use a RapierContext systemparam for a better API ; rework modules + u…

…pdated changelog

CHANGELOG.md

@@ -23,16 +23,23 @@ which was its hardcoded behaviour.
 
 ### Modified
 
-- `RapierContext`, `RapierConfiguration` and `RenderToSimulationTime` 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
-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)
-to get more context and information.
+- Rapier now supports multiple independent physics worlds, see example `multi_world3` for usage details.
+  - `RapierContext` is no longer a resource: it has been split in multiple `Component`s:
+    - `RapierContextColliders`
+    - `RapierContextJoints`
+    - `RapierContextSimulation`
+    - `RapierRigidBodySet`
+  - Each entity managed by bevy_rapier has a `RapierContextEntityLink` pointing to the entity containing the components above.
+  - `RapierContext` was reworked to be a `SystemParam`, to help with migration. See `ray_casting` examples for a usage example.
+  - `RapierConfiguration` and `RenderToSimulationTime` are now `Component`s instead of resources.
+    - Migration guide:
+      - `ResMut<mut RapierContext>` -> `WriteRapierContext`
+      - `Res<RapierContext>` -> `ReadRapierContext`
+      - Access to `RapierConfiguration` and `RenderToSimulationTime` 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)
+  to get more context and information.
 
 ## v0.27.0 (07 July 2024)
 

bevy_rapier2d/examples/testbed2.rs

@@ -204,11 +204,10 @@ 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.single().context.integration_parameters.length_unit,
+                        ctxt.single().simulation.integration_parameters.length_unit,
                     )
                     .gravity;
                 },

bevy_rapier3d/examples/joints3.rs

@@ -284,7 +284,7 @@ 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() {

bevy_rapier3d/examples/multi_world3.rs

@@ -30,7 +30,7 @@ fn main() {
 
 fn create_worlds(mut commands: Commands) {
     for i in 0..N_WORLDS {
-        let mut world = commands.spawn((RapierContext::default(), WorldId(i)));
+        let mut world = commands.spawn((RapierContextSimulation::default(), WorldId(i)));
         if i == 0 {
             world.insert(DefaultRapierContext);
         }
@@ -75,7 +75,7 @@ fn change_world(
 }
 
 pub fn setup_physics(
-    context: Query<(Entity, &WorldId), With<RapierContext>>,
+    context: Query<(Entity, &WorldId), With<RapierContextSimulation>>,
     mut commands: Commands,
 ) {
     for (context_entity, id) in context.iter() {

bevy_rapier3d/examples/ray_casting3.rs

@@ -76,8 +76,7 @@ pub fn setup_physics(mut commands: Commands) {
 pub fn cast_ray(
     mut commands: Commands,
     windows: Query<&Window, With<PrimaryWindow>>,
-    rapier_context: ReadDefaultRapierContext,
-    rapier_context_colliders: ReadDefaultRapierContextColliders,
+    rapier_context: ReadRapierContext,
     cameras: Query<(&Camera, &GlobalTransform)>,
 ) {
     let window = windows.single();

bevy_rapier_benches3d/src/lib.rs

@@ -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();
@@ -28,7 +28,7 @@ pub fn custom_bencher(steps: usize, setup: impl Fn(&mut App)) {
         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);

src/control/character_controller.rs

@@ -2,7 +2,7 @@ use crate::geometry::{Collider, CollisionGroups, ShapeCastHit};
 use crate::math::{Real, Rot, Vect};
 use bevy::prelude::*;
 
-use crate::plugin::{RapierContext, RapierContextColliders};
+use crate::plugin::context::RapierContextColliders;
 pub use rapier::control::CharacterAutostep;
 pub use rapier::control::CharacterLength;
 use rapier::prelude::{ColliderSet, QueryFilterFlags};

src/dynamics/revolute_joint.rs

@@ -1,11 +1,14 @@
 use crate::dynamics::{GenericJoint, GenericJointBuilder};
 use crate::math::{Real, Vect};
-use crate::plugin::RapierRigidBodySet;
+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))]

src/lib.rs

@@ -72,6 +72,8 @@ pub mod prelude {
     pub use crate::geometry::*;
     pub use crate::math::*;
     pub use crate::pipeline::*;
+    pub use crate::plugin::context::systemparams::*;
+    pub use crate::plugin::context::*;
     pub use crate::plugin::*;
     #[cfg(any(feature = "debug-render-3d", feature = "debug-render-2d"))]
     pub use crate::render::*;

src/pipeline/query_filter.rs

@@ -5,7 +5,7 @@ pub use rapier::pipeline::QueryFilterFlags;
 use crate::geometry::CollisionGroups;
 
 #[cfg(doc)]
-use crate::prelude::RapierContext;
+use crate::prelude::{RapierContext, RapierContextSimulation};
 
 /// A filter that describes what collider should be included or excluded from a scene query.
 ///

src/plugin/configuration.rs

@@ -1,3 +1,5 @@
+//! Components used to configure a simulation run by rapier, these are not modified by bevy_rapier.
+
 use bevy::{
     prelude::{Component, Resource},
     reflect::Reflect,
@@ -8,13 +10,6 @@ use crate::math::{Real, Vect};
 #[cfg(doc)]
 use {crate::prelude::TransformInterpolation, rapier::dynamics::IntegrationParameters};
 
-/// Difference between simulation and rendering time
-#[derive(Component, Default, Reflect)]
-pub struct SimulationToRenderTime {
-    /// Difference between simulation and rendering time
-    pub diff: f32,
-}
-
 /// The different ways of adjusting the timestep length each frame.
 #[derive(Copy, Clone, Debug, PartialEq, Resource)]
 pub enum TimestepMode {

src/plugin/context/mod.rs

@@ -1,3 +1,5 @@
+//! These are components used and modified during a simulation frame.
+
 pub mod systemparams;
 
 use bevy::prelude::*;
@@ -19,33 +21,45 @@ use bevy::prelude::{Entity, EventWriter, GlobalTransform, Query};
 use crate::control::{CharacterCollision, MoveShapeOptions, MoveShapeOutput};
 use crate::dynamics::TransformInterpolation;
 use crate::parry::query::details::ShapeCastOptions;
-use crate::plugin::configuration::{SimulationToRenderTime, TimestepMode};
+use crate::plugin::configuration::TimestepMode;
 use crate::prelude::{CollisionGroups, RapierRigidBodyHandle};
 use rapier::control::CharacterAutostep;
 use rapier::geometry::DefaultBroadPhase;
 
 #[cfg(doc)]
-use crate::prelude::{ImpulseJoint, MultibodyJoint, RevoluteJoint, TypedJoint};
+use crate::prelude::{
+    systemparams::{RapierContext, ReadRapierContext},
+    ImpulseJoint, MultibodyJoint, RevoluteJoint, TypedJoint,
+};
+
+/// Difference between simulation and rendering time
+#[derive(Component, Default, Reflect)]
+pub struct SimulationToRenderTime {
+    /// Difference between simulation and rendering time
+    pub diff: f32,
+}
 
-/// Marker component for to access the default [`RapierContext`].
+/// Marker component for to access the default [`ReadRapierContext`].
 ///
-/// This is used by [`systemparams::ReadDefaultRapierContext`] and other default accesses
+/// This is use as the default marker filter for [`systemparams::ReadRapierContext`] and [`systemparams::WriteRapierContext`]
 /// to help with getting a reference to the correct RapierContext.
 ///
 /// If you're making a library, you might be interested in [`RapierContextEntityLink`]
-/// and leverage a [`Query<&RapierContext>`] to find the correct [`RapierContext`] of an entity.
+/// and leverage a [`Query`] to have precise access to relevant components (for example [`RapierContextSimulation`]).
+///
+/// See the list of full components in [`RapierContext`]
 #[derive(Component, Reflect, Debug, Clone, Copy)]
 pub struct DefaultRapierContext;
 
 /// This is a component applied to any entity containing a rapier handle component.
-/// The inner Entity referred to has the component [`RapierContext`] responsible for handling
+/// The inner Entity referred to has the component [`RapierContextSimulation`] responsible for handling
 /// its rapier data.
 #[derive(Component, Reflect, Debug, Clone, Copy, PartialEq, Eq, Hash)]
 pub struct RapierContextEntityLink(pub Entity);
 
 /// The set of colliders part of the simulation.
 ///
-/// This should be attached on an entity with a [`RapierContext`]
+/// This should be attached on an entity with a [`RapierContextSimulation`]
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
 #[derive(Component, Default)]
 pub struct RapierContextColliders {
@@ -113,7 +127,7 @@ impl RapierContextColliders {
 
 /// The sets of joints part of the simulation.
 ///
-/// This should be attached on an entity with a [`RapierContext`]
+/// This should be attached on an entity with a [`RapierContextSimulation`]
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
 #[derive(Component, Default)]
 pub struct RapierContextJoints {
@@ -643,7 +657,7 @@ impl RapierQueryPipeline {
 
 /// The set of rigid-bodies part of the simulation.
 ///
-/// This should be attached on an entity with a [`RapierContext`]
+/// This should be attached on an entity with a [`RapierContextSimulation`]
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
 #[derive(Component, Default)]
 pub struct RapierRigidBodySet {
@@ -720,7 +734,7 @@ impl RapierRigidBodySet {
 /// The Rapier context, containing all the state of the physics engine.
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
 #[derive(Component)]
-pub struct RapierContext {
+pub struct RapierContextSimulation {
     /// The island manager, which detects what object is sleeping
     /// (not moving much) to reduce computations.
     pub islands: IslandManager,
@@ -752,7 +766,7 @@ pub struct RapierContext {
     pub(crate) character_collisions_collector: Vec<rapier::control::CharacterCollision>,
 }
 
-impl Default for RapierContext {
+impl Default for RapierContextSimulation {
     fn default() -> Self {
         Self {
             islands: IslandManager::new(),
@@ -770,7 +784,7 @@ impl Default for RapierContext {
     }
 }
 
-impl RapierContext {
+impl RapierContextSimulation {
     /// Advance the simulation, based on the given timestep mode.
     #[allow(clippy::too_many_arguments)]
     pub fn step_simulation(

src/plugin/context/systemparams/mod.rs

@@ -6,7 +6,7 @@ pub use rapier_context_systemparam::*;
 use super::RapierContextEntityLink;
 
 #[derive(QueryData)]
-pub struct RapierEntity {
+pub(crate) struct RapierEntity {
     pub entity: Entity,
     pub rapier_context_link: &'static RapierContextEntityLink,
 }