chore: start updating to the latest rapier version

Cargo.toml

@@ -3,18 +3,18 @@ members = ["bevy_rapier2d", "bevy_rapier3d"]
 resolver = "2"
 
 [profile.dev]
- # Use slightly better optimization by default, as examples otherwise seem laggy.
+# Use slightly better optimization by default, as examples otherwise seem laggy.
 opt-level = 1
 
 [profile.release]
 codegen-units = 1
 
 [patch.crates-io]
 #nalgebra = { path = "../nalgebra" }
-#parry2d = { path = "../parry/crates/parry2d" }
-#parry3d = { path = "../parry/crates/parry3d" }
-#rapier2d = { path = "../rapier/crates/rapier2d" }
-#rapier3d = { path = "../rapier/crates/rapier3d" }
+parry2d = { path = "../parry/crates/parry2d" }
+parry3d = { path = "../parry/crates/parry3d" }
+rapier2d = { path = "../rapier/crates/rapier2d" }
+rapier3d = { path = "../rapier/crates/rapier3d" }
 
 #nalgebra = { git = "https://github.com/dimforge/nalgebra", branch = "dev" }
 #parry2d = { git = "https://github.com/dimforge/parry", branch = "master" }

src/control/character_controller.rs

@@ -78,6 +78,15 @@ pub struct MoveShapeOptions {
     /// Should the character be automatically snapped to the ground if the distance between
     /// the ground and its feet are smaller than the specified threshold?
     pub snap_to_ground: Option<CharacterLength>,
+    /// Increase this number if your character appears to get stuck when sliding against surfaces.
+    ///
+    /// This is a small distance applied to the movement toward the contact normals of shapes hit
+    /// by the character controller. This helps shape-casting not getting stuck in an alway-penetrating
+    /// state during the sliding calculation.
+    ///
+    /// This value should remain fairly small since it can introduce artificial "bumps" when sliding
+    /// along a flat surface.
+    pub normal_nudge_factor: Real,
 }
 
 impl Default for MoveShapeOptions {
@@ -92,6 +101,7 @@ impl Default for MoveShapeOptions {
             min_slope_slide_angle: def.min_slope_slide_angle,
             apply_impulse_to_dynamic_bodies: true,
             snap_to_ground: def.snap_to_ground,
+            normal_nudge_factor: def.normal_nudge_factor,
         }
     }
 }
@@ -138,6 +148,15 @@ pub struct KinematicCharacterController {
     /// Groups for filtering-out some colliders from the environment seen by the character
     /// controller.
     pub filter_groups: Option<CollisionGroups>,
+    /// Increase this number if your character appears to get stuck when sliding against surfaces.
+    ///
+    /// This is a small distance applied to the movement toward the contact normals of shapes hit
+    /// by the character controller. This helps shape-casting not getting stuck in an alway-penetrating
+    /// state during the sliding calculation.
+    ///
+    /// This value should remain fairly small since it can introduce artificial "bumps" when sliding
+    /// along a flat surface.
+    pub normal_nudge_factor: Real,
 }
 
 impl KinematicCharacterController {
@@ -161,6 +180,7 @@ impl KinematicCharacterController {
             snap_to_ground: self
                 .snap_to_ground
                 .map(|x| x.map_absolute(|x| x / physics_scale)),
+            normal_nudge_factor: self.normal_nudge_factor,
         })
     }
 }
@@ -182,6 +202,7 @@ impl Default for KinematicCharacterController {
             snap_to_ground: def.snap_to_ground,
             filter_flags: QueryFilterFlags::default() | QueryFilterFlags::EXCLUDE_SENSORS,
             filter_groups: None,
+            normal_nudge_factor: def.normal_nudge_factor,
         }
     }
 }

src/dynamics/rigid_body.rs

@@ -506,7 +506,10 @@ impl Dominance {
 #[reflect(Component, PartialEq)]
 pub struct Sleeping {
     /// The linear velocity below which the body can fall asleep.
-    pub linear_threshold: f32,
+    ///
+    /// The effictive threshold is obtained by multpilying this value by the
+    /// [`IntegrationParameters::length_unit`].
+    pub normalized_linear_threshold: f32,
     /// The angular velocity below which the body can fall asleep.
     pub angular_threshold: f32,
     /// Is this body sleeping?
@@ -517,7 +520,7 @@ impl Sleeping {
     /// Creates a components that disables sleeping for the associated [`RigidBody`].
     pub fn disabled() -> Self {
         Self {
-            linear_threshold: -1.0,
+            normalized_linear_threshold: -1.0,
             angular_threshold: -1.0,
             sleeping: false,
         }
@@ -527,7 +530,7 @@ impl Sleeping {
 impl Default for Sleeping {
     fn default() -> Self {
         Self {
-            linear_threshold: RigidBodyActivation::default_linear_threshold(),
+            normalized_linear_threshold: RigidBodyActivation::default_normalized_linear_threshold(),
             angular_threshold: RigidBodyActivation::default_angular_threshold(),
             sleeping: false,
         }

src/geometry/mod.rs

@@ -1,7 +1,7 @@
 pub use self::collider::*;
 pub use self::shape_views::ColliderView;
 pub use rapier::geometry::SolverFlags;
-pub use rapier::parry::query::TOIStatus;
+pub use rapier::parry::query::{ShapeCastOptions, ShapeCastStatus};
 pub use rapier::parry::shape::TriMeshFlags;
 pub use rapier::parry::transformation::{vhacd::VHACDParameters, voxelization::FillMode};
 
@@ -69,8 +69,8 @@ impl RayIntersection {
         unscaled_dir: Vect,
     ) -> Self {
         Self {
-            toi: inter.toi,
-            point: unscaled_origin + unscaled_dir * inter.toi,
+            toi: inter.time_of_impact,
+            point: unscaled_origin + unscaled_dir * inter.time_of_impact,
             normal: inter.normal.into(),
             feature: inter.feature,
         }
@@ -87,7 +87,7 @@ pub struct Toi {
     /// `None` if `status` is `Penetrating`.
     pub details: Option<ToiDetails>,
     /// The way the time-of-impact computation algorithm terminated.
-    pub status: TOIStatus,
+    pub status: ShapeCastStatus,
 }
 
 /// In depth information about a time-of-impact (TOI) computation.
@@ -105,8 +105,8 @@ pub struct ToiDetails {
 
 impl Toi {
     /// Convert from internal `rapier::Toi`.
-    pub fn from_rapier(physics_scale: Real, toi: rapier::parry::query::TOI) -> Self {
-        let details = if toi.status != TOIStatus::Penetrating {
+    pub fn from_rapier(physics_scale: Real, toi: rapier::parry::query::ShapeCastHit) -> Self {
+        let details = if toi.status != ShapeCastStatus::PenetratingOrWithinTargetDist {
             Some(ToiDetails {
                 witness1: (toi.witness1 * physics_scale).into(),
                 witness2: (toi.witness2 * physics_scale).into(),
@@ -117,7 +117,7 @@ impl Toi {
             None
         };
         Self {
-            toi: toi.toi,
+            toi: toi.time_of_impact,
             status: toi.status,
             details,
         }

src/plugin/context.rs

@@ -16,9 +16,11 @@ 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::prelude::{CollisionGroups, RapierRigidBodyHandle};
 use rapier::control::CharacterAutostep;
+use rapier::geometry::DefaultBroadPhase;
 
 /// The Rapier context, containing all the state of the physics engine.
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
@@ -28,7 +30,7 @@ pub struct RapierContext {
     /// (not moving much) to reduce computations.
     pub islands: IslandManager,
     /// The broad-phase, which detects potential contact pairs.
-    pub broad_phase: BroadPhase,
+    pub broad_phase: Box<dyn BroadPhase>,
     /// The narrow-phase, which computes contact points, tests intersections,
     /// and maintain the contact and intersection graphs.
     pub narrow_phase: NarrowPhase,
@@ -76,7 +78,7 @@ impl Default for RapierContext {
     fn default() -> Self {
         Self {
             islands: IslandManager::new(),
-            broad_phase: BroadPhase::new(),
+            broad_phase: Box::new(DefaultBroadPhase::new()),
             narrow_phase: NarrowPhase::new(),
             bodies: RigidBodySet::new(),
             colliders: ColliderSet::new(),
@@ -264,7 +266,7 @@ impl RapierContext {
                             &(gravity / self.physics_scale).into(),
                             &substep_integration_parameters,
                             &mut self.islands,
-                            &mut self.broad_phase,
+                            &mut *self.broad_phase,
                             &mut self.narrow_phase,
                             &mut self.bodies,
                             &mut self.colliders,
@@ -295,7 +297,7 @@ impl RapierContext {
                         &(gravity / self.physics_scale).into(),
                         &substep_integration_parameters,
                         &mut self.islands,
-                        &mut self.broad_phase,
+                        &mut *self.broad_phase,
                         &mut self.narrow_phase,
                         &mut self.bodies,
                         &mut self.colliders,
@@ -319,7 +321,7 @@ impl RapierContext {
                         &(gravity / self.physics_scale).into(),
                         &substep_integration_parameters,
                         &mut self.islands,
-                        &mut self.broad_phase,
+                        &mut *self.broad_phase,
                         &mut self.narrow_phase,
                         &mut self.bodies,
                         &mut self.colliders,
@@ -417,6 +419,7 @@ impl RapierContext {
             snap_to_ground: options
                 .snap_to_ground
                 .map(|x| x.map_absolute(|x| x / physics_scale)),
+            normal_nudge_factor: options.normal_nudge_factor,
         };
 
         self.character_collisions_collector.clear();
@@ -786,8 +789,7 @@ impl RapierContext {
         shape_rot: Rot,
         shape_vel: Vect,
         shape: &Collider,
-        max_toi: Real,
-        stop_at_penetration: bool,
+        options: ShapeCastOptions,
         filter: QueryFilter,
     ) -> Option<(Entity, Toi)> {
         let scaled_transform = (shape_pos / self.physics_scale, shape_rot).into();
@@ -803,8 +805,7 @@ impl RapierContext {
                 &scaled_transform,
                 &(shape_vel / self.physics_scale).into(),
                 &*scaled_shape.raw,
-                max_toi,
-                stop_at_penetration,
+                options,
                 filter,
             )
         })?;

src/plugin/systems.rs

@@ -318,7 +318,7 @@ pub fn apply_rigid_body_user_changes(
     for (handle, sleeping) in changed_sleeping.iter() {
         if let Some(rb) = context.bodies.get_mut(handle.0) {
             let activation = rb.activation_mut();
-            activation.linear_threshold = sleeping.linear_threshold;
+            activation.normalized_linear_threshold = sleeping.normalized_linear_threshold;
             activation.angular_threshold = sleeping.angular_threshold;
 
             if !sleeping.sleeping && activation.sleeping {
@@ -1068,7 +1068,7 @@ pub fn init_rigid_bodies(
 
         if let Some(sleep) = sleep {
             let activation = rb.activation_mut();
-            activation.linear_threshold = sleep.linear_threshold;
+            activation.normalized_linear_threshold = sleep.normalized_linear_threshold;
             activation.angular_threshold = sleep.angular_threshold;
         }