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Migrating From v0.2 to v0.3

Collision Hooks

PRs: #610

The BroadPhasePlugin, NarrowPhasePlugin, and many NarrowPhase methods now take generics for CollisionHooks. If you have no collision hooks, you can use ().

Physics Picking

PRs: #632

The RenderLayers of cameras and collider entities no longer affect physics picking. Add the new PhysicsPickingFilter component to cameras to control which CollisionLayers and colliders are included in picking.

Default Layers for ColliderConstructorHierarchy

PRs: #649

ColliderConstructorHierarchy now defaults to one membership (the first layer) and all filters for the CollisionLayers of generated colliders. This is consistent with how the CollisionLayers component already works normally.

Previously, it was still using the old default of all memberships and all filters.

Improved Contact Types

PRs: #616 #685

There have been several changes to Avian's contact types to make them more optimized and clear.

Contacts

  • Contacts has been renamed to ContactPair.
  • The total_normal_impulse property has been replaced with a total_normal_impulse helper method.
  • The total_normal_force helper has been deprecated. Instead, just divide the impulse by the substep timestep.
  • The total_tangent_impulse property and total_friction_force helper have been removed for being inaccurate/misleading. The tangent impulse magnitudes of each individual point can still be accessed.

ContactManifold

  • ContactManifold::contacts has been renamed to ContactManifold::points.
  • The local normal1 and normal2 have been replaced with a single world-space normal, pointing from the first shape to the second.

ContactData

  • ContactData has been renamed to ContactPoint, since it specifically represents a point in a contact manifold, not general contact data.
  • point1 and point2 have been renamed to local_point1 and local_point2 for explicitness.
  • normal1 and normal2 have been removed, since the normal is already stored in the ContactManifold.

Add Context to AnyCollider

PRs: #665

  • AnyCollider implementors now need to specify a Context associated SystemParam. If this is unnecessary, () should be used.
  • When trying to use methods from AnyCollider on an implementation with () context, SimpleCollider should be used instead.
  • Methods on AnyCollider have been suffixed with _with_context.

Bevy 0.16 Support

PRs: #670

Avian now uses Bevy 0.16.

The AncestorMarkerPlugin no longer requires a schedule or system set.

Change ColliderParent to ColliderOf relationship

PRs: #671

The ColliderParent component has been renamed to ColliderOf, and it is now a Relationship. The ColliderHierarchyPlugin (included in PhysicsPlugins) must be enabled for colliders to be automatically attached to rigid bodies, but ColliderOf can also be inserted manually otherwise.

The transform management in ColliderHierarchyPlugin has been extracted into a new ColliderTransformPlugin. The ColliderHierarchyPlugin no longer takes a schedule.

Reworked Contact Pair Management

PRs: #683

Avian's collision detection pipelines and contact pair management have been massively reworked for better performance and robustness.

PostProcessCollisions

The PostProcessCollisions schedule and NarrowPhaseSet::PostProcess system set have been removed, as it is incompatible with new optimizations to narrow phase collision detection. Instead, use CollisionHooks for contact modification.

Contact Reporting

The ContactReportingPlugin and PhysicsStepSet::ReportContacts system set have been removed. Contact reporting is now handled by the NarrowPhasePlugin directly.

The Collision event no longer exists. Instead, use Collisions directly, or get colliding entities using the CollidingEntities component.

The CollisionStarted and CollisionEnded events are now only sent if either entity in the collision has the CollisionEventsEnabled component. If you'd like to revert to the old behavior of having collision events for all entities, consider making CollisionEventsEnabled a required component for Collider:

app.register_required_components::<Collider, CollisionEventsEnabled>();

Collisions

The Collisions resource is now a SystemParam.

// Old
fn iter_collisions(collisions: Res<Collisions>) {
    todo!()
}

// New
fn iter_collisions(collisions: Collisions) {
    todo!()
}

Internally, Collisions now stores a ContactGraph that stores both touching and non-touching contact pairs. The Collisions system parameter is just a wrapper that provides a simpler API and only returns touching contacts.

The collisions_with_entity method has also been renamed to collisions_with, and all methods that mutatate, add, or remove contact pairs have been removed from Collisions. However, the following mutating methods are available on ContactGraph:

  • get_mut
  • iter_mut
  • iter_touching_mut
  • collisions_with_mut
  • add_pair/add_pair_with_key
  • insert_pair/insert_pair_with_key
  • remove_pair
  • remove_collider_with

For most scenarios, contact modification and removal are intended to be handled with CollisionHooks.

Contact Pairs

The during_current_frame and during_previous_frame properties of ContactPair have been removed in favor of a flags property storing information in a more compact bitflag format. The is_sensor, is_touching, collision_started, and collision_ended helper methods can be used instead.

Contact Manifolds

Methods such as AnyCollider::contact_manifolds_with_context now take &mut Vec<ContactManifold> instead of returning a new vector every time. This allows manifolds to be persisted more effectively, and reduces unnecessary allocations.

BroadCollisionPairs

The BroadCollisionPairs resource has been removed. Use the ContactGraph resource instead.

AabbIntersections

The AabbIntersections component has been removed. Use ContactGraph::entities_colliding_with instead.

Change CollisionLayers to a Required Component

PRs: #693

CollisionLayers is now a required component for colliders and is inserted automatically. Collision detection may not work properly without it.

Reorganize Collision Detection Modules and Re-Exports

PRs: #698

Some collision detection modules and imports have been reorganized.

The following modules have been moved:

  • layers from collision to collision::collider
  • contact_query from collision to collision::collider::parry
  • feature_id from collision to collision::contact_types

Previously, a lot of collision detection types were also re-exported directly from the collision module. Now, there is instead a prelude for the collision module.

Contact Constraint Generation System Ordering

PRs: #699

NarrowPhaseSet::GenerateConstraints has been removed. Contact constraints are now generated as part of NarrowPhaseSet::Update.

Rename Entity Properties

PRs: #718 #719

  • ContactPair: The entity1 and entity2 properties are now collider1 and collider2, and body_entity1 and body_entity2 are now body1 and body2.
  • ContactConstraint: The entity1 and entity2 properties are now body1 and body2, and collider_entity1 and collider_entity2 are now collider1 and collider2.
  • ColliderQuery: The rigid_body property has been renamed to of (for ColliderOf) and there is a new body helper to get the contained entity directly.