bevy_rapier3d/plugin/context/systemparams/rapier_context_systemparam.rs
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use crate::math::{Rot, Vect};
use bevy::ecs::{query, system::SystemParam};
use bevy::prelude::*;
use rapier::prelude::Real;
pub(crate) const RAPIER_CONTEXT_EXPECT_ERROR: &str =
"RapierContextEntityLink.0 refers to an entity missing components from RapierContextSimulation.";
use crate::{
plugin::context::{
DefaultRapierContext, RapierContextColliders, RapierContextJoints, RapierContextSimulation,
RapierQueryPipeline, RapierRigidBodySet,
},
prelude::QueryFilter,
};
/// Utility [`SystemParam`] to easily access every required components of a [`RapierContext`] immutably.
///
/// This uses the [`DefaultRapierContext`] filter by default, but you can use a custom query filter with the `T` type parameter.
#[derive(SystemParam)]
pub struct ReadRapierContext<'w, 's, T: query::QueryFilter + 'static = With<DefaultRapierContext>> {
/// The query used to feed components into [`RapierContext`] struct through [`ReadRapierContext::single`].
pub rapier_context: Query<
'w,
's,
(
&'static RapierContextSimulation,
&'static RapierContextColliders,
&'static RapierContextJoints,
&'static RapierQueryPipeline,
&'static RapierRigidBodySet,
),
T,
>,
}
impl<'w, 's, T: query::QueryFilter + 'static> ReadRapierContext<'w, 's, T> {
/// Use this method if you only have one [`RapierContext`].
///
/// SAFETY: This method will panic if its underlying query fails.
///
/// Use the underlying query [`ReadRapierContext::rapier_context`] for safer alternatives.
pub fn single(&self) -> RapierContext {
let (simulation, colliders, joints, query_pipeline, rigidbody_set) =
self.rapier_context.single();
RapierContext {
simulation,
colliders,
joints,
query_pipeline,
rigidbody_set,
}
}
}
/// A helper struct to avoid passing too many parameters to most rapier functions.
/// This helps with reducing boilerplate, at the (small) price of maybe getting too much information from the ECS.
///
/// Note: This is not a component, refer to [`ReadRapierContext`], [`WriteRapierContext`], or [`RapierContextSimulation`]
#[derive(query::QueryData)]
pub struct RapierContext<'a> {
/// The Rapier context, containing all the state of the physics engine.
pub simulation: &'a RapierContextSimulation,
/// The set of colliders part of the simulation.
pub colliders: &'a RapierContextColliders,
/// The sets of joints part of the simulation.
pub joints: &'a RapierContextJoints,
/// The query pipeline, which performs scene queries (ray-casting, point projection, etc.)
pub query_pipeline: &'a RapierQueryPipeline,
/// The set of rigid-bodies part of the simulation.
pub rigidbody_set: &'a RapierRigidBodySet,
}
/// Utility [`SystemParam`] to easily access every required components of a [`RapierContext`] mutably.
///
/// This uses the [`DefaultRapierContext`] filter by default, but you can use a custom query filter with the `T` type parameter.
#[derive(SystemParam)]
pub struct WriteRapierContext<'w, 's, T: query::QueryFilter + 'static = With<DefaultRapierContext>>
{
/// The query used to feed components into [`RapierContext`] struct through [`ReadRapierContext::single`].
pub rapier_context: Query<
'w,
's,
(
&'static mut RapierContextSimulation,
&'static mut RapierContextColliders,
&'static mut RapierContextJoints,
&'static mut RapierQueryPipeline,
&'static mut RapierRigidBodySet,
),
T,
>,
}
impl<'w, 's, T: query::QueryFilter + 'static> WriteRapierContext<'w, 's, T> {
/// Use this method if you only have one [`RapierContext`] corresponding to the filter (T) of [`WriteRapierContext`].
///
/// SAFETY: This method will panic if its underlying query fails.
/// Use the underlying query [`WriteRapierContext::rapier_context`] for safer alternatives.
pub fn single(&self) -> RapierContext {
let (simulation, colliders, joints, query_pipeline, rigidbody_set) =
self.rapier_context.single();
RapierContext {
simulation,
colliders,
joints,
query_pipeline,
rigidbody_set,
}
}
/// Use this method if you only have one [`RapierContext`].
///
/// SAFETY: This method will panic if its underlying query fails.
/// Use the underlying query [`WriteRapierContext::rapier_context`] for safer alternatives.
pub fn single_mut(&mut self) -> RapierContextMut {
let (simulation, colliders, joints, query_pipeline, rigidbody_set) =
self.rapier_context.single_mut();
RapierContextMut {
simulation,
colliders,
joints,
query_pipeline,
rigidbody_set,
}
}
}
/// A helper struct to avoid passing too many parameters to most rapier functions.
/// This helps with reducing boilerplate, at the (small) price of maybe getting too much information from the ECS.
///
/// If you need more granular control over mutability of each component, use a regular [`Query`]
pub struct RapierContextMut<'a> {
/// The Rapier context, containing all the state of the physics engine.
pub simulation: Mut<'a, RapierContextSimulation>,
/// The set of colliders part of the simulation.
pub colliders: Mut<'a, RapierContextColliders>,
/// The sets of joints part of the simulation.
pub joints: Mut<'a, RapierContextJoints>,
/// The query pipeline, which performs scene queries (ray-casting, point projection, etc.)
pub query_pipeline: Mut<'a, RapierQueryPipeline>,
/// The set of rigid-bodies part of the simulation.
pub rigidbody_set: Mut<'a, RapierRigidBodySet>,
}
/// [`RapierRigidBodySet`] functions
mod simulation {
use crate::control::CharacterCollision;
use crate::control::MoveShapeOptions;
use crate::control::MoveShapeOutput;
use crate::plugin::context::SimulationToRenderTime;
use crate::plugin::ContactPairView;
use crate::plugin::TimestepMode;
use crate::prelude::Collider;
use crate::prelude::CollisionEvent;
use crate::prelude::ContactForceEvent;
use crate::prelude::RapierRigidBodyHandle;
use crate::prelude::TransformInterpolation;
use rapier::prelude::PhysicsHooks;
use super::*;
/// [`RapierContextSimulation`] functions for immutable accesses
impl RapierContext<'_> {
/// Shortcut to [`RapierContextSimulation::contact_pair`].
pub fn contact_pair(
&self,
collider1: Entity,
collider2: Entity,
) -> Option<ContactPairView> {
self.simulation
.contact_pair(self.colliders, self.rigidbody_set, collider1, collider2)
}
/// Shortcut to [`RapierContextSimulation::contact_pairs_with`].
pub fn contact_pairs_with(
&self,
collider: Entity,
) -> impl Iterator<Item = ContactPairView> {
self.simulation
.contact_pairs_with(self.colliders, self.rigidbody_set, collider)
}
/// Shortcut to [`RapierContextSimulation::intersection_pair`].
pub fn intersection_pair(&self, collider1: Entity, collider2: Entity) -> Option<bool> {
self.simulation
.intersection_pair(self.colliders, collider1, collider2)
}
/// Shortcut to [`RapierContextSimulation::intersection_pairs_with`].
pub fn intersection_pairs_with(
&self,
collider: Entity,
) -> impl Iterator<Item = (Entity, Entity, bool)> + '_ {
self.simulation
.intersection_pairs_with(self.colliders, collider)
}
}
/// [`RapierContextSimulation`] functions for mutable accesses
impl RapierContextMut<'_> {
/// Shortcut to [`RapierContextSimulation::step_simulation`].
#[expect(clippy::too_many_arguments)]
pub fn step_simulation(
&mut self,
gravity: Vect,
timestep_mode: TimestepMode,
events: Option<(
&EventWriter<CollisionEvent>,
&EventWriter<ContactForceEvent>,
)>,
hooks: &dyn PhysicsHooks,
time: &Time,
sim_to_render_time: &mut SimulationToRenderTime,
interpolation_query: Option<
&mut Query<(&RapierRigidBodyHandle, &mut TransformInterpolation)>,
>,
) {
self.simulation.step_simulation(
&mut self.colliders,
&mut self.joints,
&mut self.rigidbody_set,
gravity,
timestep_mode,
events,
hooks,
time,
sim_to_render_time,
interpolation_query,
)
}
/// Shortcut to [`RapierContextSimulation::move_shape`].
#[expect(clippy::too_many_arguments)]
pub fn move_shape(
&mut self,
movement: Vect,
shape: &Collider,
shape_translation: Vect,
shape_rotation: Rot,
shape_mass: Real,
options: &MoveShapeOptions,
filter: QueryFilter,
events: impl FnMut(CharacterCollision),
) -> MoveShapeOutput {
self.simulation.move_shape(
&self.colliders,
&self.query_pipeline,
&mut self.rigidbody_set,
movement,
shape,
shape_translation,
shape_rotation,
shape_mass,
options,
filter,
events,
)
}
/// Shortcut to [`RapierContextSimulation::contact_pair`].
pub fn contact_pair(
&self,
collider1: Entity,
collider2: Entity,
) -> Option<ContactPairView> {
self.simulation
.contact_pair(&self.colliders, &self.rigidbody_set, collider1, collider2)
}
/// Shortcut to [`RapierContextSimulation::contact_pairs_with`].
pub fn contact_pairs_with(
&self,
collider: Entity,
) -> impl Iterator<Item = ContactPairView> {
self.simulation
.contact_pairs_with(&self.colliders, &self.rigidbody_set, collider)
}
/// Shortcut to [`RapierContextSimulation::intersection_pair`].
pub fn intersection_pair(&self, collider1: Entity, collider2: Entity) -> Option<bool> {
self.simulation
.intersection_pair(&self.colliders, collider1, collider2)
}
/// Shortcut to [`RapierContextSimulation::intersection_pairs_with`].
pub fn intersection_pairs_with(
&self,
collider: Entity,
) -> impl Iterator<Item = (Entity, Entity, bool)> + '_ {
self.simulation
.intersection_pairs_with(&self.colliders, collider)
}
}
}
mod query_pipeline {
use rapier::{parry::query::ShapeCastOptions, prelude::QueryFilter as RapierQueryFilter};
use crate::prelude::{Collider, PointProjection, RayIntersection, ShapeCastHit};
use super::*;
impl RapierContext<'_> {
/// Shortcut to [`RapierQueryPipeline::cast_ray`].
pub fn cast_ray(
&self,
ray_origin: Vect,
ray_dir: Vect,
max_toi: Real,
solid: bool,
filter: QueryFilter,
) -> Option<(Entity, Real)> {
self.query_pipeline.cast_ray(
self.colliders,
self.rigidbody_set,
ray_origin,
ray_dir,
max_toi,
solid,
filter,
)
}
/// Shortcut to [`RapierQueryPipeline::cast_ray_and_get_normal`].
pub fn cast_ray_and_get_normal(
&self,
ray_origin: Vect,
ray_dir: Vect,
max_toi: Real,
solid: bool,
filter: QueryFilter,
) -> Option<(Entity, RayIntersection)> {
self.query_pipeline.cast_ray_and_get_normal(
self.colliders,
self.rigidbody_set,
ray_origin,
ray_dir,
max_toi,
solid,
filter,
)
}
/// Shortcut to [`RapierQueryPipeline::intersections_with_point`].
pub fn intersections_with_point(
&self,
point: Vect,
filter: QueryFilter,
callback: impl FnMut(Entity) -> bool,
) {
self.query_pipeline.intersections_with_point(
self.colliders,
self.rigidbody_set,
point,
filter,
callback,
);
}
/// Shortcut to [`RapierQueryPipeline::intersections_with_ray`].
pub fn intersections_with_ray(
&self,
ray_origin: Vect,
ray_dir: Vect,
max_toi: Real,
solid: bool,
filter: QueryFilter,
callback: impl FnMut(Entity, RayIntersection) -> bool,
) {
self.query_pipeline.intersections_with_ray(
self.colliders,
self.rigidbody_set,
ray_origin,
ray_dir,
max_toi,
solid,
filter,
callback,
)
}
/// Shortcut to [`RapierQueryPipeline::intersections_with_shape`].
pub fn intersections_with_shape(
&self,
shape_pos: Vect,
shape_rot: Rot,
shape: &Collider,
filter: QueryFilter,
callback: impl FnMut(Entity) -> bool,
) {
self.query_pipeline.intersections_with_shape(
self.colliders,
self.rigidbody_set,
shape_pos,
shape_rot,
shape,
filter,
callback,
)
}
/// Shortcut to [`RapierQueryPipeline::colliders_with_aabb_intersecting_aabb`].
pub fn colliders_with_aabb_intersecting_aabb(
&self,
#[cfg(feature = "dim2")] aabb: bevy::math::bounding::Aabb2d,
#[cfg(feature = "dim3")] aabb: bevy::math::bounding::Aabb3d,
callback: impl FnMut(Entity) -> bool,
) {
self.query_pipeline.colliders_with_aabb_intersecting_aabb(
self.colliders,
aabb,
callback,
)
}
/// Shortcut to [`RapierQueryPipeline::cast_shape`].
pub fn cast_shape(
&self,
shape_pos: Vect,
shape_rot: Rot,
shape_vel: Vect,
shape: &Collider,
options: ShapeCastOptions,
filter: QueryFilter,
) -> Option<(Entity, ShapeCastHit)> {
self.query_pipeline.cast_shape(
self.colliders,
self.rigidbody_set,
shape_pos,
shape_rot,
shape_vel,
shape,
options,
filter,
)
}
/// Shortcut to [`RapierQueryPipeline::project_point`].
pub fn project_point(
&self,
point: Vect,
solid: bool,
filter: QueryFilter,
) -> Option<(Entity, PointProjection)> {
self.query_pipeline.project_point(
self.colliders,
self.rigidbody_set,
point,
solid,
filter,
)
}
/// Shortcut to [`RapierQueryPipeline::with_query_filter_elts`].
pub fn with_query_filter_elts<T>(
&self,
filter: crate::prelude::QueryFilter,
f: impl FnOnce(RapierQueryFilter) -> T,
) -> T {
RapierQueryPipeline::with_query_filter_elts(
&self.colliders.entity2collider,
&self.rigidbody_set.entity2body,
&self.colliders.colliders,
filter,
f,
)
}
}
impl RapierContextMut<'_> {
/// Shortcut to [`RapierQueryPipeline::cast_ray`].
pub fn cast_ray(
&self,
ray_origin: Vect,
ray_dir: Vect,
max_toi: Real,
solid: bool,
filter: QueryFilter,
) -> Option<(Entity, Real)> {
self.query_pipeline.cast_ray(
&self.colliders,
&self.rigidbody_set,
ray_origin,
ray_dir,
max_toi,
solid,
filter,
)
}
/// Shortcut to [`RapierQueryPipeline::cast_ray_and_get_normal`].
pub fn cast_ray_and_get_normal(
&self,
ray_origin: Vect,
ray_dir: Vect,
max_toi: Real,
solid: bool,
filter: QueryFilter,
) -> Option<(Entity, RayIntersection)> {
self.query_pipeline.cast_ray_and_get_normal(
&self.colliders,
&self.rigidbody_set,
ray_origin,
ray_dir,
max_toi,
solid,
filter,
)
}
/// Shortcut to [`RapierQueryPipeline::intersections_with_point`].
pub fn intersections_with_point(
&self,
point: Vect,
filter: QueryFilter,
callback: impl FnMut(Entity) -> bool,
) {
self.query_pipeline.intersections_with_point(
&self.colliders,
&self.rigidbody_set,
point,
filter,
callback,
);
}
/// Shortcut to [`RapierQueryPipeline::intersections_with_ray`].
pub fn intersections_with_ray(
&self,
ray_origin: Vect,
ray_dir: Vect,
max_toi: Real,
solid: bool,
filter: QueryFilter,
callback: impl FnMut(Entity, RayIntersection) -> bool,
) {
self.query_pipeline.intersections_with_ray(
&self.colliders,
&self.rigidbody_set,
ray_origin,
ray_dir,
max_toi,
solid,
filter,
callback,
)
}
/// Shortcut to [`RapierQueryPipeline::intersections_with_shape`].
pub fn intersections_with_shape(
&self,
shape_pos: Vect,
shape_rot: Rot,
shape: &Collider,
filter: QueryFilter,
callback: impl FnMut(Entity) -> bool,
) {
self.query_pipeline.intersections_with_shape(
&self.colliders,
&self.rigidbody_set,
shape_pos,
shape_rot,
shape,
filter,
callback,
)
}
/// Shortcut to [`RapierQueryPipeline::colliders_with_aabb_intersecting_aabb`].
pub fn colliders_with_aabb_intersecting_aabb(
&self,
#[cfg(feature = "dim2")] aabb: bevy::math::bounding::Aabb2d,
#[cfg(feature = "dim3")] aabb: bevy::math::bounding::Aabb3d,
callback: impl FnMut(Entity) -> bool,
) {
self.query_pipeline.colliders_with_aabb_intersecting_aabb(
&self.colliders,
aabb,
callback,
)
}
/// Shortcut to [`RapierQueryPipeline::cast_shape`].
pub fn cast_shape(
&self,
shape_pos: Vect,
shape_rot: Rot,
shape_vel: Vect,
shape: &Collider,
options: ShapeCastOptions,
filter: QueryFilter,
) -> Option<(Entity, ShapeCastHit)> {
self.query_pipeline.cast_shape(
&self.colliders,
&self.rigidbody_set,
shape_pos,
shape_rot,
shape_vel,
shape,
options,
filter,
)
}
/// Shortcut to [`RapierQueryPipeline::project_point`].
pub fn project_point(
&self,
point: Vect,
solid: bool,
filter: QueryFilter,
) -> Option<(Entity, PointProjection)> {
self.query_pipeline.project_point(
&self.colliders,
&self.rigidbody_set,
point,
solid,
filter,
)
}
/// Shortcut to [`RapierQueryPipeline::with_query_filter_elts`].
pub fn with_query_filter_elts<T>(
&self,
filter: crate::prelude::QueryFilter,
f: impl FnOnce(RapierQueryFilter) -> T,
) -> T {
RapierQueryPipeline::with_query_filter_elts(
&self.colliders.entity2collider,
&self.rigidbody_set.entity2body,
&self.colliders.colliders,
filter,
f,
)
}
}
}
mod rigidbody_set {
use std::collections::HashMap;
use super::*;
pub use rapier::prelude::RigidBodyHandle;
impl RapierContext<'_> {
/// Shortcut to [`RapierRigidBodySet::entity2body`].
pub fn entity2body(&self) -> &HashMap<Entity, RigidBodyHandle> {
self.rigidbody_set.entity2body()
}
/// Shortcut to [`RapierRigidBodySet::rigid_body_entity`].
pub fn rigid_body_entity(&self, handle: RigidBodyHandle) -> Option<Entity> {
self.rigidbody_set.rigid_body_entity(handle)
}
/// Shortcut to [`RapierRigidBodySet::impulse_revolute_joint_angle`].
pub fn impulse_revolute_joint_angle(&self, entity: Entity) -> Option<f32> {
self.rigidbody_set
.impulse_revolute_joint_angle(self.joints, entity)
}
}
impl RapierContextMut<'_> {
/// Shortcut to [`RapierRigidBodySet::propagate_modified_body_positions_to_colliders`].
pub fn propagate_modified_body_positions_to_colliders(&mut self) {
self.rigidbody_set
.propagate_modified_body_positions_to_colliders(&mut self.colliders)
}
/// Shortcut to [`RapierRigidBodySet::entity2body`].
pub fn entity2body(&self) -> &HashMap<Entity, RigidBodyHandle> {
self.rigidbody_set.entity2body()
}
/// Shortcut to [`RapierRigidBodySet::rigid_body_entity`].
pub fn rigid_body_entity(&self, handle: RigidBodyHandle) -> Option<Entity> {
self.rigidbody_set.rigid_body_entity(handle)
}
/// Shortcut to [`RapierRigidBodySet::impulse_revolute_joint_angle`].
pub fn impulse_revolute_joint_angle(&self, entity: Entity) -> Option<f32> {
self.rigidbody_set
.impulse_revolute_joint_angle(&self.joints, entity)
}
}
}