use bevy's new primitives for geometry

README.md

@@ -30,7 +30,9 @@ use bevy_mod_physx::prelude::{Material, Shape}; // bevy prelude conflicts
 fn main() {
  App::new()
  .add_plugins(DefaultPlugins)
- .add_plugins(PhysicsPlugins)
+ .add_plugins(PhysicsPlugins.set(
+ PhysicsCore::new().with_pvd()
+ ))
  .add_systems(Startup, setup_graphics)
  .add_systems(Startup, setup_physics)
  .insert_resource(DebugRenderSettings::enable())
@@ -55,7 +57,7 @@ fn setup_physics(
  commands.spawn((
  RigidBody::Static,
  Shape {
- geometry: geometries.add(Geometry::halfspace(Vec3::Y)),
+ geometry: geometries.add(Plane3d::default()),
  material: materials.add(Material::new(&mut physics, 0.5, 0.5, 0.6)),
  ..default()
  },
@@ -66,7 +68,7 @@ fn setup_physics(
  commands.spawn((
  RigidBody::Dynamic,
  Shape {
- geometry: geometries.add(Geometry::ball(0.5)),
+ geometry: geometries.add(Sphere::new(0.5)),
  material: materials.add(Material::new(&mut physics, 0.5, 0.5, 0.6)),
  ..default()
  },

examples/articulation.rs

@@ -43,10 +43,11 @@ fn spawn_long_chain(
  const OVERLAPPING_LINKS: bool = true;
 
  let mut position = Vec3::new(0., 24., 0.);
- let mesh = meshes.add(Capsule3d::new(RADIUS, HALF_HEIGHT + RADIUS * 2.));
+ let primitive = Capsule3d::new(RADIUS, HALF_HEIGHT + RADIUS * 2.);
+ let mesh = meshes.add(primitive);
  let material = materials.add(Color::rgb(1., 0.7, 0.));
 
- let px_geometry = px_geometries.add(bpx::Geometry::capsule(HALF_HEIGHT, RADIUS));
+ let px_geometry = px_geometries.add(primitive);
  let mut parent_link = None;
 
  for _ in 0..SEGMENTS {
@@ -126,9 +127,10 @@ fn spawn_long_chain(
  position.x -= (RADIUS + HALF_HEIGHT) * 2.;
  position.x += (RADIUS + HALF_HEIGHT) + BOX_SIZE;
 
- let box_mesh = meshes.add(Cuboid::from_size(Vec3::splat(BOX_SIZE * 2.)));
+ let primitive = Cuboid::from_size(Vec3::splat(BOX_SIZE * 2.));
+ let box_mesh = meshes.add(primitive);
  let box_material = materials.add(Color::rgb(0.8, 0.7, 0.6));
- let box_geometry = px_geometries.add(bpx::Geometry::cuboid(BOX_SIZE, BOX_SIZE, BOX_SIZE));
+ let box_geometry = px_geometries.add(primitive);
 
  commands.spawn_empty()
  .insert(bpx::RigidBody::ArticulationLink)
@@ -176,10 +178,11 @@ fn spawn_obstacle(
  const HALF_Y: f32 = 0.1;
  const HALF_Z: f32 = 2.;
 
- let mesh = meshes.add(Cuboid::new(HALF_X * 2., HALF_Y * 2., HALF_Z * 2.).mesh());
+ let primitive = Cuboid::new(HALF_X * 2., HALF_Y * 2., HALF_Z * 2.);
+ let mesh = meshes.add(primitive);
  let material = materials.add(Color::rgb(0.8, 0.7, 0.6));
 
- let px_geometry = px_geometries.add(bpx::Geometry::cuboid(HALF_X, HALF_Y, HALF_Z));
+ let px_geometry = px_geometries.add(primitive);
  let px_material = px_materials.add(bpx::Material::new(&mut physics, 0.5, 0.5, 0.6));
  let transform = Transform::from_xyz(10., 21., 0.);
 
@@ -207,9 +210,10 @@ fn spawn_plane(
  mut px_geometries: ResMut<Assets<bpx::Geometry>>,
  mut px_materials: ResMut<Assets<bpx::Material>>,
 ) {
- let mesh = meshes.add(Plane3d::default().mesh().size(500., 500.));
+ let primitive = Plane3d::default();
+ let mesh = meshes.add(primitive.mesh().size(500., 500.));
  let material = materials.add(Color::rgb(0.3, 0.5, 0.3));
- let px_geometry = px_geometries.add(bpx::Geometry::halfspace(Vec3::Y));
+ let px_geometry = px_geometries.add(primitive);
  let px_material = px_materials.add(bpx::Material::new(&mut physics, 0.5, 0.5, 0.6));
 
  commands.spawn_empty()

examples/cube_stacks.rs

@@ -27,9 +27,10 @@ fn spawn_plane(
  mut px_geometries: ResMut<Assets<bpx::Geometry>>,
  mut px_materials: ResMut<Assets<bpx::Material>>,
 ) {
- let mesh = meshes.add(Plane3d::default().mesh().size(500., 500.));
+ let primitive = Plane3d::default();
+ let mesh = meshes.add(primitive.mesh().size(500., 500.));
  let material = materials.add(Color::rgb(0.3, 0.5, 0.3));
- let px_geometry = px_geometries.add(bpx::Geometry::halfspace(Vec3::Y));
+ let px_geometry = px_geometries.add(primitive);
  let px_material = px_materials.add(bpx::Material::new(&mut physics, 0.5, 0.5, 0.6));
 
  commands.spawn_empty()
@@ -56,10 +57,11 @@ fn spawn_stacks(
  const WIDTH: f32 = 0.5;
  const SIZE: usize = 10;
 
- let mesh = meshes.add(Cuboid::from_size(Vec3::splat(WIDTH)));
+ let primitive = Cuboid::from_size(Vec3::splat(WIDTH));
+ let mesh = meshes.add(primitive);
  let material = materials.add(Color::rgb(0.8, 0.7, 0.6));
 
- let px_geometry = px_geometries.add(bpx::Geometry::cuboid(WIDTH / 2., WIDTH / 2., WIDTH / 2.));
+ let px_geometry = px_geometries.add(primitive);
 
  for i in 0..5 {
  commands.spawn(SpatialBundle::from_transform(Transform::from_xyz(0., 0., -1.25 * i as f32)))
@@ -102,10 +104,11 @@ fn spawn_dynamic(
 ) {
  const RADIUS: f32 = 1.25;
 
- let mesh = meshes.add(Sphere::new(RADIUS).mesh());
+ let primitive = Sphere::new(RADIUS);
+ let mesh = meshes.add(primitive);
  let material = materials.add(Color::rgb(0.8, 0.7, 0.6));
 
- let px_geometry = px_geometries.add(bpx::Geometry::ball(RADIUS));
+ let px_geometry = px_geometries.add(primitive);
  let px_material = px_materials.add(bpx::Material::new(&mut physics, 0.5, 0.5, 0.6));
 
  let transform = Transform::from_xyz(0., 5., 12.5);

examples/detect_contacts.rs

@@ -149,9 +149,10 @@ fn spawn_plane(
  mut px_geometries: ResMut<Assets<bpx::Geometry>>,
  mut px_materials: ResMut<Assets<bpx::Material>>,
 ) {
- let mesh = meshes.add(Plane3d::default().mesh().size(500., 500.));
+ let primitive = Plane3d::default();
+ let mesh = meshes.add(primitive.mesh().size(500., 500.));
  let material = materials.add(Color::rgb(0.3, 0.5, 0.3));
- let px_geometry = px_geometries.add(bpx::Geometry::halfspace(Vec3::Y));
+ let px_geometry = px_geometries.add(primitive);
  let px_material = px_materials.add(bpx::Material::new(&mut physics, 0.5, 0.5, 0.6));
 
  commands.spawn_empty()
@@ -178,8 +179,9 @@ fn spawn_tiles(
  let num = 32;
  let rad = 1.0;
  let height = 0.1;
- let px_geometry = px_geometries.add(bpx::Geometry::cuboid(rad, height, rad));
- let mesh = meshes.add(Cuboid::new(rad * 2., height * 2., rad * 2.).mesh());
+ let primitive = Cuboid::new(rad * 2., height * 2., rad * 2.);
+ let px_geometry = px_geometries.add(primitive);
+ let mesh = meshes.add(primitive);
  let material = materials.normal.clone();
 
  let shift = rad * 2.5;
@@ -218,12 +220,11 @@ fn spawn_dynamic(
  mut px_geometries: ResMut<Assets<bpx::Geometry>>,
  mut px_materials: ResMut<Assets<bpx::Material>>,
 ) {
- const RADIUS: f32 = 1.25;
-
- let mesh = meshes.add(Sphere::new(RADIUS).mesh());
+ let primitive = Sphere::new(1.25);
+ let mesh = meshes.add(primitive);
  let material = materials.add(Color::rgb(0.8, 0.7, 0.6));
 
- let px_geometry = px_geometries.add(bpx::Geometry::ball(RADIUS));
+ let px_geometry = px_geometries.add(primitive);
  let px_material = px_materials.add(bpx::Material::new(&mut physics, 0., 0., 1.));
 
  let transform = Transform::from_xyz(0., 5., 32.5);

examples/getting_started.rs

@@ -33,7 +33,7 @@ fn setup_physics(
  commands.spawn((
  RigidBody::Static,
  Shape {
- geometry: geometries.add(Geometry::halfspace(Vec3::Y)),
+ geometry: geometries.add(Plane3d::default()),
  material: materials.add(Material::new(&mut physics, 0.5, 0.5, 0.6)),
  ..default()
  },
@@ -44,7 +44,7 @@ fn setup_physics(
  commands.spawn((
  RigidBody::Dynamic,
  Shape {
- geometry: geometries.add(Geometry::ball(0.5)),
+ geometry: geometries.add(Sphere::new(0.5)),
  material: materials.add(Material::new(&mut physics, 0.5, 0.5, 0.6)),
  ..default()
  },

examples/kinematic.rs

@@ -48,9 +48,10 @@ fn spawn_table(
  const THICKNESS: f32 = 0.5;
  const SIDE_HEIGHT: f32 = 1.;
 
- let mesh = meshes.add(Cuboid::new(SIZE, THICKNESS, SIZE));
+ let primitive = Cuboid::new(SIZE, THICKNESS, SIZE);
+ let mesh = meshes.add(primitive);
  let material = materials.add(Color::rgb(0.3, 0.5, 0.3));
- let px_geometry = px_geometries.add(bpx::Geometry::cuboid(SIZE / 2., THICKNESS / 2., SIZE / 2.));
+ let px_geometry = px_geometries.add(primitive);
  let px_material = px_materials.add(bpx::Material::new(&mut physics, 0.5, 0.5, 0.6));
 
  commands.spawn_empty()
@@ -69,9 +70,10 @@ fn spawn_table(
  .insert(Surface)
  .insert(Name::new("TableSurface"));
 
- let mesh = meshes.add(Cuboid::new(SIZE + THICKNESS, SIDE_HEIGHT, THICKNESS));
+ let primitive = Cuboid::new(SIZE + THICKNESS, SIDE_HEIGHT, THICKNESS);
+ let mesh = meshes.add(primitive);
  let material = materials.add(Color::rgb(0.3, 0.5, 0.3));
- let px_geometry = px_geometries.add(bpx::Geometry::cuboid(SIZE / 2. + THICKNESS / 2., SIDE_HEIGHT / 2., THICKNESS / 2.));
+ let px_geometry = px_geometries.add(primitive);
  let px_material = px_materials.add(bpx::Material::new(&mut physics, 0.5, 0.5, 0.6));
 
  for side in 0..4 {
@@ -104,10 +106,11 @@ fn spawn_pyramid(
  mut px_geometries: ResMut<Assets<bpx::Geometry>>,
  mut px_materials: ResMut<Assets<bpx::Material>>,
 ) {
- let mesh = meshes.add(Sphere::new(BALL_SIZE).mesh());
+ let primitive = Sphere::new(BALL_SIZE);
+ let mesh = meshes.add(primitive);
  let material = materials.add(Color::rgb(0.8, 0.7, 0.6));
 
- let px_geometry = px_geometries.add(bpx::Geometry::ball(BALL_SIZE));
+ let px_geometry = px_geometries.add(primitive);
  let px_material = px_materials.add(bpx::Material::new(&mut physics, 0., 0., 1.));
 
  for dx in 0..8 {
@@ -144,10 +147,11 @@ fn spawn_kinematic(
  mut px_geometries: ResMut<Assets<bpx::Geometry>>,
  mut px_materials: ResMut<Assets<bpx::Material>>,
 ) {
- let mesh = meshes.add(Cuboid::new(CUE_SIZE, CUE_SIZE, CUE_SIZE));
+ let primitive = Cuboid::new(CUE_SIZE, CUE_SIZE, CUE_SIZE);
+ let mesh = meshes.add(primitive);
  let material = materials.add(Color::rgb(0.8, 0.7, 0.6));
 
- let px_geometry = px_geometries.add(bpx::Geometry::cuboid(CUE_SIZE / 2., CUE_SIZE / 2., CUE_SIZE / 2.));
+ let px_geometry = px_geometries.add(primitive);
  let px_material = px_materials.add(bpx::Material::new(&mut physics, 0., 0., 1.));
  let transform = Transform::from_xyz(0., BALL_SIZE, 0.);
 

examples/raycast.rs

@@ -59,9 +59,10 @@ fn spawn_plane(
  mut px_geometries: ResMut<Assets<bpx::Geometry>>,
  mut px_materials: ResMut<Assets<bpx::Material>>,
 ) {
- let mesh = meshes.add(Plane3d::default().mesh().size(500., 500.));
+ let primitive = Plane3d::default();
+ let mesh = meshes.add(primitive.mesh().size(500., 500.));
  let material = materials.add(Color::rgb(0.3, 0.5, 0.3));
- let px_geometry = px_geometries.add(bpx::Geometry::halfspace(Vec3::Y));
+ let px_geometry = px_geometries.add(primitive);
  let px_material = px_materials.add(bpx::Material::new(&mut physics, 0.5, 0.5, 0.6));
 
  commands.spawn_empty()
@@ -87,8 +88,9 @@ fn spawn_cubes(
 ) {
  let num = 8;
  let rad = 1.0;
- let px_geometry = px_geometries.add(bpx::Geometry::cuboid(rad, rad, rad));
- let mesh = meshes.add(Cuboid::from_size(Vec3::splat(rad * 2.)));
+ let primitive = Cuboid::from_size(Vec3::splat(rad * 2.));
+ let px_geometry = px_geometries.add(primitive);
+ let mesh = meshes.add(primitive);
  let material = materials.normal.clone();
 
  let shift = rad * 2.0 + rad;

examples/test_articulation_drives.rs

@@ -30,26 +30,32 @@ pub fn spawn_scene(
  mut px_materials: ResMut<Assets<bpx::Material>>,
 ) {
  // plane
+ let primitive = Plane3d::default();
  commands.spawn((
  bpx::RigidBody::Static,
  bpx::Shape {
- geometry: px_geometries.add(bpx::Geometry::halfspace(Vec3::Y)),
+ geometry: px_geometries.add(primitive),
  material: px_materials.add(bpx::Material::new(&mut physics, 0., 0., 1.)),
  ..default()
  },
  PbrBundle {
- mesh: meshes.add(Plane3d::default().mesh().size(1000., 1000.)),
+ mesh: meshes.add(primitive.mesh().size(1000., 1000.)),
  material: materials.add(Color::rgb(0.3, 0.5, 0.3)),
  ..default()
  }
  ));
 
+ let primitive_root = Cuboid::from_size(Vec3::splat(0.5));
  let bevy_material = materials.add(Color::rgb(0.8, 0.7, 0.6));
- let root_mesh = meshes.add(Cuboid::new(0.5, 0.5, 0.5));
- let root_geometry = px_geometries.add(bpx::Geometry::cuboid(0.25, 0.25, 0.25));
- let part_mesh = meshes.add(Sphere::new(0.2).mesh());
- let part_geometry = px_geometries.add(bpx::Geometry::ball(0.2));
- let limited_joint = ArticulationJointMotion::Limited { min: -std::f32::consts::FRAC_PI_4, max: std::f32::consts::FRAC_PI_4 };
+ let root_mesh = meshes.add(primitive_root);
+ let root_geometry = px_geometries.add(primitive_root);
+ let primitive_part = Sphere::new(0.2);
+ let part_mesh = meshes.add(primitive_part);
+ let part_geometry = px_geometries.add(primitive_part);
+ let limited_joint = ArticulationJointMotion::Limited {
+ min: -std::f32::consts::FRAC_PI_4,
+ max: std::f32::consts::FRAC_PI_4,
+ };
 
  let root = commands.spawn((
  PbrBundle {

examples/test_convex_shapes.rs

@@ -82,14 +82,15 @@ pub fn spawn_scene(
  mut px_geometries: ResMut<Assets<bpx::Geometry>>,
 ) {
  // plane
+ let primitive = Plane3d::default();
  commands.spawn((
  RigidBody::Static,
  bpx::Shape {
- geometry: px_geometries.add(bpx::Geometry::halfspace(Vec3::Y)),
+ geometry: px_geometries.add(primitive),
  ..default()
  },
  PbrBundle {
- mesh: meshes.add(Plane3d::default().mesh().size(1000., 1000.)),
+ mesh: meshes.add(primitive.mesh().size(1000., 1000.)),
  material: materials.add(Color::rgb(0.3, 0.5, 0.3)),
  ..default()
  }

examples/test_damping.rs

@@ -27,48 +27,51 @@ pub fn spawn_scene(
  mut px_materials: ResMut<Assets<bpx::Material>>,
 ) {
  // plane
+ let primitive = Plane3d::default();
  commands.spawn((
  RigidBody::Static,
  bpx::Shape {
- geometry: px_geometries.add(bpx::Geometry::halfspace(Vec3::Y)),
+ geometry: px_geometries.add(primitive),
  material: px_materials.add(bpx::Material::new(&mut physics, 0., 0., 1.)),
  ..default()
  },
  PbrBundle {
- mesh: meshes.add(Plane3d::default().mesh().size(1000., 1000.)),
+ mesh: meshes.add(primitive.mesh().size(1000., 1000.)),
  material: materials.add(Color::rgb(0.3, 0.5, 0.3)),
  ..default()
  }
  ));
 
  // no damping
+ let primitive = Sphere::new(0.5);
  commands.spawn((
  PbrBundle {
- mesh: meshes.add(Sphere::new(0.5).mesh()),
+ mesh: meshes.add(primitive),
  material: materials.add(Color::rgb(0.8, 0.7, 0.6)),
  transform: Transform::from_xyz(-2.0, 7.0, 0.0),
  ..default()
  },
  RigidBody::Dynamic,
  bpx::Shape {
- geometry: px_geometries.add(bpx::Geometry::ball(0.5)),
+ geometry: px_geometries.add(primitive),
  material: px_materials.add(bpx::Material::new(&mut physics, 0., 0., 1.)),
  ..default()
  },
  Damping { linear: 0., angular: 0. },
  ));
 
  // high damping
+ let primitive = Sphere::new(0.5);
  commands.spawn((
  PbrBundle {
- mesh: meshes.add(Sphere::new(0.5).mesh()),
+ mesh: meshes.add(primitive),
  material: materials.add(Color::rgb(0.8, 0.7, 0.6)),
  transform: Transform::from_xyz(2.0, 7.0, 0.0),
  ..default()
  },
  RigidBody::Dynamic,
  bpx::Shape {
- geometry: px_geometries.add(bpx::Geometry::ball(0.5)),
+ geometry: px_geometries.add(primitive),
  material: px_materials.add(bpx::Material::new(&mut physics, 0., 0., 1.)),
  ..default()
  },