better support for multi world

src/pipeline/events.rs

@@ -1,5 +1,5 @@
 use crate::math::{Real, Vect};
-use bevy::prelude::{Entity, Event, EventWriter};
+use bevy::prelude::{Entity, Event};
 use rapier::dynamics::RigidBodySet;
 use rapier::geometry::{
     ColliderHandle, ColliderSet, CollisionEvent as RapierCollisionEvent, CollisionEventFlags,

src/plugin/configuration.rs

@@ -1,7 +1,6 @@
-use bevy::prelude::{default, Component, FromWorld, Resource, World};
+use bevy::prelude::{Component, Resource};
 
 use crate::math::{Real, Vect};
-use crate::plugin::RapierContext;
 
 /// The different ways of adjusting the timestep length each frame.
 #[derive(Copy, Clone, Debug, PartialEq, Resource)]

src/plugin/context/systemparams.rs

@@ -1,7 +1,5 @@
 use bevy::ecs::system::SystemParam;
 use bevy::prelude::*;
-use rapier::dynamics::RigidBodyHandle;
-use std::collections::HashMap;
 use std::ops::{Deref, DerefMut};
 
 use super::{DefaultRapierContext, RapierContext, RapierContextEntityLink};
@@ -14,7 +12,7 @@ pub struct DefaultRapierContextAccess<'w, 's> {
 
 impl<'w, 's> DefaultRapierContextAccess<'w, 's> {
     /// Use this method if you only have one world.
-    pub fn single<'a>(&'_ self) -> &RapierContext {
+    pub fn single(&'_ self) -> &RapierContext {
         self.rapier_context.single()
     }
 }
@@ -51,13 +49,25 @@ impl<'w, 's> DerefMut for DefaultRapierContextAccessMut<'w, 's> {
 /// Utility [`SystemParam`] to easily access any [`RapierContext`] immutably
 #[derive(SystemParam)]
 pub struct RapierContextAccess<'w, 's> {
-    rapier_context: Query<'w, 's, &'static RapierContext, With<DefaultRapierContext>>,
+    rapier_context: Query<'w, 's, &'static RapierContext>,
+    rapier_context_link: Query<'w, 's, &'static RapierContextEntityLink>,
 }
 
 impl<'w, 's> RapierContextAccess<'w, 's> {
-    /// Use this method if you only have one world.
-    pub fn single<'a>(&'_ self) -> &RapierContext {
-        self.rapier_context.single()
+    pub fn link(&self, entity: Entity) -> &RapierContextEntityLink {
+        self.rapier_context_link
+            .get(entity)
+            .expect("RapierContextAccess.link called on an entity without RapierContextEntityLink.")
+    }
+    pub fn follow_link(&self, link: RapierContextEntityLink) -> &'_ RapierContext {
+        self.rapier_context
+            .get(link.0)
+            .expect("RapierContextEntityLink.0 refers to an entity without RapierContext.")
+    }
+
+    pub fn context(&self, entity: Entity) -> &'_ RapierContext {
+        let context_link = self.link(entity);
+        self.follow_link(*context_link)
     }
 }
 
@@ -72,21 +82,27 @@ impl<'w, 's> Deref for RapierContextAccess<'w, 's> {
 /// Utility [`SystemParam`] to easily access any [`RapierContext`] mutably
 #[derive(SystemParam)]
 pub struct RapierContextAccessMut<'w, 's> {
-    rapier_context: Query<'w, 's, &'static mut RapierContext>,
-    rapier_context_link: Query<'w, 's, &'static mut RapierContextEntityLink>,
+    pub rapier_context: Query<'w, 's, &'static mut RapierContext>,
+    pub rapier_context_link: Query<'w, 's, &'static RapierContextEntityLink>,
 }
 
 impl<'w, 's> RapierContextAccessMut<'w, 's> {
-    pub fn context(&mut self, entity: Entity) -> &'_ mut RapierContext {
-        let context_link = self
-            .rapier_context_link
-            .get(entity)
-            .expect("entity2body called on an entity without RapierContextEntityLink.");
+    pub fn link(&self, entity: Entity) -> &RapierContextEntityLink {
+        self.rapier_context_link.get(entity).expect(
+            "RapierContextAccessMut.link called on an entity without RapierContextEntityLink.",
+        )
+    }
+    pub fn follow_link(&mut self, link: RapierContextEntityLink) -> &'_ mut RapierContext {
         self.rapier_context
-            .get_mut(context_link.0)
-            .expect("RapierContextEntityLink refers to an entity without RapierContext.")
+            .get_mut(link.0)
+            .expect("RapierContextEntityLink.0 refers to an entity without RapierContext.")
             .into_inner()
     }
+
+    pub fn context(&mut self, entity: Entity) -> &'_ mut RapierContext {
+        let context_link = self.link(entity);
+        self.follow_link(*context_link)
+    }
 }
 
 pub fn try_retrieve_context<'a>(
@@ -96,7 +112,6 @@ pub fn try_retrieve_context<'a>(
     link.map_or_else(
         || {
             let context_entity = context.iter().next().unwrap().0;
-            RapierContextEntityLink(context_entity);
             Err(context_entity)
         },
         |link| Ok(link.0),

src/plugin/systems/character_controller.rs

@@ -1,8 +1,8 @@
 use crate::control::CharacterCollision;
 use crate::dynamics::RapierRigidBodyHandle;
 use crate::geometry::RapierColliderHandle;
-use crate::plugin::DefaultRapierContextAccessMut;
 use crate::plugin::RapierConfiguration;
+use crate::plugin::RapierContextAccessMut;
 use crate::prelude::KinematicCharacterController;
 use crate::prelude::KinematicCharacterControllerOutput;
 use crate::utils;
@@ -16,7 +16,7 @@ use rapier::pipeline::QueryFilter;
 pub fn update_character_controls(
     mut commands: Commands,
     config: Query<&RapierConfiguration>,
-    mut context: DefaultRapierContextAccessMut,
+    mut context_access: RapierContextAccessMut,
     mut character_controllers: Query<(
         Entity,
         &mut KinematicCharacterController,
@@ -27,12 +27,12 @@ pub fn update_character_controls(
     )>,
     mut transforms: Query<&mut Transform>,
 ) {
-    let context = &mut *context;
-    let config = &*config.single();
-
     for (entity, mut controller, output, collider_handle, body_handle, glob_transform) in
         character_controllers.iter_mut()
     {
+        let link = *context_access.link(entity);
+        let context = context_access.follow_link(link);
+        let config = config.get(link.0).unwrap();
         if let (Some(raw_controller), Some(translation)) =
             (controller.to_raw(), controller.translation)
         {

src/plugin/systems/collider.rs

@@ -2,9 +2,7 @@ use crate::dynamics::ReadMassProperties;
 use crate::geometry::Collider;
 use crate::plugin::context::systemparams::try_retrieve_context;
 use crate::plugin::context::RapierContextEntityLink;
-use crate::plugin::{
-    DefaultRapierContextAccessMut, RapierConfiguration, RapierContext, RapierContextAccessMut,
-};
+use crate::plugin::{RapierConfiguration, RapierContext, RapierContextAccessMut};
 use crate::prelude::{
     ActiveCollisionTypes, ActiveEvents, ActiveHooks, ColliderDisabled, ColliderMassProperties,
     ColliderScale, CollidingEntities, CollisionEvent, CollisionGroups, ContactForceEventThreshold,
@@ -310,8 +308,6 @@ pub fn init_colliders(
     parent_query: Query<&Parent>,
     transform_query: Query<&Transform>,
 ) {
-    let config = &*config.single();
-
     for (
         (
             (entity, context_link),
@@ -332,6 +328,15 @@ pub fn init_colliders(
         global_transform,
     ) in colliders.iter()
     {
+        let context_entity =
+            try_retrieve_context(context_link, &context).unwrap_or_else(|context_entity| {
+                commands
+                    .entity(entity)
+                    .insert(RapierContextEntityLink(context_entity));
+                context_entity
+            });
+        let context = &mut *context.get_mut(context_entity).unwrap().1;
+        let config = config.get(context_entity).unwrap();
         let mut scaled_shape = shape.clone();
         scaled_shape.set_scale(shape.scale, config.scaled_shape_subdivision);
         let mut builder = ColliderBuilder::new(scaled_shape.raw.clone());
@@ -388,14 +393,6 @@ pub fn init_colliders(
         if let Some(threshold) = contact_force_event_threshold {
             builder = builder.contact_force_event_threshold(threshold.0);
         }
-        let context_entity =
-            try_retrieve_context(context_link, &context).unwrap_or_else(|context_entity| {
-                commands
-                    .entity(entity)
-                    .insert(RapierContextEntityLink(context_entity));
-                context_entity
-            });
-        let context = &mut *context.get_mut(context_entity).unwrap().1;
         let body_entity = entity;
         let (body_handle, child_transform) =
             collider_offset(entity, context, &parent_query, &transform_query);

src/plugin/systems/joint.rs

@@ -2,94 +2,99 @@ use crate::dynamics::ImpulseJoint;
 use crate::dynamics::MultibodyJoint;
 use crate::dynamics::RapierImpulseJointHandle;
 use crate::dynamics::RapierMultibodyJointHandle;
-use crate::plugin::RapierContext;
+use crate::plugin::context::RapierContextEntityLink;
+use crate::plugin::RapierContextAccessMut;
 use bevy::prelude::*;
 
 /// System responsible for creating new Rapier joints from the related `bevy_rapier` components.
 pub fn init_joints(
     mut commands: Commands,
-    mut context: Query<&mut RapierContext>,
+    mut context: RapierContextAccessMut,
     impulse_joints: Query<(Entity, &ImpulseJoint), Without<RapierImpulseJointHandle>>,
     multibody_joints: Query<(Entity, &MultibodyJoint), Without<RapierMultibodyJointHandle>>,
     parent_query: Query<&Parent>,
 ) {
-    for mut context in context.iter_mut() {
-        let context = &mut *context;
-
-        for (entity, joint) in impulse_joints.iter() {
-            let mut target = None;
-            let mut body_entity = entity;
-            while target.is_none() {
-                target = context.entity2body.get(&body_entity).copied();
-                if let Ok(parent_entity) = parent_query.get(body_entity) {
-                    body_entity = parent_entity.get();
-                } else {
-                    break;
-                }
+    for (entity, joint) in impulse_joints.iter() {
+        let context = context.context(entity);
+        let mut target = None;
+        let mut body_entity = entity;
+        while target.is_none() {
+            target = context.entity2body.get(&body_entity).copied();
+            if let Ok(parent_entity) = parent_query.get(body_entity) {
+                body_entity = parent_entity.get();
+            } else {
+                break;
             }
+        }
 
-            if let (Some(target), Some(source)) = (target, context.entity2body.get(&joint.parent)) {
-                let handle =
-                    context
-                        .impulse_joints
-                        .insert(*source, target, joint.data.into_rapier(), true);
-                commands
-                    .entity(entity)
-                    .insert(RapierImpulseJointHandle(handle));
-                context.entity2impulse_joint.insert(entity, handle);
-            }
+        if let (Some(target), Some(source)) = (target, context.entity2body.get(&joint.parent)) {
+            let handle =
+                context
+                    .impulse_joints
+                    .insert(*source, target, joint.data.into_rapier(), true);
+            commands
+                .entity(entity)
+                .insert(RapierImpulseJointHandle(handle));
+            context.entity2impulse_joint.insert(entity, handle);
         }
+    }
 
-        for (entity, joint) in multibody_joints.iter() {
-            let target = context.entity2body.get(&entity);
+    for (entity, joint) in multibody_joints.iter() {
+        let context = context.context(entity);
+        let target = context.entity2body.get(&entity);
 
-            if let (Some(target), Some(source)) = (target, context.entity2body.get(&joint.parent)) {
-                if let Some(handle) = context.multibody_joints.insert(
-                    *source,
-                    *target,
-                    joint.data.into_rapier(),
-                    true,
-                ) {
-                    commands
-                        .entity(entity)
-                        .insert(RapierMultibodyJointHandle(handle));
-                    context.entity2multibody_joint.insert(entity, handle);
-                } else {
-                    error!("Failed to create multibody joint: loop detected.")
-                }
+        if let (Some(target), Some(source)) = (target, context.entity2body.get(&joint.parent)) {
+            if let Some(handle) =
+                context
+                    .multibody_joints
+                    .insert(*source, *target, joint.data.into_rapier(), true)
+            {
+                commands
+                    .entity(entity)
+                    .insert(RapierMultibodyJointHandle(handle));
+                context.entity2multibody_joint.insert(entity, handle);
+            } else {
+                error!("Failed to create multibody joint: loop detected.")
             }
         }
     }
 }
 
 /// System responsible for applying changes the user made to a joint component.
 pub fn apply_joint_user_changes(
-    mut context: Query<&mut RapierContext>,
+    mut context: RapierContextAccessMut,
     changed_impulse_joints: Query<
-        (&RapierImpulseJointHandle, &ImpulseJoint),
+        (
+            &RapierContextEntityLink,
+            &RapierImpulseJointHandle,
+            &ImpulseJoint,
+        ),
         Changed<ImpulseJoint>,
     >,
     changed_multibody_joints: Query<
-        (&RapierMultibodyJointHandle, &MultibodyJoint),
+        (
+            &RapierContextEntityLink,
+            &RapierMultibodyJointHandle,
+            &MultibodyJoint,
+        ),
         Changed<MultibodyJoint>,
     >,
 ) {
-    for mut context in context.iter_mut() {
-        let context = &mut *context;
-        // TODO: right now, we only support propagating changes made to the joint data.
-        //       Re-parenting the joint isn’t supported yet.
-        for (handle, changed_joint) in changed_impulse_joints.iter() {
-            if let Some(joint) = context.impulse_joints.get_mut(handle.0) {
-                joint.data = changed_joint.data.into_rapier();
-            }
+    // TODO: right now, we only support propagating changes made to the joint data.
+    //       Re-parenting the joint isn’t supported yet.
+    for (link, handle, changed_joint) in changed_impulse_joints.iter() {
+        let context = context.follow_link(*link);
+        if let Some(joint) = context.impulse_joints.get_mut(handle.0) {
+            joint.data = changed_joint.data.into_rapier();
         }
+    }
 
-        for (handle, changed_joint) in changed_multibody_joints.iter() {
-            // TODO: not sure this will always work properly, e.g., if the number of Dofs is changed.
-            if let Some((mb, link_id)) = context.multibody_joints.get_mut(handle.0) {
-                if let Some(link) = mb.link_mut(link_id) {
-                    link.joint.data = changed_joint.data.into_rapier();
-                }
+    for (link, handle, changed_joint) in changed_multibody_joints.iter() {
+        let context = context.follow_link(*link);
+        // TODO: not sure this will always work properly, e.g., if the number of Dofs is changed.
+        if let Some((mb, link_id)) = context.multibody_joints.get_mut(handle.0) {
+            if let Some(link) = mb.link_mut(link_id) {
+                link.joint.data = changed_joint.data.into_rapier();
             }
         }
     }

src/plugin/systems/mod.rs

@@ -25,12 +25,14 @@ use bevy::prelude::*;
 /// System responsible for advancing the physics simulation, and updating the internal state
 /// for scene queries.
 pub fn step_simulation<Hooks>(
-    mut context: Query<&mut RapierContext>,
+    mut context: Query<(
+        &mut RapierContext,
+        &RapierConfiguration,
+        &mut SimulationToRenderTime,
+    )>,
     timestep_mode: Res<TimestepMode>,
-    config: Query<&RapierConfiguration>,
     hooks: StaticSystemParam<Hooks>,
     time: Res<Time>,
-    mut sim_to_render_time: Query<&mut SimulationToRenderTime>,
     mut collision_events: EventWriter<CollisionEvent>,
     mut contact_force_events: EventWriter<ContactForceEvent>,
     mut interpolation_query: Query<(&RapierRigidBodyHandle, &mut TransformInterpolation)>,
@@ -40,20 +42,17 @@ pub fn step_simulation<Hooks>(
 {
     let hooks_adapter = BevyPhysicsHooksAdapter::new(hooks.into_inner());
 
-    for mut context in context.iter_mut() {
+    for (mut context, config, mut sim_to_render_time) in context.iter_mut() {
         let context = &mut *context;
 
-        let config = &*config.single();
-        let sim_to_render_time = &mut *sim_to_render_time.single_mut();
-
         if config.physics_pipeline_active {
             context.step_simulation(
                 config.gravity,
                 *timestep_mode,
                 Some((&collision_events, &contact_force_events)),
                 &hooks_adapter,
                 &time,
-                sim_to_render_time,
+                &mut sim_to_render_time,
                 Some(&mut interpolation_query),
             );
             context.deleted_colliders.clear();