Update rapier to 0.23

.github/workflows/main.yml

@@ -32,7 +32,7 @@ jobs:
         with:
           prefix-key: ${{ env.RUST_CACHE_KEY }}
       - name: Cargo doc
-        run: cargo doc
+        run: cargo doc --no-deps
   test:
     runs-on: ubuntu-latest
     env:
@@ -72,6 +72,6 @@ jobs:
         with:
           prefix-key: ${{ env.RUST_CACHE_KEY }}
       - name: Clippy bevy_rapier2d
-        run: cd bevy_rapier2d && cargo clippy --verbose --features wasm-bindgen,bevy/webgl2 --target wasm32-unknown-unknown
+        run: cd bevy_rapier2d && cargo clippy --verbose --features bevy/webgl2 --target wasm32-unknown-unknown
       - name: Clippy bevy_rapier3d
-        run: cd bevy_rapier3d && cargo clippy --verbose --features wasm-bindgen,bevy/webgl2 --target wasm32-unknown-unknown
+        run: cd bevy_rapier3d && cargo clippy --verbose --features bevy/webgl2 --target wasm32-unknown-unknown

bevy_rapier2d/Cargo.toml

@@ -45,16 +45,20 @@ rapier-debug-render = ["rapier2d/debug-render"]
 parallel = ["rapier2d/parallel"]
 simd-stable = ["rapier2d/simd-stable"]
 simd-nightly = ["rapier2d/simd-nightly"]
-wasm-bindgen = ["rapier2d/wasm-bindgen"]
 serde-serialize = ["rapier2d/serde-serialize", "bevy/serialize", "serde"]
 enhanced-determinism = ["rapier2d/enhanced-determinism"]
 headless = []
-async-collider = ["bevy/bevy_asset", "bevy/bevy_scene", "bevy/bevy_render"]
+async-collider = [
+    "bevy/bevy_asset",
+    "bevy/bevy_scene",
+    "bevy/bevy_render",
+    "bevy/bevy_image",
+]
 
 [dependencies]
 bevy = { version = "0.15", default-features = false }
 nalgebra = { version = "0.33", features = ["convert-glam029"] }
-rapier2d = "0.22"
+rapier2d = "0.23"
 bitflags = "2.4"
 log = "0.4"
 serde = { version = "1", features = ["derive"], optional = true }

bevy_rapier3d/Cargo.toml

@@ -46,16 +46,20 @@ rapier-debug-render = ["rapier3d/debug-render"]
 parallel = ["rapier3d/parallel"]
 simd-stable = ["rapier3d/simd-stable"]
 simd-nightly = ["rapier3d/simd-nightly"]
-wasm-bindgen = ["rapier3d/wasm-bindgen"]
 serde-serialize = ["rapier3d/serde-serialize", "bevy/serialize", "serde"]
 enhanced-determinism = ["rapier3d/enhanced-determinism"]
 headless = []
-async-collider = ["bevy/bevy_asset", "bevy/bevy_scene", "bevy/bevy_render"]
+async-collider = [
+    "bevy/bevy_asset",
+    "bevy/bevy_scene",
+    "bevy/bevy_render",
+    "bevy/bevy_image",
+]
 
 [dependencies]
 bevy = { version = "0.15", default-features = false }
 nalgebra = { version = "0.33", features = ["convert-glam029"] }
-rapier3d = "0.22"
+rapier3d = "0.23"
 bitflags = "2.4"
 log = "0.4"
 serde = { version = "1", features = ["derive"], optional = true }

bevy_rapier3d/examples/static_trimesh3.rs

@@ -55,7 +55,7 @@ pub fn setup_physics(mut commands: Commands, mut ball_state: ResMut<BallState>)
         indices.push([2 * i + 2, 2 * i + 1, 2 * i + 3]);
     }
 
-    commands.spawn(Collider::trimesh(vertices, indices));
+    commands.spawn(Collider::trimesh(vertices, indices).unwrap());
 
     // Create a bowl with a cosine cross-section,
     // so that we can join the end of the ramp smoothly
@@ -97,7 +97,7 @@ pub fn setup_physics(mut commands: Commands, mut ball_state: ResMut<BallState>)
             -bowl_size.y / 2.0,
             bowl_size.z / 2.0 - ramp_size.z / 2.0,
         ),
-        Collider::trimesh(vertices, indices),
+        Collider::trimesh(vertices, indices).unwrap(),
     ));
 }
 

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 = "0.22" }
+rapier3d = { features = ["profiler"], version = "0.23" }
 bevy_rapier3d = { version = "0.28", path = "../bevy_rapier3d" }
 bevy = { version = "0.15", default-features = false }
 

bevy_rapier_benches3d/src/lib.rs

@@ -25,21 +25,25 @@ pub fn custom_bencher(steps: usize, setup: impl Fn(&mut App)) {
         timer_full_update.start();
         app.update();
         timer_full_update.pause();
-        let elapsed_time = timer_full_update.time() as f32;
+        let elapsed_time = timer_full_update.time().as_millis();
         let rc = app
             .world_mut()
             .query::<&RapierContextSimulation>()
             .single(app.world());
-        rapier_step_times.push(rc.pipeline.counters.step_time.time() as f32);
+        rapier_step_times.push(rc.pipeline.counters.step_time.time().as_millis() as f32);
         total_update_times.push(elapsed_time);
     }
     timer_total.pause();
-    let average_total = total_update_times.iter().sum::<f32>() / total_update_times.len() as f32;
+    let average_total = total_update_times
+        .iter()
+        .map(|time| *time as f32)
+        .sum::<f32>()
+        / total_update_times.len() as f32;
     println!("average total time: {} ms", average_total);
     let average_rapier_step =
         rapier_step_times.iter().sum::<f32>() / rapier_step_times.len() as f32;
     println!("average rapier step time: {} ms", average_rapier_step);
     let average_rapier_overhead = average_total - average_rapier_step;
     println!("average bevy overhead: {} ms", average_rapier_overhead);
-    println!("total time: {} ms", timer_total.time());
+    println!("total time: {} ms", timer_total.time().as_millis());
 }

src/geometry/collider_impl.rs

@@ -151,9 +151,12 @@ impl Collider {
     }
 
     /// Initializes a collider with a triangle mesh shape defined by its vertex and index buffers.
-    pub fn trimesh(vertices: Vec<Vect>, indices: Vec<[u32; 3]>) -> Self {
+    pub fn trimesh(
+        vertices: Vec<Vect>,
+        indices: Vec<[u32; 3]>,
+    ) -> Result<Self, crate::rapier::prelude::TriMeshBuilderError> {
         let vertices = vertices.into_iter().map(|v| v.into()).collect();
-        SharedShape::trimesh(vertices, indices).into()
+        Ok(SharedShape::trimesh(vertices, indices)?.into())
     }
 
     /// Initializes a collider with a triangle mesh shape defined by its vertex and index buffers, and flags
@@ -162,9 +165,9 @@ impl Collider {
         vertices: Vec<Vect>,
         indices: Vec<[u32; 3]>,
         flags: TriMeshFlags,
-    ) -> Self {
+    ) -> Result<Self, crate::rapier::prelude::TriMeshBuilderError> {
         let vertices = vertices.into_iter().map(|v| v.into()).collect();
-        SharedShape::trimesh_with_flags(vertices, indices, flags).into()
+        Ok(SharedShape::trimesh_with_flags(vertices, indices, flags)?.into())
     }
 
     /// Initializes a collider with a Bevy Mesh.
@@ -175,9 +178,11 @@ impl Collider {
         let (vtx, idx) = extract_mesh_vertices_indices(mesh)?;
 
         match collider_shape {
-            ComputedColliderShape::TriMesh(flags) => {
-                Some(SharedShape::trimesh_with_flags(vtx, idx, *flags).into())
-            }
+            ComputedColliderShape::TriMesh(flags) => Some(
+                SharedShape::trimesh_with_flags(vtx, idx, *flags)
+                    .ok()?
+                    .into(),
+            ),
             ComputedColliderShape::ConvexHull => {
                 SharedShape::convex_hull(&vtx).map(|shape| shape.into())
             }

src/pipeline/events.rs

@@ -132,7 +132,6 @@ mod test {
         transform::{components::Transform, TransformPlugin},
         MinimalPlugins,
     };
-    use systems::tests::HeadlessRenderPlugin;
 
     use crate::{plugin::*, prelude::*};
 
@@ -180,6 +179,7 @@ mod test {
             app.insert_resource(TimeUpdateStrategy::ManualDuration(
                 std::time::Duration::from_secs_f32(1f32 / 60f32),
             ));
+            app.finish();
             // 2 seconds should be plenty of time for the cube to fall on the
             // lowest collider.
             for _ in 0..120 {
@@ -201,7 +201,6 @@ mod test {
         fn main() {
             let mut app = App::new();
             app.add_plugins((
-                HeadlessRenderPlugin,
                 TransformPlugin,
                 TimePlugin,
                 RapierPhysicsPlugin::<NoUserData>::default(),
@@ -236,7 +235,6 @@ mod test {
     pub fn spam_remove_rapier_entity_interpolated() {
         let mut app = App::new();
         app.add_plugins((
-            HeadlessRenderPlugin,
             MinimalPlugins,
             TransformPlugin,
             RapierPhysicsPlugin::<NoUserData>::default(),
@@ -253,6 +251,8 @@ mod test {
             std::time::Duration::from_secs_f32(1f32 / 60f32),
         ));
 
+        app.finish();
+
         for _ in 0..100 {
             app.update();
         }

src/plugin/plugin.rs

@@ -304,6 +304,22 @@ where
             }
         }
     }
+
+    fn finish(&self, _app: &mut App) {
+        #[cfg(feature = "async-collider")]
+        {
+            use bevy::{asset::AssetPlugin, render::mesh::MeshPlugin, scene::ScenePlugin};
+            if !_app.is_plugin_added::<AssetPlugin>() {
+                _app.add_plugins(AssetPlugin::default());
+            }
+            if !_app.is_plugin_added::<MeshPlugin>() {
+                _app.add_plugins(MeshPlugin);
+            }
+            if !_app.is_plugin_added::<ScenePlugin>() {
+                _app.add_plugins(ScenePlugin);
+            }
+        }
+    }
 }
 
 /// Specifies a default configuration for the default [`RapierContext`]
@@ -374,7 +390,6 @@ mod test {
         time::{TimePlugin, TimeUpdateStrategy},
     };
     use rapier::{data::Index, dynamics::RigidBodyHandle};
-    use systems::tests::HeadlessRenderPlugin;
 
     use crate::{plugin::context::*, plugin::*, prelude::*};
 
@@ -403,6 +418,8 @@ mod test {
 
             app.add_systems(Update, setup_physics);
 
+            app.finish();
+
             let mut stepping = Stepping::new();
 
             app.update();
@@ -478,7 +495,6 @@ mod test {
         fn main() {
             let mut app = App::new();
             app.add_plugins((
-                HeadlessRenderPlugin,
                 TransformPlugin,
                 TimePlugin,
                 RapierPhysicsPlugin::<NoUserData>::default(),
@@ -526,6 +542,7 @@ mod test {
             app.add_systems(Update, remove_rapier_entity);
             app.add_systems(FixedUpdate, || println!("Fixed Update"));
             app.add_systems(Update, || println!("Update"));
+            app.finish();
             // startup
             app.update();
             // normal updates starting
@@ -559,7 +576,6 @@ mod test {
         fn main() {
             let mut app = App::new();
             app.add_plugins((
-                HeadlessRenderPlugin,
                 TransformPlugin,
                 TimePlugin,
                 RapierPhysicsPlugin::<NoUserData>::default().in_fixed_schedule(),

src/plugin/systems/collider.rs

@@ -589,11 +589,13 @@ pub mod test {
     #[cfg(all(feature = "dim3", feature = "async-collider"))]
     fn async_collider_initializes() {
         use super::*;
-        use crate::plugin::systems::tests::HeadlessRenderPlugin;
+        use bevy::{render::mesh::MeshPlugin, scene::ScenePlugin};
 
         let mut app = App::new();
-        app.add_plugins(HeadlessRenderPlugin)
-            .add_systems(Update, init_async_colliders);
+        app.add_plugins((AssetPlugin::default(), MeshPlugin, ScenePlugin));
+        app.add_systems(Update, init_async_colliders);
+
+        app.finish();
 
         let mut meshes = app.world_mut().resource_mut::<Assets<Mesh>>();
         let cube = meshes.add(Cuboid::default());
@@ -620,11 +622,11 @@ pub mod test {
     #[cfg(all(feature = "dim3", feature = "async-collider"))]
     fn async_scene_collider_initializes() {
         use super::*;
-        use crate::plugin::systems::tests::HeadlessRenderPlugin;
+        use bevy::{render::mesh::MeshPlugin, scene::ScenePlugin};
 
         let mut app = App::new();
-        app.add_plugins(HeadlessRenderPlugin)
-            .add_systems(PostUpdate, init_async_scene_colliders);
+        app.add_plugins((AssetPlugin::default(), MeshPlugin, ScenePlugin));
+        app.add_systems(PostUpdate, init_async_scene_colliders);
 
         let mut meshes = app.world_mut().resource_mut::<Assets<Mesh>>();
         let cube_handle = meshes.add(Cuboid::default());

src/plugin/systems/joint.rs

@@ -138,7 +138,7 @@ pub fn apply_joint_user_changes(
     //       Re-parenting the joint isn’t supported yet.
     for (link, handle, changed_joint) in changed_impulse_joints.iter() {
         let mut context = context.get_mut(link.0).expect(RAPIER_CONTEXT_EXPECT_ERROR);
-        if let Some(joint) = context.impulse_joints.get_mut(handle.0) {
+        if let Some(joint) = context.impulse_joints.get_mut(handle.0, false) {
             joint.data = changed_joint.data.as_ref().into_rapier();
         }
     }

src/plugin/systems/mod.rs

@@ -93,16 +93,7 @@ pub fn step_simulation<Hooks>(
 #[cfg(test)]
 #[allow(missing_docs)]
 pub mod tests {
-    use bevy::{
-        asset::AssetPlugin,
-        ecs::event::Events,
-        render::{
-            settings::{RenderCreation, WgpuSettings},
-            RenderPlugin,
-        },
-        scene::ScenePlugin,
-        time::TimePlugin,
-    };
+    use bevy::{ecs::event::Events, time::TimePlugin};
     use rapier::geometry::CollisionEventFlags;
     use std::f32::consts::PI;
 
@@ -203,11 +194,11 @@ pub mod tests {
     fn transform_propagation() {
         let mut app = App::new();
         app.add_plugins((
-            HeadlessRenderPlugin,
             TransformPlugin,
             TimePlugin,
             RapierPhysicsPlugin::<NoUserData>::default(),
         ));
+        app.finish();
 
         let zero = (Transform::default(), Transform::default());
 
@@ -260,11 +251,11 @@ pub mod tests {
     fn transform_propagation2() {
         let mut app = App::new();
         app.add_plugins((
-            HeadlessRenderPlugin,
             TransformPlugin,
             TimePlugin,
             RapierPhysicsPlugin::<NoUserData>::default(),
         ));
+        app.finish();
 
         let zero = (Transform::default(), Transform::default());
 
@@ -342,24 +333,4 @@ pub mod tests {
             approx::assert_relative_eq!(body_transform.scale, child_transform.scale,);
         }
     }
-
-    // Allows run tests for systems containing rendering related things without GPU
-    pub struct HeadlessRenderPlugin;
-
-    impl Plugin for HeadlessRenderPlugin {
-        fn build(&self, app: &mut App) {
-            app.add_plugins((
-                AssetPlugin::default(),
-                ScenePlugin,
-                RenderPlugin {
-                    render_creation: RenderCreation::Automatic(WgpuSettings {
-                        backends: None,
-                        ..Default::default()
-                    }),
-                    ..Default::default()
-                },
-                ImagePlugin::default(),
-            ));
-        }
-    }
 }