Picking backend for bevy 0.15

.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:
@@ -51,9 +51,9 @@ jobs:
       - name: Clippy for bevy_rapier3d
         run: cargo clippy --verbose -p bevy_rapier3d
       - name: Clippy for bevy_rapier2d (debug-render, simd, serde)
-        run: cargo clippy --verbose -p bevy_rapier2d --features debug-render-2d,simd-stable,serde-serialize
+        run: cargo clippy --verbose -p bevy_rapier2d --features debug-render-2d,simd-stable,serde-serialize,picking-backend
       - name: Clippy for bevy_rapier3d (debug-render, simd, serde)
-        run: cargo clippy --verbose -p bevy_rapier3d --features debug-render-3d,simd-stable,serde-serialize
+        run: cargo clippy --verbose -p bevy_rapier3d --features debug-render-3d,simd-stable,serde-serialize,picking-backend
       - name: Test for bevy_rapier2d
         run: cargo test --verbose -p bevy_rapier2d
       - name: Test for bevy_rapier3d
@@ -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

CHANGELOG.md

@@ -2,6 +2,11 @@
 
 ## Unreleased
 
+### Added
+
+- Added optional feature `picking-backend` to support bevy_picking.
+  - See `picking_backend` module documentation for more details.
+
 ### Modified
 
 - `RapierContext` has been split in multiple `Component`s:

bevy_rapier2d/Cargo.toml

@@ -24,7 +24,7 @@ rust.unexpected_cfgs = { level = "warn", check-cfg = [
 clippy = { needless_lifetimes = "allow" }
 
 [features]
-default = ["dim2", "async-collider", "debug-render-2d"]
+default = ["dim2", "async-collider", "debug-render-2d", "picking-backend"]
 dim2 = []
 debug-render-2d = [
     "bevy/bevy_core_pipeline",
@@ -45,16 +45,21 @@ 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"]
+picking-backend = ["bevy/bevy_picking"]
+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

@@ -24,7 +24,7 @@ rust.unexpected_cfgs = { level = "warn", check-cfg = [
 clippy = { needless_lifetimes = "allow" }
 
 [features]
-default = ["dim3", "async-collider", "debug-render-3d"]
+default = ["dim3", "async-collider", "debug-render-3d", "picking-backend"]
 dim3 = []
 debug-render = ["debug-render-3d"]
 debug-render-2d = [
@@ -46,16 +46,21 @@ 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"]
+picking-backend = ["bevy/bevy_picking"]
+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 }
@@ -67,6 +72,9 @@ bevy = { version = "0.15", default-features = false, features = [
     "tonemapping_luts",
     "bevy_state",
     "bevy_debug_stepping",
+    "bevy_text",
+    "bevy_ui",
+    "default_font",
 ] }
 approx = "0.5.1"
 glam = { version = "0.29", features = ["approx"] }
@@ -75,4 +83,11 @@ bevy_egui = "0.31"
 
 [package.metadata.docs.rs]
 # Enable all the features when building the docs on docs.rs
-features = ["debug-render-3d", "serde-serialize"]
+
+[[example]]
+name = "picking3"
+required-features = ["picking-backend"]
+
+[[example]]
+name = "testbed3"
+required-features = ["picking-backend"]

bevy_rapier3d/examples/picking3.rs

@@ -0,0 +1,100 @@
+//! A simple scene to demonstrate picking events for rapier [`Collider`] entities.
+
+use bevy::prelude::*;
+use bevy_rapier3d::prelude::*;
+
+fn main() {
+    App::new()
+        .add_plugins((
+            DefaultPlugins,
+            RapierPhysicsPlugin::<NoUserData>::default(),
+            RapierDebugRenderPlugin::default(),
+            RapierPickingPlugin::default(),
+        ))
+        .insert_resource(RapierPickingSettings {
+            // Optional: only needed when you want fine-grained control
+            // over which cameras and entities should be used with the rapier picking backend.
+            // This is disabled by default, and no marker components are required on cameras or colliders.
+            // This resource is inserted by default,
+            // you only need to add it if you want to override the default settings.
+            require_markers: true,
+            ..Default::default()
+        })
+        .add_systems(Startup, (setup_graphics, setup_physics))
+        .run();
+}
+
+pub fn setup_graphics(mut commands: Commands) {
+    // Camera
+    commands.spawn((
+        Camera3d::default(),
+        Transform::from_xyz(-2.5, 4.5, 9.0).looking_at(Vec3::ZERO, Vec3::Y),
+        RapierPickable,
+    ));
+}
+
+pub fn setup_physics(mut commands: Commands) {
+    commands
+        .spawn((
+            Text::new("Click Me to get a box\nDrag cubes to rotate"),
+            Node {
+                position_type: PositionType::Absolute,
+                top: Val::Percent(12.0),
+                left: Val::Percent(12.0),
+                ..default()
+            },
+        ))
+        .observe(on_click_spawn_cube)
+        .observe(
+            |out: Trigger<Pointer<Out>>, mut texts: Query<&mut TextColor>| {
+                let mut text_color = texts.get_mut(out.entity()).unwrap();
+                text_color.0 = Color::WHITE;
+            },
+        )
+        .observe(
+            |over: Trigger<Pointer<Over>>, mut texts: Query<&mut TextColor>| {
+                let mut color = texts.get_mut(over.entity()).unwrap();
+                color.0 = bevy::color::palettes::tailwind::CYAN_400.into();
+            },
+        );
+    // Base
+    let ground_size = 3.1;
+    let ground_height = 0.1;
+    commands.spawn((
+        Transform::from_xyz(0.0, -ground_height / 2.0, 0.0),
+        Collider::cuboid(ground_size, ground_height, ground_size),
+        ColliderDebugColor(Hsla::BLACK),
+    ));
+}
+
+fn on_click_spawn_cube(
+    _click: Trigger<Pointer<Click>>,
+    mut commands: Commands,
+    mut num: Local<usize>,
+) {
+    let rad = 0.25;
+    let colors = [
+        Hsla::hsl(220.0, 1.0, 0.3),
+        Hsla::hsl(180.0, 1.0, 0.3),
+        Hsla::hsl(260.0, 1.0, 0.7),
+    ];
+    commands
+        .spawn((
+            Transform::from_xyz(0.0, 0.25 + 0.55 * *num as f32, 0.0),
+            Visibility::default(),
+            RigidBody::Dynamic,
+            Collider::cuboid(rad, rad, rad),
+            ColliderDebugColor(colors[*num % 3]),
+            RapierPickable,
+        ))
+        // With the RapierPickingPlugin added, you can add pointer event observers to colliders:
+        .observe(on_drag_rotate);
+    *num += 1;
+}
+
+fn on_drag_rotate(drag: Trigger<Pointer<Drag>>, mut transforms: Query<&mut Transform>) {
+    if let Ok(mut transform) = transforms.get_mut(drag.entity()) {
+        transform.rotate_y(drag.delta.x * 0.02);
+        transform.rotate_x(drag.delta.y * 0.02);
+    }
+}

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_rapier3d/examples/testbed3.rs

@@ -8,6 +8,7 @@ mod joints3;
 mod joints_despawn3;
 mod locked_rotations3;
 mod multiple_colliders3;
+mod picking3;
 mod ray_casting3;
 mod static_trimesh3;
 
@@ -28,6 +29,7 @@ pub enum Examples {
     JointsDespawn3,
     LockedRotations3,
     MultipleColliders3,
+    Picking3,
     Raycasting3,
     StaticTrimesh3,
 }
@@ -64,6 +66,7 @@ fn main() {
             RapierPhysicsPlugin::<NoUserData>::default(),
             RapierDebugRenderPlugin::default(),
             WorldInspectorPlugin::new(),
+            RapierPickingPlugin::default(),
         ))
         .register_type::<Examples>()
         .register_type::<ExamplesRes>()
@@ -78,6 +81,7 @@ fn main() {
             (Examples::JointsDespawn3, "JointsDespawn3").into(),
             (Examples::LockedRotations3, "LockedRotations3").into(),
             (Examples::MultipleColliders3, "MultipleColliders3").into(),
+            (Examples::Picking3, "Picking3").into(),
             (Examples::Raycasting3, "Raycasting3").into(),
             (Examples::StaticTrimesh3, "StaticTrimesh3").into(),
         ]))
@@ -173,6 +177,13 @@ fn main() {
         )
         .add_systems(OnExit(Examples::MultipleColliders3), cleanup)
         //
+        // picking
+        .add_systems(
+            OnEnter(Examples::Picking3),
+            (picking3::setup_graphics, picking3::setup_physics),
+        )
+        .add_systems(OnExit(Examples::Picking3), cleanup)
+        //
         // raycasting
         .add_systems(
             OnEnter(Examples::Raycasting3),

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())
             }