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Better support fixed timesteps in newest Avian #61

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Better support fixed timesteps in newest Avian #61

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a0743b8
Remove default schedule
janhohenheim Sep 8, 2024
d890cd9
Use physical transform instead of rendered
janhohenheim Sep 8, 2024
31dafba
Patch to newest avian
janhohenheim Sep 8, 2024
6afb0a6
Add docs
janhohenheim Sep 8, 2024
2c955b5
Update 2D and examples
janhohenheim Sep 8, 2024
3bc32f8
Fix various fixed timestep issues
janhohenheim Sep 8, 2024
a10433c
Revert removal of running demos in physics schedule
janhohenheim Sep 8, 2024
5492484
Make examples a bit more idiomatic
janhohenheim Sep 8, 2024
0f28eb6
Use direct into impl
janhohenheim Sep 8, 2024
e8425b0
Remove useless line
janhohenheim Sep 8, 2024
e4d1d3b
Fix compile error
janhohenheim Sep 8, 2024
6099a73
Run cargo fmt
janhohenheim Sep 8, 2024
8d0c1ae
Merge branch 'main' into fix-minor-avian-stuff
janhohenheim Sep 19, 2024
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2 changes: 1 addition & 1 deletion Cargo.toml
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Original file line number Diff line number Diff line change
Expand Up @@ -58,7 +58,7 @@ bevy = { version = "^0.14", default-features = false, features = [
"x11",
# "filesystem_watcher",
] }
avian3d = { version = "^0.1", features = ["3d", "debug-plugin", "parallel", "parry-f32"] }
avian3d = { version = "^0.1", git = "https://github.com/Jondolf/avian", features = ["3d", "debug-plugin", "parallel", "parry-f32"] }
bevy-tnua-avian3d = { path = "avian3d" }

[package.metadata.docs.rs]
Expand Down
2 changes: 1 addition & 1 deletion avian2d/Cargo.toml
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Original file line number Diff line number Diff line change
Expand Up @@ -13,7 +13,7 @@ readme = "../README.md"

[dependencies]
bevy = { version = "^0.14", default-features = false }
avian2d = {version = "^0.1", default-features = false, features = ["2d", "debug-plugin", "parallel"]}
avian2d = {version = "^0.1", git = "https://github.com/Jondolf/avian", default-features = false, features = ["2d", "debug-plugin", "parallel"]}
bevy-tnua-physics-integration-layer = { version = "^0.4", path = "../physics-integration-layer" }

[package.metadata.docs.rs]
Expand Down
59 changes: 38 additions & 21 deletions avian2d/src/lib.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -22,6 +22,20 @@ use bevy_tnua_physics_integration_layer::*;
/// Add this plugin to use avian2d as a physics backend.
///
/// This plugin should be used in addition to `TnuaControllerPlugin`.
/// Note that you should make sure both of these plugins use the same schedule.
/// This should usually be `PhysicsSchedule`, which by default is `FixedUpdate`.
///
/// # Example
///
/// ```ignore
/// App::new()
/// .add_plugins((
/// DefaultPlugins,
/// PhysicsPlugins::default(),
/// TnuaControllerPlugin::new(PhysicsSchedule),
/// TnuaAvian2dPlugin::new(PhysicsSchedule),
/// ));
/// ```
pub struct TnuaAvian2dPlugin {
schedule: InternedScheduleLabel,
}
Expand All @@ -34,19 +48,12 @@ impl TnuaAvian2dPlugin {
}
}

impl Default for TnuaAvian2dPlugin {
fn default() -> Self {
Self::new(Update)
}
}

impl Plugin for TnuaAvian2dPlugin {
fn build(&self, app: &mut App) {
app.configure_sets(
self.schedule,
TnuaSystemSet
.before(PhysicsSet::Prepare)
.before(PhysicsStepSet::First)
.in_set(PhysicsStepSet::First)
.run_if(|physics_time: Res<Time<Physics>>| !physics_time.is_paused()),
);
app.add_systems(
Expand All @@ -71,24 +78,25 @@ pub struct TnuaAvian2dSensorShape(pub Collider);
fn update_rigid_body_trackers_system(
gravity: Res<Gravity>,
mut query: Query<(
&GlobalTransform,
&Position,
&Rotation,
&LinearVelocity,
&AngularVelocity,
&mut TnuaRigidBodyTracker,
Option<&TnuaToggle>,
)>,
) {
for (transform, linaer_velocity, angular_velocity, mut tracker, tnua_toggle) in query.iter_mut()
for (position, rotation, linaer_velocity, angular_velocity, mut tracker, tnua_toggle) in
query.iter_mut()
{
match tnua_toggle.copied().unwrap_or_default() {
TnuaToggle::Disabled => continue,
TnuaToggle::SenseOnly => {}
TnuaToggle::Enabled => {}
}
let (_, rotation, translation) = transform.to_scale_rotation_translation();
*tracker = TnuaRigidBodyTracker {
translation: translation.adjust_precision(),
rotation: rotation.adjust_precision(),
translation: position.adjust_precision().extend(0.0),
rotation: Quaternion::from(*rotation).adjust_precision(),
velocity: linaer_velocity.0.extend(0.0),
angvel: Vector3::new(0.0, 0.0, angular_velocity.0),
gravity: gravity.0.extend(0.0),
Expand All @@ -102,7 +110,9 @@ fn update_proximity_sensors_system(
collisions: Res<Collisions>,
mut query: Query<(
Entity,
&GlobalTransform,
&Position,
&Rotation,
&Collider,
&mut TnuaProximitySensor,
Option<&TnuaAvian2dSensorShape>,
Option<&mut TnuaGhostSensor>,
Expand All @@ -111,7 +121,7 @@ fn update_proximity_sensors_system(
)>,
collision_layers_entity: Query<&CollisionLayers>,
other_object_query: Query<(
Option<(&GlobalTransform, &LinearVelocity, &AngularVelocity)>,
Option<(&Position, &LinearVelocity, &AngularVelocity)>,
Option<&CollisionLayers>,
Has<TnuaGhostPlatform>,
Has<Sensor>,
Expand All @@ -120,7 +130,9 @@ fn update_proximity_sensors_system(
query.par_iter_mut().for_each(
|(
owner_entity,
transform,
position,
rotation,
collider,
mut sensor,
shape,
mut ghost_sensor,
Expand All @@ -132,6 +144,11 @@ fn update_proximity_sensors_system(
TnuaToggle::SenseOnly => {}
TnuaToggle::Enabled => {}
}
let transform = Transform {
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Owner

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I think this transform is only used for computing the cast_origin. Maybe we can just compute it directly with the rotation and position instead of creating a transform matrix?

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I don't know how we would do that. Creating the transform matrix is super cheap, so I also don't think this is pressing.

translation: position.adjust_precision().extend(0.0),
rotation: Quaternion::from(*rotation).adjust_precision(),
scale: collider.scale().adjust_precision().extend(1.0),
};
let cast_origin = transform.transform_point(sensor.cast_origin.f32());
let cast_direction = sensor.cast_direction;
let cast_direction_2d = Dir2::new(cast_direction.truncate())
Expand Down Expand Up @@ -201,14 +218,14 @@ fn update_proximity_sensors_system(

let entity_linvel;
let entity_angvel;
if let Some((entity_transform, entity_linear_velocity, entity_angular_velocity)) =
if let Some((entity_position, entity_linear_velocity, entity_angular_velocity)) =
entity_kinematic_data
{
entity_angvel = Vector3::new(0.0, 0.0, entity_angular_velocity.0);
entity_linvel = entity_linear_velocity.0.extend(0.0)
+ if 0.0 < entity_angvel.length_squared() {
let relative_point = intersection_point
- entity_transform.translation().truncate().adjust_precision();
let relative_point =
intersection_point - entity_position.adjust_precision();
// NOTE: no need to project relative_point on the
// rotation plane, it will not affect the cross
// product.
Expand Down Expand Up @@ -257,7 +274,7 @@ fn update_proximity_sensors_system(
cast_direction_2d,
sensor.cast_range,
true,
query_filter,
&query_filter,
#[allow(clippy::useless_conversion)]
|shape_hit_data| {
apply_cast(CastResult {
Expand All @@ -275,7 +292,7 @@ fn update_proximity_sensors_system(
cast_direction_2d,
sensor.cast_range,
true,
query_filter,
&query_filter,
|ray_hit_data| {
apply_cast(CastResult {
entity: ray_hit_data.entity,
Expand Down
2 changes: 1 addition & 1 deletion avian3d/Cargo.toml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -13,7 +13,7 @@ readme = "../README.md"

[dependencies]
bevy = { version = "^0.14", default-features = false }
avian3d = {version = "^0.1", default-features = false, features = ["3d", "debug-plugin", "parallel"] }
avian3d = {version = "^0.1", git = "https://github.com/Jondolf/avian", default-features = false, features = ["3d", "debug-plugin", "parallel"] }
bevy-tnua-physics-integration-layer = { version = "^0.4", path = "../physics-integration-layer" }

[package.metadata.docs.rs]
Expand Down
54 changes: 38 additions & 16 deletions avian3d/src/lib.rs
View file
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Original file line number Diff line number Diff line change
Expand Up @@ -27,6 +27,20 @@ use bevy_tnua_physics_integration_layer::TnuaSystemSet;
/// Add this plugin to use avian3d as a physics backend.
///
/// This plugin should be used in addition to `TnuaControllerPlugin`.
/// Note that you should make sure both of these plugins use the same schedule.
/// This should usually be `PhysicsSchedule`, which by default is `FixedUpdate`.
///
/// # Example
///
/// ```ignore
/// App::new()
/// .add_plugins((
/// DefaultPlugins,
/// PhysicsPlugins::default(),
/// TnuaControllerPlugin::new(PhysicsSchedule),
/// TnuaAvian3dPlugin::new(PhysicsSchedule),
/// ));
/// ```
pub struct TnuaAvian3dPlugin {
schedule: InternedScheduleLabel,
}
Expand All @@ -50,8 +64,7 @@ impl Plugin for TnuaAvian3dPlugin {
app.configure_sets(
self.schedule,
TnuaSystemSet
.before(PhysicsSet::Prepare)
.before(PhysicsStepSet::First)
.in_set(PhysicsStepSet::First)
.run_if(|physics_time: Res<Time<Physics>>| !physics_time.is_paused()),
);
app.add_systems(
Expand All @@ -76,23 +89,24 @@ pub struct TnuaAvian3dSensorShape(pub Collider);
fn update_rigid_body_trackers_system(
gravity: Res<Gravity>,
mut query: Query<(
&GlobalTransform,
&Position,
&Rotation,
&LinearVelocity,
&AngularVelocity,
&mut TnuaRigidBodyTracker,
Option<&TnuaToggle>,
)>,
) {
for (transform, linaer_velocity, angular_velocity, mut tracker, tnua_toggle) in query.iter_mut()
for (position, rotation, linaer_velocity, angular_velocity, mut tracker, tnua_toggle) in
query.iter_mut()
{
match tnua_toggle.copied().unwrap_or_default() {
TnuaToggle::Disabled => continue,
TnuaToggle::SenseOnly => {}
TnuaToggle::Enabled => {}
}
let (_, rotation, translation) = transform.to_scale_rotation_translation();
*tracker = TnuaRigidBodyTracker {
translation: translation.adjust_precision(),
translation: position.adjust_precision(),
rotation: rotation.adjust_precision(),
velocity: linaer_velocity.0.adjust_precision(),
angvel: angular_velocity.0.adjust_precision(),
Expand All @@ -107,7 +121,9 @@ fn update_proximity_sensors_system(
collisions: Res<Collisions>,
mut query: Query<(
Entity,
&GlobalTransform,
&Position,
&Rotation,
&Collider,
&mut TnuaProximitySensor,
Option<&TnuaAvian3dSensorShape>,
Option<&mut TnuaGhostSensor>,
Expand All @@ -116,7 +132,7 @@ fn update_proximity_sensors_system(
)>,
collision_layers_entity: Query<&CollisionLayers>,
other_object_query: Query<(
Option<(&GlobalTransform, &LinearVelocity, &AngularVelocity)>,
Option<(&Position, &LinearVelocity, &AngularVelocity)>,
Option<&CollisionLayers>,
Has<TnuaGhostPlatform>,
Has<Sensor>,
Expand All @@ -125,7 +141,9 @@ fn update_proximity_sensors_system(
query.par_iter_mut().for_each(
|(
owner_entity,
transform,
position,
rotation,
collider,
mut sensor,
shape,
mut ghost_sensor,
Expand All @@ -137,6 +155,11 @@ fn update_proximity_sensors_system(
TnuaToggle::SenseOnly => {}
TnuaToggle::Enabled => {}
}
let transform = Transform {
translation: position.0,
rotation: rotation.0,
scale: collider.scale(),
};

// TODO: is there any point in doing these transformations as f64 when that feature
// flag is active?
Expand Down Expand Up @@ -206,14 +229,14 @@ fn update_proximity_sensors_system(

let entity_linvel;
let entity_angvel;
if let Some((entity_transform, entity_linear_velocity, entity_angular_velocity)) =
if let Some((entity_position, entity_linear_velocity, entity_angular_velocity)) =
entity_kinematic_data
{
entity_angvel = entity_angular_velocity.0.adjust_precision();
entity_linvel = entity_linear_velocity.0.adjust_precision()
+ if 0.0 < entity_angvel.length_squared() {
let relative_point = intersection_point
- entity_transform.translation().adjust_precision();
let relative_point =
intersection_point - entity_position.adjust_precision();
// NOTE: no need to project relative_point on the
// rotation plane, it will not affect the cross
// product.
Expand Down Expand Up @@ -255,10 +278,9 @@ fn update_proximity_sensors_system(

let query_filter = SpatialQueryFilter::from_excluded_entities([owner_entity]);
if let Some(TnuaAvian3dSensorShape(shape)) = shape {
let (_, owner_rotation, _) = transform.to_scale_rotation_translation();
let owner_rotation = Quat::from_axis_angle(
*cast_direction,
owner_rotation.to_scaled_axis().dot(*cast_direction),
rotation.to_scaled_axis().dot(*cast_direction),
);
spatial_query_pipeline.shape_hits_callback(
shape,
Expand All @@ -267,7 +289,7 @@ fn update_proximity_sensors_system(
cast_direction,
sensor.cast_range,
true,
query_filter,
&query_filter,
|shape_hit_data| {
apply_cast(CastResult {
entity: shape_hit_data.entity,
Expand All @@ -284,7 +306,7 @@ fn update_proximity_sensors_system(
cast_direction,
sensor.cast_range,
true,
query_filter,
&query_filter,
|ray_hit_data| {
apply_cast(CastResult {
entity: ray_hit_data.entity,
Expand Down
4 changes: 2 additions & 2 deletions demos/Cargo.toml
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Original file line number Diff line number Diff line change
Expand Up @@ -59,10 +59,10 @@ bevy-tnua-rapier2d = { path = "../rapier2d", optional = true }
bevy_rapier3d = { version = "^0.27", features = ["debug-render-3d"], optional = true }
bevy-tnua-rapier3d = { path = "../rapier3d", optional = true }

avian2d = {version = "^0.1", default-features = false, features = ["2d","debug-plugin", "parallel"], optional = true}
avian2d = {version = "^0.1", git = "https://github.com/Jondolf/avian", default-features = false, features = ["2d","debug-plugin", "parallel"], optional = true}
bevy-tnua-avian2d = { path = "../avian2d", default-features = false, optional = true }

avian3d = {version = "^0.1", default-features = false, features = ["3d","debug-plugin", "parallel"], optional = true }
avian3d = {version = "^0.1", git = "https://github.com/Jondolf/avian", default-features = false, features = ["3d","debug-plugin", "parallel"], optional = true }
bevy-tnua-avian3d = { path = "../avian3d", default-features = false, optional = true }

bevy_egui = { version = "0.28", optional = true, default-features = false, features = ["default_fonts", "render"] }
Expand Down
19 changes: 17 additions & 2 deletions demos/src/app_setup_options.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -5,7 +5,11 @@ use clap::{Parser, ValueEnum};

#[derive(Resource, Debug, Parser, Clone)]
pub struct AppSetupConfiguration {
#[arg(long = "schedule", default_value = "update")]
#[cfg_attr(feature = "rapier", arg(long = "schedule", default_value = "update"))]
#[cfg_attr(
feature = "avian",
arg(long = "schedule", default_value = "physics-schedule")
)]
pub schedule_to_use: ScheduleToUse,
#[arg(long = "level")]
pub level_to_load: Option<String>,
Expand All @@ -26,7 +30,18 @@ impl AppSetupConfiguration {
schedule_to_use: if let Some(value) = url_params.get("schedule") {
ScheduleToUse::from_str(&value, true).unwrap()
} else {
ScheduleToUse::Update
#[cfg(feature = "avian")]
{
ScheduleToUse::PhysicsSchedule
}
#[cfg(feature = "rapier")]
{
ScheduleToUse::Update
}
#[cfg(all(not(feature = "avian"), not(feature = "rapier")))]
{
panic!("No schedule was specified, but also no physics engine is avaible. Therefore, there is no fallback.")
}
},
level_to_load: url_params.get("level"),
}
Expand Down
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