update to rapier 0.25 + add voxel support + example for 2d

ThierryBerger · ThierryBerger · commit 367e280f3121 · 2025-05-05T17:19:55.000+02:00
diff --git a/bevy_rapier2d/Cargo.toml b/bevy_rapier2d/Cargo.toml
@@ -66,7 +66,7 @@ to-bevy-mesh = ["bevy/bevy_render", "bevy/bevy_asset"]
 [dependencies]
 bevy = { version = "0.16.0", default-features = false, features = ["std"] }
 nalgebra = { version = "0.33", features = ["convert-glam029"] }
-rapier2d = "0.24"
+rapier2d = "0.25"
 bitflags = "2.4"
 log = "0.4"
 serde = { version = "1", features = ["derive"], optional = true }
diff --git a/bevy_rapier2d/examples/testbed2.rs b/bevy_rapier2d/examples/testbed2.rs
@@ -11,6 +11,7 @@ mod locked_rotations2;
 mod multiple_colliders2;
 mod player_movement2;
 mod rope_joint2;
+mod voxels2;
 
 use bevy::prelude::*;
 use bevy_egui::{egui, EguiContexts, EguiPlugin};
@@ -22,6 +23,7 @@ pub enum Examples {
     #[default]
     None,
     Boxes2,
+    Voxels2,
     DebugToggle2,
     RopeJoint2,
     DebugDespawn2,
@@ -75,6 +77,7 @@ fn main() {
         .init_state::<Examples>()
         .insert_resource(ExampleSet(vec![
             (Examples::Boxes2, "Boxes3").into(),
+            (Examples::Voxels2, "Voxels2").into(),
             (Examples::RopeJoint2, "RopeJoint2").into(),
             (Examples::DebugDespawn2, "DebugDespawn2").into(),
             (Examples::Despawn2, "Despawn3").into(),
@@ -94,6 +97,13 @@ fn main() {
         )
         .add_systems(OnExit(Examples::Boxes2), cleanup)
         //
+        //boxes2
+        .add_systems(
+            OnEnter(Examples::Voxels2),
+            (voxels2::setup_graphics, voxels2::setup_physics),
+        )
+        .add_systems(OnExit(Examples::Voxels2), cleanup)
+        //
         // Debug toggle
         .add_systems(
             OnEnter(Examples::DebugToggle2),
diff --git a/bevy_rapier2d/examples/voxels2.rs b/bevy_rapier2d/examples/voxels2.rs
@@ -0,0 +1,129 @@
+use bevy::prelude::*;
+use bevy_rapier2d::prelude::*;
+use nalgebra::{point, Vector2};
+use rapier2d::prelude::{SharedShape, VoxelPrimitiveGeometry};
+
+fn main() {
+    App::new()
+        .insert_resource(ClearColor(Color::srgb(
+            0xF9 as f32 / 255.0,
+            0xF9 as f32 / 255.0,
+            0xFF as f32 / 255.0,
+        )))
+        .add_plugins((
+            DefaultPlugins,
+            RapierPhysicsPlugin::<NoUserData>::pixels_per_meter(10.0),
+            RapierDebugRenderPlugin::default(),
+        ))
+        .add_systems(Startup, (setup_graphics, setup_physics))
+        .run();
+}
+
+pub fn setup_graphics(mut commands: Commands) {
+    commands.spawn((Camera2d, Transform::from_xyz(0.0, 20.0, 0.0)));
+}
+
+pub fn setup_physics(mut commands: Commands) {
+    let scale = 15f32;
+    /*
+     * Create dynamic objects to fall on voxels.
+     */
+    let nx = 50;
+    for i in 0..nx {
+        for j in 0..10 {
+            // if test_ccd {
+            //     rb = rb.linvel(vector![0.0, -1000.0] * scale).ccd_enabled(true);
+            // }
+            // let falling_objects = if falling_objects == 3 {
+            //     j % 3
+            // } else {
+            //     falling_objects
+            // };
+
+            let ball_radius = 0.5 * scale;
+            let co = match 0 {
+                0 => Collider::ball(ball_radius),
+                1 => Collider::cuboid(ball_radius, ball_radius),
+                2 => Collider::capsule_y(ball_radius, ball_radius),
+                _ => unreachable!(),
+            };
+            commands.spawn((
+                Transform::from_xyz(
+                    (i as f32 * 2.0 - nx as f32 / 2.0) * scale,
+                    (20.0 + j as f32 * 2.0) * scale,
+                    0.0,
+                ),
+                RigidBody::Dynamic,
+                co,
+            ));
+        }
+    }
+    let num = 8;
+    let rad = 10.0;
+
+    let shift = rad * 2.0 + rad;
+    let centerx = shift * (num / 2) as f32;
+    let centery = shift / 2.0;
+
+    let mut offset = -(num as f32) * (rad * 2.0 + rad) * 0.5;
+
+    for j in 0usize..20 {
+        for i in 0..num {
+            let x = i as f32 * shift - centerx + offset;
+            let y = j as f32 * shift + centery + 30.0;
+        }
+
+        offset -= 0.05 * rad * (num as f32 - 1.0);
+    }
+
+    /*
+     * Voxelization.
+     */
+    let polyline = vec![
+        point![0.0, 0.0],
+        point![0.0, 10.0],
+        point![7.0, 4.0],
+        point![14.0, 10.0],
+        point![14.0, 0.0],
+        point![13.0, 7.0],
+        point![7.0, 2.0],
+        point![1.0, 7.0],
+    ]
+    .iter()
+    .map(|p| p * scale)
+    .collect::<Vec<_>>();
+    let indices: Vec<_> = (0..polyline.len() as u32)
+        .map(|i| [i, (i + 1) % polyline.len() as u32])
+        .collect();
+
+    let shape = SharedShape::voxelized_mesh(
+        VoxelPrimitiveGeometry::PseudoCube,
+        &polyline,
+        &indices,
+        0.2 * scale,
+        FillMode::default(),
+    );
+    commands.spawn((
+        Transform::from_xyz(-20.0 * scale, -10.0 * scale, 0.0),
+        Collider::from(shape),
+    ));
+
+    /*
+     * A voxel wavy floor.
+     */
+    let voxel_size = Vector2::new(scale, scale);
+    let voxels: Vec<_> = (0..300)
+        .map(|i| {
+            let y = (i as f32 / 20.0).sin().clamp(-0.5, 0.5) * 20.0;
+            point![(i as f32 - 125.0) * voxel_size.x / 2.0, y * voxel_size.y]
+        })
+        .collect();
+    commands.spawn((
+        Transform::from_xyz(0.0, 0.0, 0.0),
+        Collider::from(rapier2d::prelude::SharedShape::voxels_from_points(
+            VoxelPrimitiveGeometry::PseudoCube,
+            voxel_size,
+            &voxels,
+        )),
+    ));
+}
diff --git a/bevy_rapier3d/Cargo.toml b/bevy_rapier3d/Cargo.toml
@@ -67,7 +67,7 @@ to-bevy-mesh = ["bevy/bevy_render", "bevy/bevy_asset"]
 [dependencies]
 bevy = { version = "0.16.0", default-features = false, features = ["std"] }
 nalgebra = { version = "0.33", features = ["convert-glam029"] }
-rapier3d = "0.24"
+rapier3d = "0.25"
 bitflags = "2.4"
 log = "0.4"
 serde = { version = "1", features = ["derive"], optional = true }
diff --git a/src/geometry/shape_views/collider_view.rs b/src/geometry/shape_views/collider_view.rs
@@ -22,6 +22,8 @@ pub enum ColliderView<'a> {
     Segment(SegmentView<'a>),
     /// A triangle shape.
     Triangle(TriangleView<'a>),
+    /// A Voxels shape.
+    Voxels(VoxelsView<'a>),
     /// A triangle mesh shape.
     TriMesh(TriMeshView<'a>),
     /// A set of segments.
@@ -73,6 +75,7 @@ impl fmt::Debug for ColliderView<'_> {
             ColliderView::Capsule(view) => write!(f, "{:?}", view.raw),
             ColliderView::Segment(view) => write!(f, "{:?}", view.raw),
             ColliderView::Triangle(view) => write!(f, "{:?}", view.raw),
+            ColliderView::Voxels(view) => write!(f, "{:?}", view.raw),
             ColliderView::TriMesh(_) => write!(f, "Trimesh (not representable)"),
             ColliderView::Polyline(_) => write!(f, "Polyline (not representable)"),
             ColliderView::HalfSpace(view) => write!(f, "{:?}", view.raw),
@@ -108,6 +111,7 @@ impl<'a> From<TypedShape<'a>> for ColliderView<'a> {
             TypedShape::Capsule(s) => ColliderView::Capsule(CapsuleView { raw: s }),
             TypedShape::Segment(s) => ColliderView::Segment(SegmentView { raw: s }),
             TypedShape::Triangle(s) => ColliderView::Triangle(TriangleView { raw: s }),
+            TypedShape::Voxels(s) => ColliderView::Voxels(VoxelsView { raw: s }),
             TypedShape::TriMesh(s) => ColliderView::TriMesh(TriMeshView { raw: s }),
             TypedShape::Polyline(s) => ColliderView::Polyline(PolylineView { raw: s }),
             TypedShape::HalfSpace(s) => ColliderView::HalfSpace(HalfSpaceView { raw: s }),
@@ -129,8 +133,6 @@ impl<'a> From<TypedShape<'a>> for ColliderView<'a> {
             TypedShape::RoundTriangle(s) => {
                 ColliderView::RoundTriangle(RoundTriangleView { raw: s })
             }
-            // RoundedTriMesh,
-            // RoundedHeightField,
             #[cfg(feature = "dim2")]
             TypedShape::RoundConvexPolygon(s) => {
                 ColliderView::RoundConvexPolygon(RoundConvexPolygonView { raw: s })
@@ -171,6 +173,7 @@ impl<'a> ColliderView<'a> {
             ColliderView::Capsule(CapsuleView { raw: s }) => TypedShape::Capsule(s),
             ColliderView::Segment(SegmentView { raw: s }) => TypedShape::Segment(s),
             ColliderView::Triangle(TriangleView { raw: s }) => TypedShape::Triangle(s),
+            ColliderView::Voxels(VoxelsView { raw: s }) => TypedShape::Voxels(s),
             ColliderView::TriMesh(TriMeshView { raw: s }) => TypedShape::TriMesh(s),
             ColliderView::Polyline(PolylineView { raw: s }) => TypedShape::Polyline(s),
             ColliderView::HalfSpace(HalfSpaceView { raw: s }) => TypedShape::HalfSpace(s),
@@ -192,8 +195,6 @@ impl<'a> ColliderView<'a> {
             ColliderView::RoundTriangle(RoundTriangleView { raw: s }) => {
                 TypedShape::RoundTriangle(s)
             }
-            // RoundedTriMesh,
-            // RoundedHeightField,
             #[cfg(feature = "dim2")]
             ColliderView::RoundConvexPolygon(RoundConvexPolygonView { raw: s }) => {
                 TypedShape::RoundConvexPolygon(s)
@@ -219,6 +220,7 @@ impl<'a> ColliderView<'a> {
             ColliderView::Capsule(CapsuleView { raw }) => SharedShape::new(*raw),
             ColliderView::Segment(SegmentView { raw }) => SharedShape::new(*raw),
             ColliderView::Triangle(TriangleView { raw }) => SharedShape::new(*raw),
+            ColliderView::Voxels(VoxelsView { raw }) => SharedShape::new(raw.clone()),
             ColliderView::TriMesh(TriMeshView { raw }) => SharedShape::new(raw.clone()),
             ColliderView::Polyline(PolylineView { raw }) => SharedShape::new(raw.clone()),
             ColliderView::HalfSpace(HalfSpaceView { raw }) => SharedShape::new(*raw),
@@ -276,11 +278,14 @@ impl<'a> ColliderView<'a> {
                 Some(Either::Right(b)) => SharedShape::new(b),
             },
             ColliderView::Segment(s) => SharedShape::new(s.raw.scaled(&scale.into())),
-            // ColliderView::RoundSegment(s) => SharedShape::new(RoundShape {
-            //     border_radius: s.raw.border_radius,
-            //     inner_shape: s.raw.inner_shape.scaled(&scale.into()),
-            // }),
             ColliderView::Triangle(t) => SharedShape::new(t.raw.scaled(&scale.into())),
+            ColliderView::Voxels(cp) => match cp.raw.clone().scaled(&scale.into()) {
+                None => {
+                    log::error!("Failed to apply scale {} to Voxels shape.", scale);
+                    SharedShape::ball(0.0)
+                }
+                Some(scaled) => SharedShape::new(scaled),
+            },
             ColliderView::RoundTriangle(t) => SharedShape::new(RoundShape {
                 border_radius: t.raw.border_radius,
                 inner_shape: t.raw.inner_shape.scaled(&scale.into()),
diff --git a/src/geometry/shape_views/mod.rs b/src/geometry/shape_views/mod.rs
@@ -10,6 +10,7 @@ pub use self::round_shape::*;
 pub use self::segment::*;
 pub use self::triangle::*;
 pub use self::trimesh::*;
+pub use self::voxels::*;
 
 #[cfg(feature = "dim2")]
 pub use self::convex_polygon::*;
@@ -29,6 +30,7 @@ mod round_shape;
 mod segment;
 mod triangle;
 mod trimesh;
+mod voxels;
 
 #[cfg(feature = "dim2")]
 mod convex_polygon;
diff --git a/src/geometry/shape_views/voxels.rs b/src/geometry/shape_views/voxels.rs
@@ -0,0 +1,8 @@
+use rapier::prelude::Voxels;
+
+/// Read-only access to the properties of a [`Voxels`] shape.
+#[derive(Copy, Clone)]
+pub struct VoxelsView<'a> {
+    /// The raw shape from Rapier.
+    pub raw: &'a Voxels,
+}
diff --git a/src/geometry/to_bevy_mesh.rs b/src/geometry/to_bevy_mesh.rs
