Rapier 0.25

CHANGELOG.md

@@ -10,8 +10,9 @@
 ## Modified
 
 - Update Bevy to `0.16`.
-- Update from rapier `0.23` to rapier `0.24`,
+- Update from rapier `0.23` to rapier `0.25`,
   see [rapier's changelog](https://github.com/dimforge/rapier/blob/master/CHANGELOG.md).
+  - Notably, support and examples for parry's new `Voxels` shape have been added.
 - `RapierContextInitialization::InitializeDefaultRapierContext` now has more fields for better control over default physics context.
 
 ## Fixed

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 }

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)
         //
+        //voxels2
+        .add_systems(
+            OnEnter(Examples::Voxels2),
+            (voxels2::setup_graphics, voxels2::setup_physics),
+        )
+        .add_systems(OnExit(Examples::Voxels2), cleanup)
+        //
         // Debug toggle
         .add_systems(
             OnEnter(Examples::DebugToggle2),

bevy_rapier2d/examples/voxels2.rs

@@ -0,0 +1,105 @@
+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 {
+            let falling_objects = (j + i) % 3;
+
+            let ball_radius = 0.5 * scale;
+            let co = match falling_objects {
+                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,
+            ));
+        }
+    }
+
+    /*
+     * 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,
+        )),
+    ));
+}

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 }

bevy_rapier3d/examples/testbed3.rs

@@ -11,6 +11,7 @@ mod multiple_colliders3;
 mod picking3;
 mod ray_casting3;
 mod static_trimesh3;
+mod voxels3;
 
 use bevy::prelude::*;
 use bevy_egui::{egui, EguiContexts, EguiPlugin};
@@ -22,6 +23,7 @@ pub enum Examples {
     #[default]
     None,
     Boxes3,
+    Voxels3,
     DebugToggle3,
     Despawn3,
     Events3,
@@ -76,6 +78,7 @@ fn main() {
         .init_state::<Examples>()
         .insert_resource(ExampleSet(vec![
             (Examples::Boxes3, "Boxes3").into(),
+            (Examples::Voxels3, "Voxels3").into(),
             (Examples::DebugToggle3, "DebugToggle3").into(),
             (Examples::Despawn3, "Despawn3").into(),
             (Examples::Events3, "Events3").into(),
@@ -89,13 +92,20 @@ fn main() {
         ]))
         .init_resource::<ExampleSelected>()
         //
-        //boxes2
+        // boxes3
         .add_systems(
             OnEnter(Examples::Boxes3),
             (boxes3::setup_graphics, boxes3::setup_physics),
         )
         .add_systems(OnExit(Examples::Boxes3), cleanup)
         //
+        // voxels3
+        .add_systems(
+            OnEnter(Examples::Voxels3),
+            (voxels3::setup_graphics, voxels3::setup_physics),
+        )
+        .add_systems(OnExit(Examples::Voxels3), cleanup)
+        //
         // Debug toggle
         .add_systems(
             OnEnter(Examples::DebugToggle3),

bevy_rapier3d/examples/voxels3.rs

@@ -0,0 +1,104 @@
+use bevy::prelude::*;
+use bevy_rapier3d::prelude::*;
+use nalgebra::{point, Isometry, Vector3};
+use rapier3d::prelude::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>::default(),
+            RapierDebugRenderPlugin::default(),
+        ))
+        .add_systems(Startup, (setup_graphics, setup_physics))
+        .run();
+}
+
+pub fn setup_graphics(mut commands: Commands) {
+    commands.spawn((
+        Camera3d::default(),
+        Transform::from_xyz(-100.0, 100.0, -100.0).looking_at(Vec3::new(0.0, 0.0, 0.0), Vec3::Y),
+    ));
+}
+
+pub fn setup_physics(mut commands: Commands) {
+    /*
+     * Create a voxelized wavy floor.
+     */
+    let voxel_size = Vector3::new(1f32, 1f32, 1f32);
+    let mut samples = vec![];
+    let n = 200;
+    for i in 0..n {
+        for j in 0..n {
+            let y = (i as f32 / n as f32 * 10.0).sin().clamp(-0.8, 0.8)
+                * (j as f32 / n as f32 * 10.0).cos().clamp(-0.8, 0.8)
+                * 16.0;
+
+            samples.push(point![
+                i as f32 * voxel_size.x,
+                y * voxel_size.y,
+                j as f32 * voxel_size.z
+            ]);
+
+            if i == 0 || i == n - 1 || j == 0 || j == n - 1 {
+                // Create walls so the object at the edge don’t fall into the infinite void.
+                for k in 0..4 {
+                    samples.push(point![
+                        i as f32 * voxel_size.x,
+                        (y + k as f32) * voxel_size.y,
+                        j as f32 * voxel_size.z
+                    ]);
+                }
+            }
+        }
+    }
+    let collider = rapier3d::prelude::SharedShape::voxels_from_points(
+        VoxelPrimitiveGeometry::PseudoCube,
+        voxel_size,
+        &samples,
+    );
+    let ground_position = Vec3::new(voxel_size.x / 2f32, 0.0, voxel_size.z / 2f32);
+    let floor_aabb = collider.compute_aabb(&Isometry::identity());
+    commands.spawn((
+        Transform::from_translation(ground_position),
+        Collider::from(collider),
+    ));
+
+    /*
+     * Create dynamic objects to fall on voxels.
+     */
+    let extents = floor_aabb.extents() * 0.75;
+    let margin = (floor_aabb.extents() - extents) / 2.0;
+    let nik = 30;
+    for i in 0..nik {
+        for j in 0..5 {
+            for k in 0..nik {
+                let falling_objects = (j + i + k) % 3;
+
+                let ball_radius = 0.5;
+                let co = match falling_objects {
+                    0 => Collider::ball(ball_radius),
+                    1 => Collider::cuboid(ball_radius, ball_radius, ball_radius),
+                    2 => Collider::capsule_y(ball_radius, ball_radius),
+                    _ => unreachable!(),
+                };
+                commands.spawn((
+                    Transform::from_xyz(
+                        floor_aabb.mins.x + margin.x + i as f32 * extents.x / nik as f32
+                            - ground_position.x,
+                        floor_aabb.maxs.y + j as f32 * 2.0 - ground_position.y,
+                        floor_aabb.mins.z + margin.z + k as f32 * extents.z / nik as f32
+                            - -ground_position.z,
+                    ),
+                    RigidBody::Dynamic,
+                    co,
+                ));
+            }
+        }
+    }
+}

bevy_rapier_benches3d/Cargo.toml

@@ -9,7 +9,7 @@ edition = "2021"
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 
 [dependencies]
-rapier3d = { features = ["profiler"], version = "0.23" }
+rapier3d = { features = ["profiler"], version = "0.25" }
 bevy_rapier3d = { version = "0.29", path = "../bevy_rapier3d" }
 bevy = { version = "0.16.0", default-features = false }
 

bevy_rapier_benches3d/README.md

@@ -16,7 +16,7 @@ For short-lived benchmarks based on statistical analysis,
 benchmarks can be run through the [divan](https://github.com/nvzqz/divan) bench harness.
 
 ```sh
-cargo bench -p bevy_rapier3d
+cargo bench -p bevy_rapier_benches3d
 ```
 
 ## Other resources

bevy_rapier_benches3d/src/common.rs

@@ -7,7 +7,6 @@ pub fn default_app() -> App {
     app.add_plugins((
         MinimalPlugins,
         TransformPlugin,
-        TransformPlugin,
         RapierPhysicsPlugin::<()>::default(),
     ));