Update to Rapier 0.32

bevy_rapier2d/Cargo.toml

@@ -64,15 +64,15 @@ async-collider = [
 to-bevy-mesh = ["bevy/bevy_render", "bevy/bevy_asset"]
 
 [dependencies]
-bevy = { version = "0.18.0", default-features = false, features = ["std"] }
-nalgebra = { version = "0.34.1", features = ["convert-glam030"] }
-rapier2d = "0.31.0"
+bevy = { version = "0.18.1", default-features = false, features = ["std"] }
+nalgebra = { version = "0.34.2", features = ["convert-glam030"] }
+rapier2d = "0.32.0"
 bitflags = "2.10.0"
 log = "0.4"
 serde = { version = "1", features = ["derive"], optional = true }
 
 [dev-dependencies]
-bevy = { version = "0.18.0", default-features = false, features = [
+bevy = { version = "0.18.1", default-features = false, features = [
     "x11",
     "bevy_state",
     "bevy_window",
@@ -94,7 +94,7 @@ oorandom = "11"
 approx = "0.5.1"
 glam = { version = "0.30.9", features = ["approx"] }
 bevy-inspector-egui = "0.36.0"
-bevy_egui = "0.39.0"
+bevy_egui = "0.39.1"
 bevy_mod_debugdump = "0.15.0"
 serde_json = "1.0"
 

bevy_rapier3d/Cargo.toml

@@ -65,15 +65,15 @@ async-collider = [
 to-bevy-mesh = ["bevy/bevy_render", "bevy/bevy_asset"]
 
 [dependencies]
-bevy = { version = "0.18.0", default-features = false, features = ["std"] }
-nalgebra = { version = "0.34.1", features = ["convert-glam030"] }
-rapier3d = "0.31.0"
+bevy = { version = "0.18.1", default-features = false, features = ["std"] }
+nalgebra = { version = "0.34.2", features = ["convert-glam030"] }
+rapier3d = "0.32.0"
 bitflags = "2.10.0"
 log = "0.4"
 serde = { version = "1", features = ["derive"], optional = true }
 
 [dev-dependencies]
-bevy = { version = "0.18.0", default-features = false, features = [
+bevy = { version = "0.18.1", default-features = false, features = [
     "bevy_window",
     "x11",
     "tonemapping_luts",
@@ -88,7 +88,7 @@ bevy = { version = "0.18.0", default-features = false, features = [
 approx = "0.5.1"
 glam = { version = "0.30.9", features = ["approx"] }
 bevy-inspector-egui = "0.36.0"
-bevy_egui = "0.39.0"
+bevy_egui = "0.39.1"
 bevy_mod_debugdump = "0.15.0"
 
 [package.metadata.docs.rs]

bevy_rapier3d/examples/voxels3.rs

@@ -1,6 +1,6 @@
 use bevy::prelude::*;
 use bevy_rapier3d::prelude::*;
-use rapier3d::math::Isometry;
+use rapier3d::math::Pose;
 
 fn main() {
     App::new()
@@ -58,7 +58,7 @@ pub fn setup_physics(mut commands: Commands) {
     }
     let collider = Collider::voxels_from_points(voxel_size, &samples);
     let ground_position = Vec3::new(voxel_size.x / 2f32, 0.0, voxel_size.z / 2f32);
-    let floor_aabb = collider.raw.compute_aabb(&Isometry::identity());
+    let floor_aabb = collider.raw.compute_aabb(&Pose::IDENTITY);
     commands.spawn((Transform::from_translation(ground_position), collider));
 
     /*

bevy_rapier_benches3d/Cargo.toml

@@ -9,9 +9,9 @@ edition = "2021"
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 
 [dependencies]
-rapier3d = "0.31.0"
+rapier3d = "0.32.0"
 bevy_rapier3d = { version = "0.33", path = "../bevy_rapier3d" }
-bevy = { version = "0.18.0", default-features = false }
+bevy = { version = "0.18.1", default-features = false }
 
 [dev-dependencies]
 divan = "0.1"

ci/Cargo.toml

@@ -4,7 +4,7 @@ version = "0.1.0"
 edition = "2021"
 
 [dependencies]
-bevy = "0.18.0"
+bevy = "0.18.1"
 bevy_rapier3d = { version = "0.33", path = "../bevy_rapier3d" }
 bevy_rapier2d = { version = "0.33", path = "../bevy_rapier2d" }
 

src/control/character_controller.rs

@@ -40,13 +40,13 @@ impl CharacterCollision {
         RapierContextColliders::collider_entity_with_set(colliders, c.handle).map(|entity| {
             CharacterCollision {
                 entity,
-                character_translation: c.character_pos.translation.vector.into(),
+                character_translation: c.character_pos.translation,
                 #[cfg(feature = "dim2")]
                 character_rotation: c.character_pos.rotation.angle(),
                 #[cfg(feature = "dim3")]
-                character_rotation: c.character_pos.rotation.into(),
-                translation_applied: c.translation_applied.into(),
-                translation_remaining: c.translation_remaining.into(),
+                character_rotation: c.character_pos.rotation,
+                translation_applied: c.translation_applied,
+                translation_remaining: c.translation_remaining,
                 hit: ShapeCastHit::from_rapier(c.hit, details_always_computed),
             }
         })
@@ -93,7 +93,7 @@ impl Default for MoveShapeOptions {
     fn default() -> Self {
         let def = rapier::control::KinematicCharacterController::default();
         Self {
-            up: def.up.into(),
+            up: def.up,
             offset: def.offset,
             slide: def.slide,
             autostep: def.autostep,
@@ -167,8 +167,12 @@ impl KinematicCharacterController {
             include_dynamic_bodies: autostep.include_dynamic_bodies,
         });
 
+        if self.up.length_squared() < 1.0e-12 {
+            return None;
+        }
+
         Some(rapier::control::KinematicCharacterController {
-            up: self.up.try_into().ok()?,
+            up: self.up.normalize(),
             offset: self.offset,
             slide: self.slide,
             autostep,
@@ -187,7 +191,7 @@ impl Default for KinematicCharacterController {
             translation: None,
             custom_shape: None,
             custom_mass: None,
-            up: def.up.into(),
+            up: def.up,
             offset: def.offset,
             slide: def.slide,
             autostep: def.autostep,

src/dynamics/generic_joint.rs

@@ -55,18 +55,18 @@ impl GenericJoint {
         #[cfg(feature = "dim2")]
         return self.raw.local_frame1.rotation.angle();
         #[cfg(feature = "dim3")]
-        return self.raw.local_frame1.rotation.into();
+        return self.raw.local_frame1.rotation;
     }
 
     /// Sets the joint’s frame, expressed in the first rigid-body’s local-space.
     pub fn set_local_basis1(&mut self, local_basis: Rot) -> &mut Self {
         #[cfg(feature = "dim2")]
         {
-            self.raw.local_frame1.rotation = na::UnitComplex::new(local_basis);
+            self.raw.local_frame1.rotation = rapier::math::Rot2::new(local_basis);
         }
         #[cfg(feature = "dim3")]
         {
-            self.raw.local_frame1.rotation = local_basis.into();
+            self.raw.local_frame1.rotation = local_basis;
         }
         self
     }
@@ -77,67 +77,67 @@ impl GenericJoint {
         #[cfg(feature = "dim2")]
         return self.raw.local_frame2.rotation.angle();
         #[cfg(feature = "dim3")]
-        return self.raw.local_frame2.rotation.into();
+        return self.raw.local_frame2.rotation;
     }
 
     /// Sets the joint’s frame, expressed in the second rigid-body’s local-space.
     pub fn set_local_basis2(&mut self, local_basis: Rot) -> &mut Self {
         #[cfg(feature = "dim2")]
         {
-            self.raw.local_frame2.rotation = na::UnitComplex::new(local_basis);
+            self.raw.local_frame2.rotation = rapier::math::Rot2::new(local_basis);
         }
         #[cfg(feature = "dim3")]
         {
-            self.raw.local_frame2.rotation = local_basis.into();
+            self.raw.local_frame2.rotation = local_basis;
         }
         self
     }
 
     /// The principal (local X) axis of this joint, expressed in the first rigid-body’s local-space.
     #[must_use]
     pub fn local_axis1(&self) -> Vect {
-        (*self.raw.local_axis1()).into()
+        self.raw.local_axis1()
     }
 
     /// Sets the principal (local X) axis of this joint, expressed in the first rigid-body’s local-space.
     pub fn set_local_axis1(&mut self, local_axis: Vect) -> &mut Self {
-        self.raw.set_local_axis1(local_axis.try_into().unwrap());
+        self.raw.set_local_axis1(local_axis.normalize());
         self
     }
 
     /// The principal (local X) axis of this joint, expressed in the second rigid-body’s local-space.
     #[must_use]
     pub fn local_axis2(&self) -> Vect {
-        (*self.raw.local_axis2()).into()
+        self.raw.local_axis2()
     }
 
     /// Sets the principal (local X) axis of this joint, expressed in the second rigid-body’s local-space.
     pub fn set_local_axis2(&mut self, local_axis: Vect) -> &mut Self {
-        self.raw.set_local_axis2(local_axis.try_into().unwrap());
+        self.raw.set_local_axis2(local_axis.normalize());
         self
     }
 
     /// The anchor of this joint, expressed in the first rigid-body’s local-space.
     #[must_use]
     pub fn local_anchor1(&self) -> Vect {
-        self.raw.local_anchor1().into()
+        self.raw.local_anchor1()
     }
 
     /// Sets anchor of this joint, expressed in the first rigid-body’s local-space.
     pub fn set_local_anchor1(&mut self, anchor1: Vect) -> &mut Self {
-        self.raw.set_local_anchor1(anchor1.into());
+        self.raw.set_local_anchor1(anchor1);
         self
     }
 
     /// The anchor of this joint, expressed in the second rigid-body’s local-space.
     #[must_use]
     pub fn local_anchor2(&self) -> Vect {
-        self.raw.local_anchor2().into()
+        self.raw.local_anchor2()
     }
 
     /// Sets anchor of this joint, expressed in the second rigid-body’s local-space.
     pub fn set_local_anchor2(&mut self, anchor2: Vect) -> &mut Self {
-        self.raw.set_local_anchor2(anchor2.into());
+        self.raw.set_local_anchor2(anchor2);
         self
     }
 

src/dynamics/rigid_body.rs

@@ -1,7 +1,7 @@
 use crate::math::Vect;
 use bevy::prelude::*;
 use rapier::prelude::{
-    Isometry, LockedAxes as RapierLockedAxes, RigidBodyActivation, RigidBodyHandle, RigidBodyType,
+    LockedAxes as RapierLockedAxes, Pose, RigidBodyActivation, RigidBodyHandle, RigidBodyType,
 };
 use std::ops::{Add, AddAssign, Sub, SubAssign};
 
@@ -244,7 +244,7 @@ impl MassProperties {
     #[cfg(feature = "dim2")]
     pub fn into_rapier(self) -> rapier::dynamics::MassProperties {
         rapier::dynamics::MassProperties::new(
-            self.local_center_of_mass.into(),
+            self.local_center_of_mass,
             self.mass,
             #[allow(clippy::useless_conversion)] // Need to convert if dim3 enabled
             self.principal_inertia.into(),
@@ -255,10 +255,10 @@ impl MassProperties {
     #[cfg(feature = "dim3")]
     pub fn into_rapier(self) -> rapier::dynamics::MassProperties {
         rapier::dynamics::MassProperties::with_principal_inertia_frame(
-            self.local_center_of_mass.into(),
+            self.local_center_of_mass,
             self.mass,
-            self.principal_inertia.into(),
-            self.principal_inertia_local_frame.into(),
+            self.principal_inertia,
+            self.principal_inertia_local_frame,
         )
     }
 
@@ -588,16 +588,16 @@ impl Default for Damping {
 #[derive(Copy, Clone, Debug, Default, PartialEq, Component)]
 pub struct TransformInterpolation {
     /// The starting point of the interpolation.
-    pub start: Option<Isometry<f32>>,
+    pub start: Option<Pose>,
     /// The end point of the interpolation.
-    pub end: Option<Isometry<f32>>,
+    pub end: Option<Pose>,
 }
 
 impl TransformInterpolation {
     /// Interpolates between the start and end positions with `t` in the range `[0..1]`.
-    pub fn lerp_slerp(&self, t: f32) -> Option<Isometry<f32>> {
+    pub fn lerp_slerp(&self, t: f32) -> Option<Pose> {
         if let (Some(start), Some(end)) = (self.start, self.end) {
-            Some(start.lerp_slerp(&end, t))
+            Some(start.lerp(&end, t))
         } else {
             None
         }