = Vect> + '_ {
             self.raw.points().iter().map(|pt| (*pt).into())
@@ Expand All / @@ -26,7 +26,7 @@ pub struct ConvexPolygonViewMut<'a> { @@
         pub raw: &'a mut ConvexPolygon,
     }
-    impl<'a> ConvexPolygonViewMut<'a> {
+    impl ConvexPolygonViewMut<'_> {
         /// The vertices of this convex polygon.
         pub fn points(&self) -> impl ExactSizeIterator<Item = Vect> + '_ {
             self.raw.points().iter().map(|pt| (*pt).into())
@@ Expand Down @@

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ThierryBerger Dec 9, 2024 • edited Loading Uh oh! There was an error while loading. Please reload this page.

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ThierryBerger Dec 9, 2024 •

edited

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