From 6626748fa699b82e40008d84c56a6fe5d61ed3ee Mon Sep 17 00:00:00 2001
From: Sergei Surovtsev <ssurovsev@gmail.com>
Date: Tue, 2 Apr 2024 17:36:39 +0300
Subject: [PATCH] upd to recent bevy

---
 Cargo.toml          | 6 +++---
 src/adapters.rs     | 9 ++++++---
 src/mujoco_shape.rs | 8 ++++++--
 3 files changed, 15 insertions(+), 8 deletions(-)

diff --git a/Cargo.toml b/Cargo.toml
index 0da7a7b..d91e331 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -11,12 +11,12 @@ repository = "https://github.com/stillonearth/bevy_mujoco"
 [dependencies]
 mujoco-rust = { version = "0.0.6" }
 arrayvec = "0.7.2"
-bevy = "0.12"
+bevy = "0.13"
 trees = "0.4.1"
 serde = { version = "1", features = ["derive"] }
-itertools = "0.11.0"
+itertools = "0.12"
 nalgebra = "0.32.2"
 
 [dev-dependencies]
 rand = "0.8.5"
-bevy_flycam = { git = "https://github.com/stillonearth/bevy_flycam.git", rev = "9508f35" }
+bevy_flycam = { git = "https://github.com/stillonearth/bevy_flycam.git", rev = "baffe50" }
diff --git a/src/adapters.rs b/src/adapters.rs
index ab96339..86e5be5 100644
--- a/src/adapters.rs
+++ b/src/adapters.rs
@@ -1,6 +1,6 @@
 use bevy::{
     prelude::*,
-    render::{mesh::Indices, render_resource::PrimitiveTopology},
+    render::{mesh::Indices, render_asset::RenderAssetUsages, render_resource::PrimitiveTopology},
 };
 use mujoco_rust::{Body, Geom, GeomType};
 use nalgebra::{ArrayStorage, Const, Matrix, Quaternion};
@@ -47,8 +47,11 @@ pub(crate) fn body_tree(bodies: &[Body]) -> Vec<BodyTree> {
 
 /// Make a bevy mesh from exported MuJoCo mesh
 pub(crate) fn mesh_mujoco_2_bevy(mj_mesh: mujoco_rust::Mesh) -> Mesh {
-    let mut mesh = Mesh::new(PrimitiveTopology::TriangleList);
-    mesh.set_indices(Some(Indices::U32(mj_mesh.indices)));
+    let mut mesh = Mesh::new(
+        PrimitiveTopology::TriangleList,
+        RenderAssetUsages::MAIN_WORLD | RenderAssetUsages::RENDER_WORLD,
+    );
+    mesh.insert_indices(Indices::U32(mj_mesh.indices));
     mesh.insert_attribute(Mesh::ATTRIBUTE_POSITION, mj_mesh.vertices);
     mesh.insert_attribute(Mesh::ATTRIBUTE_NORMAL, mj_mesh.normals);
     mesh
diff --git a/src/mujoco_shape.rs b/src/mujoco_shape.rs
index 63ddc53..a871935 100644
--- a/src/mujoco_shape.rs
+++ b/src/mujoco_shape.rs
@@ -4,6 +4,7 @@ use bevy::{
     prelude::*,
     render::{
         mesh::{Indices, Mesh},
+        render_asset::RenderAssetUsages,
         render_resource::PrimitiveTopology,
     },
 };
@@ -114,8 +115,11 @@ impl From<Cylinder> for Mesh {
             .map(|&p| [p[0] / c.radius, (p[1] + c.height) / (c.height * 2.0)])
             .collect();
 
-        let mut mesh = Mesh::new(PrimitiveTopology::TriangleList);
-        mesh.set_indices(Some(Indices::U32(indices)));
+        let mut mesh = Mesh::new(
+            PrimitiveTopology::TriangleList,
+            RenderAssetUsages::MAIN_WORLD | RenderAssetUsages::RENDER_WORLD,
+        );
+        mesh.insert_indices(Indices::U32(indices));
         mesh.insert_attribute(Mesh::ATTRIBUTE_POSITION, positions);
         mesh.insert_attribute(Mesh::ATTRIBUTE_NORMAL, normals);
         mesh.insert_attribute(Mesh::ATTRIBUTE_UV_0, uvs);