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'writeback' + 'remove' mods as per PR feedback
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@Vrixyz
Vrixyz committed May 16, 2024
1 parent c169ea4 commit aa982ec
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Showing 3 changed files with 210 additions and 193 deletions.
200 changes: 7 additions & 193 deletions src/plugin/systems.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -3,59 +3,25 @@
mod character_controller;
mod collider;
mod joint;
mod remove;
mod rigid_body;
mod writeback;

pub use character_controller::*;
pub use collider::*;
pub use joint::*;
pub use remove::*;
pub use rigid_body::*;
pub use writeback::*;

use crate::dynamics::{
ImpulseJoint, MassProperties, MultibodyJoint, RapierImpulseJointHandle,
RapierMultibodyJointHandle, RapierRigidBodyHandle, ReadMassProperties, RigidBody,
TransformInterpolation,
};
use crate::geometry::{Collider, ColliderDisabled, RapierColliderHandle, Sensor};
use crate::dynamics::{RapierRigidBodyHandle, TransformInterpolation};
use crate::pipeline::{CollisionEvent, ContactForceEvent};
use crate::plugin::configuration::SimulationToRenderTime;
use crate::plugin::{RapierConfiguration, RapierContext};
use crate::prelude::{
BevyPhysicsHooks, BevyPhysicsHooksAdapter, MassModifiedEvent, RigidBodyDisabled,
};
use crate::prelude::{BevyPhysicsHooks, BevyPhysicsHooksAdapter};
use bevy::ecs::system::{StaticSystemParam, SystemParamItem};
use bevy::prelude::*;

/// System responsible for writing updated mass properties back into the [`ReadMassProperties`] component.
pub fn writeback_mass_properties(
mut context: ResMut<RapierContext>,
config: Res<RapierConfiguration>,

mut mass_props: Query<&mut ReadMassProperties>,
mut mass_modified: EventReader<MassModifiedEvent>,
) {
let context = &mut *context;

if config.physics_pipeline_active {
for entity in mass_modified.read() {
if let Some(handle) = context.entity2body.get(entity).copied() {
if let Some(rb) = context.bodies.get(handle) {
if let Ok(mut mass_props) = mass_props.get_mut(**entity) {
let new_mass_props =
MassProperties::from_rapier(rb.mass_properties().local_mprops);

// NOTE: we write the new value only if there was an
// actual change, in order to not trigger bevy’s
// change tracking when the values didn’t change.
if mass_props.get() != &new_mass_props {
mass_props.set(new_mass_props);
}
}
}
}
}
}
}

/// System responsible for advancing the physics simulation, and updating the internal state
/// for scene queries.
pub fn step_simulation<Hooks>(
Expand Down Expand Up @@ -94,158 +60,6 @@ pub fn step_simulation<Hooks>(
}
}

/// System responsible for removing from Rapier the rigid-bodies/colliders/joints which had
/// their related `bevy_rapier` components removed by the user (through component removal or
/// despawn).
pub fn sync_removals(
mut commands: Commands,
mut context: ResMut<RapierContext>,
mut removed_bodies: RemovedComponents<RapierRigidBodyHandle>,
mut removed_colliders: RemovedComponents<RapierColliderHandle>,
mut removed_impulse_joints: RemovedComponents<RapierImpulseJointHandle>,
mut removed_multibody_joints: RemovedComponents<RapierMultibodyJointHandle>,
orphan_bodies: Query<Entity, (With<RapierRigidBodyHandle>, Without<RigidBody>)>,
orphan_colliders: Query<Entity, (With<RapierColliderHandle>, Without<Collider>)>,
orphan_impulse_joints: Query<Entity, (With<RapierImpulseJointHandle>, Without<ImpulseJoint>)>,
orphan_multibody_joints: Query<
Entity,
(With<RapierMultibodyJointHandle>, Without<MultibodyJoint>),
>,

mut removed_sensors: RemovedComponents<Sensor>,
mut removed_rigid_body_disabled: RemovedComponents<RigidBodyDisabled>,
mut removed_colliders_disabled: RemovedComponents<ColliderDisabled>,

mut mass_modified: EventWriter<MassModifiedEvent>,
) {
/*
* Rigid-bodies removal detection.
*/
let context = &mut *context;
for entity in removed_bodies.read() {
if let Some(handle) = context.entity2body.remove(&entity) {
let _ = context.last_body_transform_set.remove(&handle);
context.bodies.remove(
handle,
&mut context.islands,
&mut context.colliders,
&mut context.impulse_joints,
&mut context.multibody_joints,
false,
);
}
}

let context = &mut *context;
for entity in orphan_bodies.iter() {
if let Some(handle) = context.entity2body.remove(&entity) {
let _ = context.last_body_transform_set.remove(&handle);
context.bodies.remove(
handle,
&mut context.islands,
&mut context.colliders,
&mut context.impulse_joints,
&mut context.multibody_joints,
false,
);
}
commands.entity(entity).remove::<RapierRigidBodyHandle>();
}

/*
* Collider removal detection.
*/
for entity in removed_colliders.read() {
if let Some(parent) = context.collider_parent(entity) {
mass_modified.send(parent.into());
}

if let Some(handle) = context.entity2collider.remove(&entity) {
context
.colliders
.remove(handle, &mut context.islands, &mut context.bodies, true);
context.deleted_colliders.insert(handle, entity);
}
}

for entity in orphan_colliders.iter() {
if let Some(parent) = context.collider_parent(entity) {
mass_modified.send(parent.into());
}

if let Some(handle) = context.entity2collider.remove(&entity) {
context
.colliders
.remove(handle, &mut context.islands, &mut context.bodies, true);
context.deleted_colliders.insert(handle, entity);
}
commands.entity(entity).remove::<RapierColliderHandle>();
}

/*
* Impulse joint removal detection.
*/
for entity in removed_impulse_joints.read() {
if let Some(handle) = context.entity2impulse_joint.remove(&entity) {
context.impulse_joints.remove(handle, true);
}
}

for entity in orphan_impulse_joints.iter() {
if let Some(handle) = context.entity2impulse_joint.remove(&entity) {
context.impulse_joints.remove(handle, true);
}
commands.entity(entity).remove::<RapierImpulseJointHandle>();
}

/*
* Multibody joint removal detection.
*/
for entity in removed_multibody_joints.read() {
if let Some(handle) = context.entity2multibody_joint.remove(&entity) {
context.multibody_joints.remove(handle, true);
}
}

for entity in orphan_multibody_joints.iter() {
if let Some(handle) = context.entity2multibody_joint.remove(&entity) {
context.multibody_joints.remove(handle, true);
}
commands
.entity(entity)
.remove::<RapierMultibodyJointHandle>();
}

/*
* Marker components removal detection.
*/
for entity in removed_sensors.read() {
if let Some(handle) = context.entity2collider.get(&entity) {
if let Some(co) = context.colliders.get_mut(*handle) {
co.set_sensor(false);
}
}
}

for entity in removed_colliders_disabled.read() {
if let Some(handle) = context.entity2collider.get(&entity) {
if let Some(co) = context.colliders.get_mut(*handle) {
co.set_enabled(true);
}
}
}

for entity in removed_rigid_body_disabled.read() {
if let Some(handle) = context.entity2body.get(&entity) {
if let Some(rb) = context.bodies.get_mut(*handle) {
rb.set_enabled(true);
}
}
}

// TODO: what about removing forces?
}

#[cfg(test)]
mod tests {
use bevy::{
Expand All @@ -265,7 +79,7 @@ mod tests {
use super::*;
use crate::{
plugin::{NoUserData, RapierPhysicsPlugin},
prelude::CollidingEntities,
prelude::{Collider, CollidingEntities, RigidBody},
utils,
};

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