Upgrade to Bevy 0.12 (#187)

# Objective

Add Bevy 0.12 support.

## Solution

- Update Bevy (and Criterion)
- Migrate to `Interned` `ScheduleLabel`s (#204)
- Fix deprecated methods
- Unify time and simulation loop APIs under `Time<Physics>` and `Time<Substeps>` (#214)
- Update `README.md` (and its feature list)

README.md

@@ -27,30 +27,37 @@ with their own implementations.
 Below are some of the current features of Bevy XPBD.
 
 - Dynamic, kinematic and static rigid bodies
-- Colliders powered by [parry](https://parry.rs)
-  - Collision events: `Collision`, `CollisionStarted`, `CollisionEnded`
-  - Access to colliding entities with `CollidingEntities`
-  - Sensor colliders
-  - Collision layers
+  - Linear and angular velocity
+  - External forces, torque and impulses
+  - Gravity and gravity scale
+  - Linear and angular damping
+  - Locking translational and rotational axes
+  - Rigid body dominance
+  - Automatic deactivation with sleeping
+- Collision detection powered by [Parry](https://parry.rs)
+  - Colliders with configurable collision layers, density, material properties and more
+  - Collision events
+  - Access to colliding entities
   - Filtering and modifying collisions with custom systems
-- Material properties like restitution and friction
-- Linear and angular velocity damping for simulating drag
-- External forces, torque and impulses
-- Gravity and gravity scale for specific entities
-- Locking translational and rotational axes with `LockedAxes`
-- Rigid body dominance
-- Joints
-- Built-in constraints and support for custom constraints
+  - Manual contact queries and intersection tests
+- Constraints and joints
+  - Flexible API for creating position-based constraints
+  - Several built-in joint types: fixed, distance, prismatic, revolute, spherical
+  - Support for custom joints and other constraints
 - Spatial queries
-  - Raycasting
-  - Shapecasting
-  - Point projection
-  - Intersection tests
-- Debug rendering colliders, AABBs, contacts, joints, rigid body axes, and spatial queries
-- Automatically deactivating bodies with `Sleeping`
-- Configurable timesteps and substepping
+  - Raycasting, shapecasting, point projection and intersection tests
+  - Ergonomic component-based API for raycasts and shapecasts
+  - Flexible `SpatialQuery` system parameter
+  - Spatial query filters
+- Debug rendering for colliders, AABBs, contacts, joints, sleeping, axes and spatial queries
+- Configurable scheduling and high customizability
+- Highly modular plugin architecture, freely extend and replace parts of the engine
 - `f32`/`f64` precision (`f32` by default)
 
+You can find a more complete list along with documentation in the
+[Table of contents](https://docs.rs/bevy_xpbd_3d/0.3.0/bevy_xpbd_3d/#table-of-contents)
+on docs.rs.
+
 ## Documentation
 
 - [2D documentation](https://docs.rs/bevy_xpbd_2d)
@@ -63,11 +70,11 @@ First, add `bevy_xpbd_2d` or `bevy_xpbd_3d` to your dependencies in `Cargo.toml`
 ```toml
 # For 2D applications:
 [dependencies]
-bevy_xpbd_2d = "0.2"
+bevy_xpbd_2d = "0.3"
 
 # For 3D applications:
 [dependencies]
-bevy_xpbd_3d = "0.2"
+bevy_xpbd_3d = "0.3"
 
 # If you want to use the most up-to-date version, you can follow the main branch:
 [dependencies]
@@ -76,7 +83,7 @@ bevy_xpbd_3d = { git = "https://github.com/Jondolf/bevy_xpbd", branch = "main" }
 
 Below is a very simple example where a box with initial angular velocity falls onto a plane. This is a modified version of Bevy's [3d_scene](https://bevyengine.org/examples/3d/3d-scene/) example.
 
-```rs
+```rust
 use bevy::prelude::*;
 use bevy_xpbd_3d::prelude::*;
 
@@ -152,12 +159,12 @@ cargo run --example cubes --no-default-features --features "3d f64"
 
 | Bevy | Bevy XPBD |
 | ---- | --------- |
+| 0.12 | 0.3       |
 | 0.11 | 0.2       |
 | 0.10 | 0.1       |
 
 ## Future features
 
-- On-demand simulation stepping
 - Joint motors
 - Articulations, aka. multibody joints
 - Continuous collision detection (CCD)

crates/benches_common_3d/Cargo.toml

@@ -4,6 +4,6 @@ version = "0.1.0"
 edition = "2021"
 
 [dependencies]
-bevy = { version = "0.11", default-features = false }
+bevy = { version = "0.12", default-features = false }
 bevy_xpbd_3d = { path = "../bevy_xpbd_3d", default-features = false }
-criterion = "0.4"
+criterion = "0.5"

crates/benches_common_3d/src/lib.rs

@@ -1,4 +1,4 @@
-use bevy::prelude::*;
+use bevy::{app::PluginsState, prelude::*};
 use bevy_xpbd_3d::prelude::*;
 use criterion::{measurement::Measurement, BatchSize, Bencher};
 
@@ -18,11 +18,11 @@ pub fn bench_app<M: Measurement>(
                 PhysicsPlugins::default(),
             ));
 
-            app.insert_resource(PhysicsTimestep::FixedOnce(1.0 / 60.0));
+            app.insert_resource(Time::new_with(Physics::fixed_once_hz(1.0 / 60.0)));
 
             setup(&mut app);
 
-            while !app.ready() {
+            while app.plugins_state() != PluginsState::Ready {
                 bevy::tasks::tick_global_task_pools_on_main_thread();
             }
 

crates/bevy_xpbd_2d/Cargo.toml

@@ -32,7 +32,7 @@ required-features = ["2d"]
 
 [dependencies]
 bevy_xpbd_derive = { path = "../bevy_xpbd_derive", version = "0.1" }
-bevy = { version = "0.11", default-features = false }
+bevy = { version = "0.12", default-features = false }
 parry2d = { version = "0.13", optional = true }
 parry2d-f64 = { version = "0.13", optional = true }
 nalgebra = { version = "0.32", features = ["convert-glam024"] }

crates/bevy_xpbd_2d/examples/dynamic_character_2d/plugin.rs

@@ -215,7 +215,7 @@ fn movement(
     // both the `f32` and `f64` features. Otherwise you don't need this.
     let delta_time = time.delta_seconds_f64().adjust_precision();
 
-    for event in movement_event_reader.iter() {
+    for event in movement_event_reader.read() {
         for (movement_acceleration, jump_impulse, mut linear_velocity, is_grounded) in
             &mut controllers
         {

crates/bevy_xpbd_2d/examples/kinematic_character_2d/plugin.rs

@@ -226,7 +226,7 @@ fn movement(
     // both the `f32` and `f64` features. Otherwise you don't need this.
     let delta_time = time.delta_seconds_f64().adjust_precision();
 
-    for event in movement_event_reader.iter() {
+    for event in movement_event_reader.read() {
         for (movement_acceleration, jump_impulse, mut linear_velocity, is_grounded) in
             &mut controllers
         {

crates/bevy_xpbd_3d/Cargo.toml

@@ -34,7 +34,7 @@ required-features = ["3d"]
 
 [dependencies]
 bevy_xpbd_derive = { path = "../bevy_xpbd_derive", version = "0.1" }
-bevy = { version = "0.11", default-features = false }
+bevy = { version = "0.12", default-features = false }
 parry3d = { version = "0.13", optional = true }
 parry3d-f64 = { version = "0.13", optional = true }
 nalgebra = { version = "0.32", features = ["convert-glam024"] }
@@ -48,7 +48,7 @@ itertools = "0.11"
 examples_common_3d = { path = "../examples_common_3d" }
 benches_common_3d = { path = "../benches_common_3d" }
 approx = "0.5"
-criterion = { version = "0.4", features = ["html_reports"] }
+criterion = { version = "0.5", features = ["html_reports"] }
 insta = "1.0"
 
 [[example]]

crates/bevy_xpbd_3d/examples/dynamic_character_3d/plugin.rs

@@ -229,7 +229,7 @@ fn movement(
     // both the `f32` and `f64` features. Otherwise you don't need this.
     let delta_time = time.delta_seconds_f64().adjust_precision();
 
-    for event in movement_event_reader.iter() {
+    for event in movement_event_reader.read() {
         for (movement_acceleration, jump_impulse, mut linear_velocity, is_grounded) in
             &mut controllers
         {

crates/bevy_xpbd_3d/examples/kinematic_character_3d/plugin.rs

@@ -240,7 +240,7 @@ fn movement(
     // both the `f32` and `f64` features. Otherwise you don't need this.
     let delta_time = time.delta_seconds_f64().adjust_precision();
 
-    for event in movement_event_reader.iter() {
+    for event in movement_event_reader.read() {
         for (movement_acceleration, jump_impulse, mut linear_velocity, is_grounded) in
             &mut controllers
         {