Merge branch 'master' into debug_visible

.github/workflows/main.yml

@@ -2,12 +2,14 @@ name: Rust
 
 on:
   push:
-    branches: [ master ]
+    branches: [master]
   pull_request:
-    branches: [ master ]
+    branches: [master]
 
 env:
   CARGO_TERM_COLOR: always
+  RUST_CACHE_KEY: rust-cache-20240701
+  CARGO_PROFILE_DEV_DEBUG: none
 
 jobs:
   check-fmt:
@@ -19,6 +21,18 @@ jobs:
           components: rustfmt
       - name: Check formatting
         run: cargo fmt -- --check
+  doc:
+    runs-on: ubuntu-latest
+    env:
+      RUSTDOCFLAGS: -D warnings
+    steps:
+      - uses: actions/checkout@v4
+      - uses: dtolnay/rust-toolchain@stable
+      - uses: Swatinem/rust-cache@v2
+        with:
+          prefix-key: ${{ env.RUST_CACHE_KEY }}
+      - name: Cargo doc
+        run: cargo doc
   test:
     runs-on: ubuntu-latest
     env:
@@ -29,6 +43,8 @@ jobs:
         with:
           components: clippy
       - uses: Swatinem/rust-cache@v2
+        with:
+          prefix-key: ${{ env.RUST_CACHE_KEY }}
       - run: sudo apt update && sudo apt-get install pkg-config libx11-dev libasound2-dev libudev-dev
       - name: Clippy for bevy_rapier2d
         run: cargo clippy --verbose -p bevy_rapier2d
@@ -53,6 +69,8 @@ jobs:
           components: clippy
           targets: wasm32-unknown-unknown
       - uses: Swatinem/rust-cache@v2
+        with:
+          prefix-key: ${{ env.RUST_CACHE_KEY }}
       - name: Clippy bevy_rapier2d
         run: cd bevy_rapier2d && cargo clippy --verbose --features wasm-bindgen,bevy/webgl2 --target wasm32-unknown-unknown
       - name: Clippy bevy_rapier3d

CHANGELOG.md

@@ -4,15 +4,42 @@
 
 ### Added
 
+- Added a `TriMeshFlags` parameter for `ComputedColliderShape`,
+its default value is `TriMeshFlags::MERGE_DUPLICATE_VERTICES`,
+which was its hardcoded behaviour.
+
+## v0.27.0 (07 July 2024)
+
+**This is an update from rapier 0.19 to Rapier 0.21 which includes several stability improvements
+and new features. Please have a look at the
+[0.20 and 0.21 changelogs](https://github.com/dimforge/rapier/blob/master/CHANGELOG.md) of Rapier.**
+
+### Modified
+
+- Update from rapier `0.19` to rapier `0.21`.
+- Update to nalgebra `0.33`.
+- Update to bevy `0.14`.
+- Renamed `has_any_active_contacts` to `has_any_active_contact` for better consistency with rapier.
+- `ColliderDebugColor`'s property is now a `bevy::color::Hsla`.
+- `ImpulseJoint::data` and `MultibodyJoint::data` are now a more detailed enum `TypedJoint` instead of a `GenericJoint`.
+You can still access its inner `GenericJoint` with `.as_ref()` or `as_mut()`.
+- `data` fields from all joints (`FixedJoint`, …) are now public, and their getters removed.
+
+### Added
+
 - Derive `Debug` for `LockedAxes`.
 - Expose `is_sliding_down_slope` to both `MoveShapeOutput` and `KinematicCharacterControllerOutput`.
 - Added a way to configure which colliders should be debug rendered: `global` parameter for both 
   `RapierDebugColliderPlugin` and `DebugRenderContext`, as well as individual collider setup via
   a `ColliderDebug` component.
+- Added a First Person Shooter `character_controller` example for `bevy_rapier3d`.
+- Added serialization support for `CollisionGroups`, `SolverGroups`, `ContactForceEventThreshold`, `ContactSkin`.
+- Added `RapierContext::context.impulse_revolute_joint_angle` to compute the angle along a revolute joint’s principal axis.
 
 ### Fix
 
 - Fix rigidbodies never going to sleep when a scale was applied to their `Transform`.
+- Fix losing information about hit details when converting from `ShapeCastHit` in parry to `ShapeCastHit` in bevy_rapier
 
 ## v0.26.0 (05 May 2024)
 

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" }

bevy_rapier2d/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "bevy_rapier2d"
-version = "0.26.0"
+version = "0.27.0"
 authors = ["Sébastien Crozet <[email protected]>"]
 description = "2-dimensional physics engine in Rust, official Bevy plugin."
 documentation = "http://docs.rs/bevy_rapier2d"
@@ -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"]
@@ -32,18 +44,21 @@ 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"] }
-rapier2d = "0.19.0"
+bevy = { version = "0.14", default-features = false }
+nalgebra = { version = "0.33", features = ["convert-glam027"] }
+rapier2d = "0.21"
 bitflags = "2.4"
 log = "0.4"
 serde = { version = "1", features = ["derive"], optional = true }
 
 [dev-dependencies]
-bevy = { version = "0.13", default-features = false, features = ["x11"] }
+bevy = { version = "0.14", default-features = false, features = [
+    "x11",
+    "bevy_state",
+] }
 oorandom = "11"
 approx = "0.5.1"
-glam = { version = "0.25", features = ["approx"] }
+glam = { version = "0.27", features = ["approx"] }
 
 [package.metadata.docs.rs]
 # Enable all the features when building the docs on docs.rs

bevy_rapier2d/examples/boxes2.rs

@@ -3,7 +3,7 @@ use bevy_rapier2d::prelude::*;
 
 fn main() {
     App::new()
-        .insert_resource(ClearColor(Color::rgb(
+        .insert_resource(ClearColor(Color::srgb(
             0xF9 as f32 / 255.0,
             0xF9 as f32 / 255.0,
             0xFF as f32 / 255.0,

bevy_rapier2d/examples/contact_filter2.rs

@@ -30,7 +30,7 @@ impl BevyPhysicsHooks for SameUserDataFilter<'_, '_> {
 
 fn main() {
     App::new()
-        .insert_resource(ClearColor(Color::rgb(
+        .insert_resource(ClearColor(Color::srgb(
             0xF9 as f32 / 255.0,
             0xF9 as f32 / 255.0,
             0xFF as f32 / 255.0,
@@ -80,7 +80,7 @@ pub fn setup_physics(mut commands: Commands) {
     let centery = shift / 2.0;
     let mut group_id = 0;
     let tags = [CustomFilterTag::GroupA, CustomFilterTag::GroupB];
-    let colors = [Color::hsl(220.0, 1.0, 0.3), Color::hsl(260.0, 1.0, 0.7)];
+    let colors = [Hsla::hsl(220.0, 1.0, 0.3), Hsla::hsl(260.0, 1.0, 0.7)];
 
     for i in 0..num {
         for j in 0usize..num * 5 {

bevy_rapier2d/examples/custom_system_setup2.rs

@@ -4,7 +4,7 @@ use bevy_rapier2d::prelude::*;
 fn main() {
     let mut app = App::new();
 
-    app.insert_resource(ClearColor(Color::rgb(
+    app.insert_resource(ClearColor(Color::srgb(
         0xF9 as f32 / 255.0,
         0xF9 as f32 / 255.0,
         0xFF as f32 / 255.0,

bevy_rapier2d/examples/debug_despawn2.rs

@@ -8,7 +8,7 @@ use bevy_rapier2d::prelude::*;
 fn main() {
     App::new()
         .init_resource::<Game>()
-        .insert_resource(ClearColor(Color::rgb(0.0, 0.0, 0.0)))
+        .insert_resource(ClearColor(Color::srgb(0.0, 0.0, 0.0)))
         .add_plugins((
             DefaultPlugins,
             RapierPhysicsPlugin::<NoUserData>::pixels_per_meter(100.0),
@@ -76,7 +76,7 @@ impl Default for Game {
 }
 
 fn byte_rgb(r: u8, g: u8, b: u8) -> Color {
-    Color::rgb(r as f32 / 255.0, g as f32 / 255.0, b as f32 / 255.0)
+    Color::srgb(r as f32 / 255.0, g as f32 / 255.0, b as f32 / 255.0)
 }
 
 pub fn setup_game(mut commands: Commands, mut game: ResMut<Game>) {
@@ -133,7 +133,7 @@ fn setup_board(commands: &mut Commands, game: &Game) {
     commands.spawn((
         SpriteBundle {
             sprite: Sprite {
-                color: Color::rgb(0.5, 0.5, 0.5),
+                color: Color::srgb(0.5, 0.5, 0.5),
                 custom_size: Some(Vec2::new(game.n_lanes as f32 * 30.0, 60.0)),
                 ..Default::default()
             },
@@ -174,8 +174,7 @@ fn spawn_cube(commands: &mut Commands, game: &mut Game) {
                         block_entities[*i],
                         RevoluteJointBuilder::new()
                             .local_anchor1(anchor_1)
-                            .local_anchor2(anchor_2)
-                            .build(),
+                            .local_anchor2(anchor_2),
                     ))
                     .id();
                 game.current_cube_joints.push(id);

bevy_rapier2d/examples/despawn2.rs

@@ -18,7 +18,7 @@ pub struct ResizeResource {
 
 fn main() {
     App::new()
-        .insert_resource(ClearColor(Color::rgb(
+        .insert_resource(ClearColor(Color::srgb(
             0xF9 as f32 / 255.0,
             0xF9 as f32 / 255.0,
             0xFF as f32 / 255.0,

bevy_rapier2d/examples/events2.rs

@@ -3,7 +3,7 @@ use bevy_rapier2d::prelude::*;
 
 fn main() {
     App::new()
-        .insert_resource(ClearColor(Color::rgb(
+        .insert_resource(ClearColor(Color::srgb(
             0xF9 as f32 / 255.0,
             0xF9 as f32 / 255.0,
             0xFF as f32 / 255.0,

bevy_rapier2d/examples/joints2.rs

@@ -3,7 +3,7 @@ use bevy_rapier2d::prelude::*;
 
 fn main() {
     App::new()
-        .insert_resource(ClearColor(Color::rgb(
+        .insert_resource(ClearColor(Color::srgb(
             0xF9 as f32 / 255.0,
             0xF9 as f32 / 255.0,
             0xFF as f32 / 255.0,

bevy_rapier2d/examples/joints_despawn2.rs

@@ -11,7 +11,7 @@ pub struct DespawnResource {
 
 fn main() {
     App::new()
-        .insert_resource(ClearColor(Color::rgb(
+        .insert_resource(ClearColor(Color::srgb(
             0xF9 as f32 / 255.0,
             0xF9 as f32 / 255.0,
             0xFF as f32 / 255.0,

bevy_rapier2d/examples/locked_rotations2.rs

@@ -3,7 +3,7 @@ use bevy_rapier2d::prelude::*;
 
 fn main() {
     App::new()
-        .insert_resource(ClearColor(Color::rgb(
+        .insert_resource(ClearColor(Color::srgb(
             0xF9 as f32 / 255.0,
             0xF9 as f32 / 255.0,
             0xFF as f32 / 255.0,

bevy_rapier2d/examples/multiple_colliders2.rs

@@ -3,7 +3,7 @@ use bevy_rapier2d::prelude::*;
 
 fn main() {
     App::new()
-        .insert_resource(ClearColor(Color::rgb(
+        .insert_resource(ClearColor(Color::srgb(
             0xF9 as f32 / 255.0,
             0xF9 as f32 / 255.0,
             0xFF as f32 / 255.0,

bevy_rapier2d/examples/player_movement2.rs

@@ -35,7 +35,7 @@ pub fn spawn_player(mut commands: Commands, mut rapier_config: ResMut<RapierConf
     commands.spawn((
         SpriteBundle {
             sprite: Sprite {
-                color: Color::rgb(0.0, 0.0, 0.0),
+                color: Color::srgb(0.0, 0.0, 0.0),
                 custom_size: Some(Vec2::new(sprite_size, sprite_size)),
                 ..Default::default()
             },

bevy_rapier2d/examples/rope_joint2.rs

@@ -3,7 +3,7 @@ use bevy_rapier2d::prelude::*;
 
 fn main() {
     App::new()
-        .insert_resource(ClearColor(Color::rgb(
+        .insert_resource(ClearColor(Color::srgb(
             0xF9 as f32 / 255.0,
             0xF9 as f32 / 255.0,
             0xFF as f32 / 255.0,

bevy_rapier3d/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "bevy_rapier3d"
-version = "0.26.0"
+version = "0.27.0"
 authors = ["Sébastien Crozet <[email protected]>"]
 description = "3-dimensional physics engine in Rust, official Bevy plugin."
 documentation = "http://docs.rs/bevy_rapier3d"
@@ -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"]
@@ -33,17 +45,21 @@ 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 = "0.19"
+bevy = { version = "0.14", default-features = false }
+nalgebra = { version = "0.33", features = ["convert-glam027"] }
+rapier3d = "0.21"
 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 = "0.14", default-features = false, features = [
+    "x11",
+    "tonemapping_luts",
+    "bevy_state",
+] }
 approx = "0.5.1"
-glam = { version = "0.25", features = ["approx"] }
+glam = { version = "0.27", features = ["approx"] }
 
 [package.metadata.docs.rs]
 # Enable all the features when building the docs on docs.rs

bevy_rapier3d/examples/boxes3.rs

@@ -3,7 +3,7 @@ use bevy_rapier3d::prelude::*;
 
 fn main() {
     App::new()
-        .insert_resource(ClearColor(Color::rgb(
+        .insert_resource(ClearColor(Color::srgb(
             0xF9 as f32 / 255.0,
             0xF9 as f32 / 255.0,
             0xFF as f32 / 255.0,
@@ -51,9 +51,9 @@ pub fn setup_physics(mut commands: Commands) {
     let mut offset = -(num as f32) * (rad * 2.0 + rad) * 0.5;
     let mut color = 0;
     let colors = [
-        Color::hsl(220.0, 1.0, 0.3),
-        Color::hsl(180.0, 1.0, 0.3),
-        Color::hsl(260.0, 1.0, 0.7),
+        Hsla::hsl(220.0, 1.0, 0.3),
+        Hsla::hsl(180.0, 1.0, 0.3),
+        Hsla::hsl(260.0, 1.0, 0.7),
     ];
 
     for j in 0usize..20 {