Merge branch 'main' into rework-mass-properties

crates/avian2d/Cargo.toml

@@ -39,6 +39,7 @@ serialize = [
     "bevy/serialize",
     "parry2d?/serde-serialize",
     "parry2d-f64?/serde-serialize",
+    "bitflags/serde",
 ]
 
 [lib]
@@ -71,6 +72,7 @@ bevy_math = { version = "0.14", features = ["approx"] }
 approx = "0.5"
 criterion = { version = "0.5", features = ["html_reports"] }
 insta = "1.0"
+bevy_mod_debugdump = "0.11"
 
 [[example]]
 name = "dynamic_character_2d"
@@ -116,6 +118,10 @@ required-features = ["2d", "default-collider"]
 name = "revolute_joint_2d"
 required-features = ["2d", "default-collider"]
 
+[[example]]
+name = "debugdump_2d"
+required-features = ["2d"]
+
 [[bench]]
 name = "pyramid"
 required-features = ["2d", "default-collider"]

crates/avian2d/examples/debugdump_2d.rs

@@ -0,0 +1,18 @@
+//! Run with:
+//! `cargo run --example debugdump_2d > dump.dot  && dot -Tsvg dump.dot > dump.svg`
+
+use avian2d::prelude::*;
+use bevy::prelude::*;
+
+fn main() {
+    let mut app = App::new();
+
+    app.add_plugins((PhysicsPlugins::default(), PhysicsDebugPlugin::default()));
+
+    // Schedules of interest:
+    // - PhysicsSchedule
+    // - SubstepSchedule
+    // - FixedPostUpdate
+    // - Update
+    bevy_mod_debugdump::print_schedule_graph(&mut app, PhysicsSchedule);
+}

crates/avian3d/Cargo.toml

@@ -48,6 +48,7 @@ serialize = [
     "bevy/serialize",
     "parry3d?/serde-serialize",
     "parry3d-f64?/serde-serialize",
+    "bitflags/serde",
 ]
 
 [lib]
@@ -81,6 +82,7 @@ bevy_math = { version = "0.14", features = ["approx"] }
 approx = "0.5"
 criterion = { version = "0.5", features = ["html_reports"] }
 insta = "1.0"
+bevy_mod_debugdump = "0.11"
 
 [[example]]
 name = "dynamic_character_3d"
@@ -134,6 +136,10 @@ required-features = ["3d", "default-collider", "bevy_scene"]
 name = "collider_constructors"
 required-features = ["3d", "default-collider", "bevy_scene"]
 
+[[example]]
+name = "debugdump_3d"
+required-features = ["3d"]
+
 [[bench]]
 name = "cubes"
 required-features = ["3d", "default-collider"]

crates/avian3d/examples/debugdump_3d.rs

@@ -0,0 +1,19 @@
+//! Run with:
+//! `cargo run --example debugdump_3d > dump.dot  && dot -Tsvg dump.dot > dump.svg`
+
+use avian3d::debug_render::PhysicsDebugPlugin;
+use avian3d::prelude::*;
+use bevy::prelude::*;
+
+fn main() {
+    let mut app = App::new();
+
+    app.add_plugins((PhysicsPlugins::default(), PhysicsDebugPlugin::default()));
+
+    // Schedules of interest:
+    // - PhysicsSchedule
+    // - SubstepSchedule
+    // - FixedPostUpdate
+    // - Update
+    bevy_mod_debugdump::print_schedule_graph(&mut app, PhysicsSchedule);
+}

crates/examples_common_2d/Cargo.toml

@@ -22,6 +22,6 @@ bevy = { version = "0.14", default-features = false, features = [
     "ktx2",
     "zstd",
     "bevy_winit",
-    "x11",                # github actions runners don't have libxkbcommon installed, so can't use wayland
+    "x11", # github actions runners don't have libxkbcommon installed, so can't use wayland
 ] }
 avian2d = { path = "../avian2d", default-features = false }

crates/examples_common_3d/Cargo.toml

@@ -24,6 +24,6 @@ bevy = { version = "0.14", default-features = false, features = [
     "png",
     "zstd",
     "bevy_winit",
-    "x11",                # github actions runners don't have libxkbcommon installed, so can't use wayland
+    "x11", # github actions runners don't have libxkbcommon installed, so can't use wayland
 ] }
 avian3d = { path = "../avian3d", default-features = false }

src/collision/collider/backend.rs

@@ -4,7 +4,7 @@
 
 use std::marker::PhantomData;
 
-use crate::{broad_phase::BroadPhaseSet, prelude::*, prepare::PrepareSet};
+use crate::{broad_phase::BroadPhaseSet, prelude::*, prepare::PrepareSet, sync::SyncConfig};
 #[cfg(all(feature = "bevy_scene", feature = "default-collider"))]
 use bevy::scene::SceneInstance;
 use bevy::{
@@ -95,9 +95,53 @@ impl<C: ScalableCollider> Plugin for ColliderBackendPlugin<C> {
 
         // Initialize missing components for colliders.
         hooks.on_add(|mut world, entity, _| {
-            let entity_ref = world.entity(entity);
+            let existing_global_transform = world
+                .entity(entity)
+                .get::<GlobalTransform>()
+                .copied()
+                .unwrap_or_default();
+            let global_transform = if existing_global_transform != GlobalTransform::IDENTITY {
+                // This collider was built deferred, probably via `ColliderConstructor`.
+                existing_global_transform
+            } else {
+                // This collider *may* have been `spawn`ed directly on a new entity.
+                // As such, its global transform is not yet available.
+                // You may notice that this will fail if the hierarchy's scale was updated in this
+                // frame. Remember that `GlobalTransform` is not updated in between fixed updates.
+                // But this is fine, as `update_collider_scale` will be updated in the next fixed update anyway.
+                // The reason why we care about initializing this scale here is for those users that opted out of
+                // `update_collider_scale` in order to do their own interpolation, which implies that they won't touch
+                // the `Transform` component before the collider is initialized, which in turn means that it will
+                // always be initialized with the correct `GlobalTransform`.
+                let parent_global_transform = world
+                    .entity(entity)
+                    .get::<Parent>()
+                    .and_then(|parent| world.entity(parent.get()).get::<GlobalTransform>().copied())
+                    .unwrap_or_default();
+                let transform = world
+                    .entity(entity)
+                    .get::<Transform>()
+                    .copied()
+                    .unwrap_or_default();
+                parent_global_transform * transform
+            };
+
+            let scale = global_transform.compute_transform().scale;
+            #[cfg(feature = "2d")]
+            let scale = scale.xy();
+
+            // Make sure the collider is initialized with the correct scale.
+            // This overwrites the scale set by the constructor, but that one is
+            // meant to be only changed after initialization.
+            world
+                .entity_mut(entity)
+                .get_mut::<C>()
+                .unwrap()
+                .set_scale(scale.adjust_precision(), 10);
 
+            let entity_ref = world.entity(entity);
             let collider = entity_ref.get::<C>().unwrap();
+
             let aabb = entity_ref
                 .get::<ColliderAabb>()
                 .copied()
@@ -617,20 +661,22 @@ pub fn update_collider_scale<C: ScalableCollider>(
         // Child colliders
         Query<(&ColliderTransform, &mut C), (With<Parent>, Changed<ColliderTransform>)>,
     )>,
+    sync_config: Res<SyncConfig>,
 ) {
-    // Update collider scale for root bodies
-    for (transform, mut collider) in &mut colliders.p0() {
-        #[cfg(feature = "2d")]
-        let scale = transform.scale.truncate().adjust_precision();
-        #[cfg(feature = "3d")]
-        let scale = transform.scale.adjust_precision();
-        if scale != collider.scale() {
-            // TODO: Support configurable subdivision count for shapes that
-            //       can't be represented without approximations after scaling.
-            collider.set_scale(scale, 10);
+    if sync_config.transform_to_collider_scale {
+        // Update collider scale for root bodies
+        for (transform, mut collider) in &mut colliders.p0() {
+            #[cfg(feature = "2d")]
+            let scale = transform.scale.truncate().adjust_precision();
+            #[cfg(feature = "3d")]
+            let scale = transform.scale.adjust_precision();
+            if scale != collider.scale() {
+                // TODO: Support configurable subdivision count for shapes that
+                //       can't be represented without approximations after scaling.
+                collider.set_scale(scale, 10);
+            }
         }
     }
-
     // Update collider scale for child colliders
     for (collider_transform, mut collider) in &mut colliders.p1() {
         if collider_transform.scale != collider.scale() {

src/collision/mod.rs

@@ -330,6 +330,16 @@ impl Contacts {
     pub fn total_tangent_force(&self, delta_time: Scalar) -> Vector2 {
         self.total_tangent_impulse / delta_time
     }
+
+    /// Returns `true` if a collision started during the current frame.
+    pub fn collision_started(&self) -> bool {
+        !self.during_previous_frame && self.during_current_frame
+    }
+
+    /// Returns `true` if a collision stopped during the current frame.
+    pub fn collision_stopped(&self) -> bool {
+        self.during_previous_frame && !self.during_current_frame
+    }
 }
 
 /// A contact manifold between two colliders, containing a set of contact points.

src/dynamics/rigid_body/locked_axes.rs

@@ -62,19 +62,22 @@ impl LockedAxes {
     }
 
     /// Locks translation along the `X` axis.
+    #[must_use]
     pub const fn lock_translation_x(mut self) -> Self {
         self.0 |= 0b100_000;
         self
     }
 
     /// Locks translation along the `Y` axis.
+    #[must_use]
     pub const fn lock_translation_y(mut self) -> Self {
         self.0 |= 0b010_000;
         self
     }
 
     /// Locks translation along the `Z` axis.
     #[cfg(feature = "3d")]
+    #[must_use]
     pub const fn lock_translation_z(mut self) -> Self {
         self.0 |= 0b001_000;
         self
@@ -89,67 +92,77 @@ impl LockedAxes {
 
     /// Locks rotation around the `Y` axis.
     #[cfg(feature = "3d")]
+    #[must_use]
     pub const fn lock_rotation_y(mut self) -> Self {
         self.0 |= 0b000_010;
         self
     }
 
     /// Locks rotation around the `Z` axis.
     #[cfg(feature = "3d")]
+    #[must_use]
     pub const fn lock_rotation_z(mut self) -> Self {
         self.0 |= 0b000_001;
         self
     }
 
     /// Locks all rotation.
     #[cfg(feature = "2d")]
+    #[must_use]
     pub const fn lock_rotation(mut self) -> Self {
         self.0 |= 0b000_001;
         self
     }
 
     /// Unlocks translation along the `X` axis.
+    #[must_use]
     pub const fn unlock_translation_x(mut self) -> Self {
         self.0 &= !0b100_000;
         self
     }
 
     /// Unlocks translation along the `Y` axis.
+    #[must_use]
     pub const fn unlock_translation_y(mut self) -> Self {
         self.0 &= !0b010_000;
         self
     }
 
     /// Unlocks translation along the `Z` axis.
     #[cfg(feature = "3d")]
+    #[must_use]
     pub const fn unlock_translation_z(mut self) -> Self {
         self.0 &= !0b001_000;
         self
     }
 
     /// Unlocks rotation around the `X` axis.
     #[cfg(feature = "3d")]
+    #[must_use]
     pub const fn unlock_rotation_x(mut self) -> Self {
         self.0 &= !0b000_100;
         self
     }
 
     /// Unlocks rotation around the `Y` axis.
     #[cfg(feature = "3d")]
+    #[must_use]
     pub const fn unlock_rotation_y(mut self) -> Self {
         self.0 &= !0b000_010;
         self
     }
 
     /// Unlocks rotation around the `Z` axis.
     #[cfg(feature = "3d")]
+    #[must_use]
     pub const fn unlock_rotation_z(mut self) -> Self {
         self.0 &= !0b000_001;
         self
     }
 
     /// Unlocks all rotation.
     #[cfg(feature = "2d")]
+    #[must_use]
     pub const fn unlock_rotation(mut self) -> Self {
         self.0 &= !0b000_001;
         self

src/dynamics/sleeping/mod.rs

@@ -265,10 +265,18 @@ fn wake_on_collision_ended(
     moved_bodies: Query<Ref<Position>, (Changed<Position>, Without<Sleeping>)>,
     colliders: Query<(&ColliderParent, Ref<ColliderTransform>)>,
     collisions: Res<Collisions>,
-    mut sleeping: Query<(Entity, &mut TimeSleeping)>,
+    mut sleeping: Query<(Entity, &mut TimeSleeping, Has<Sleeping>)>,
 ) {
     // Wake up bodies when a body they're colliding with moves.
-    for (entity, mut time_sleeping) in &mut sleeping {
+    for (entity, mut time_sleeping, is_sleeping) in &mut sleeping {
+        // Skip anything that isn't currently sleeping and already has a time_sleeping of zero.
+        // We can't gate the sleeping query using With<Sleeping> here because must also reset
+        // non-zero time_sleeping to 0 when a colliding body moves.
+        let must_check = is_sleeping || time_sleeping.0 > 0.0;
+        if !must_check {
+            continue;
+        }
+
         // Here we could use CollidingEntities, but it'd be empty if the ContactReportingPlugin was disabled.
         let mut colliding_entities = collisions.collisions_with_entity(entity).map(|c| {
             if entity == c.entity1 {
@@ -283,7 +291,9 @@ fn wake_on_collision_ended(
                     || moved_bodies.get(p.get()).is_ok_and(|pos| pos.is_changed())
             })
         }) {
-            commands.entity(entity).remove::<Sleeping>();
+            if is_sleeping {
+                commands.entity(entity).remove::<Sleeping>();
+            }
             time_sleeping.0 = 0.0;
         }
     }
@@ -293,12 +303,16 @@ fn wake_on_collision_ended(
         if contacts.during_current_frame || !contacts.during_previous_frame {
             continue;
         }
-        if let Ok((_, mut time_sleeping)) = sleeping.get_mut(contacts.entity1) {
-            commands.entity(contacts.entity1).remove::<Sleeping>();
+        if let Ok((_, mut time_sleeping, is_sleeping)) = sleeping.get_mut(contacts.entity1) {
+            if is_sleeping {
+                commands.entity(contacts.entity1).remove::<Sleeping>();
+            }
             time_sleeping.0 = 0.0;
         }
-        if let Ok((_, mut time_sleeping)) = sleeping.get_mut(contacts.entity2) {
-            commands.entity(contacts.entity2).remove::<Sleeping>();
+        if let Ok((_, mut time_sleeping, is_sleeping)) = sleeping.get_mut(contacts.entity2) {
+            if is_sleeping {
+                commands.entity(contacts.entity2).remove::<Sleeping>();
+            }
             time_sleeping.0 = 0.0;
         }
     }

src/dynamics/solver/joints/mod.rs

@@ -338,3 +338,10 @@ impl AngleLimit {
         None
     }
 }
+
+/// Disables the joint of the entity it is placed on.
+#[derive(Reflect, Clone, Copy, Component, Debug)]
+#[cfg_attr(feature = "serialize", derive(serde::Serialize, serde::Deserialize))]
+#[cfg_attr(feature = "serialize", reflect(Serialize, Deserialize))]
+#[reflect(Debug, Component)]
+pub struct JointDisabled;

src/dynamics/solver/xpbd/mod.rs

@@ -351,7 +351,7 @@ pub trait XpbdConstraint<const ENTITY_COUNT: usize>: MapEntities {
 pub fn solve_constraint<C: XpbdConstraint<ENTITY_COUNT> + Component, const ENTITY_COUNT: usize>(
     mut commands: Commands,
     mut bodies: Query<RigidBodyQuery>,
-    mut constraints: Query<&mut C, Without<RigidBody>>,
+    mut constraints: Query<&mut C, (Without<RigidBody>, Without<JointDisabled>)>,
     time: Res<Time>,
 ) {
     let delta_secs = time.delta_seconds_adjusted();