Bevy 0.19 work in progress: bump parry to 0.27 and sync with latest bevy main

crates/avian2d/Cargo.toml

@@ -46,7 +46,7 @@ parry-f64 = ["f64", "dep:parry2d-f64", "default-collider"]
 # Enables the XPBD constraint solver for joints.
 xpbd_joints = []
 
-bevy_scene = ["bevy/bevy_scene"]
+bevy_scene = ["bevy/bevy_world_serialization"]
 bevy_picking = ["bevy/bevy_picking"]
 serialize = [
     "dep:serde",
@@ -77,18 +77,18 @@ bench = false
 
 [dependencies]
 avian_derive = { path = "../avian_derive", version = "0.2" }
-bevy = { version = "0.18.0", default-features = false, features = [
+bevy = { git = "https://github.com/bevyengine/bevy",default-features = false, features = [
     "std",
     "bevy_log",
 ] }
-bevy_math = { version = "0.18.0", features = ["approx"] }
-glam_matrix_extras = { version = "0.2", features = ["bevy_reflect"] }
-bevy_heavy = { version = "0.4" }
-bevy_transform_interpolation = { version = "0.4" }
+bevy_math = { git = "https://github.com/bevyengine/bevy",features = ["approx"] }
+glam_matrix_extras = { git = "https://github.com/jbuehler23/glam_matrix_extras", branch = "bsn", features = ["bevy_reflect"] }
+bevy_heavy = { git = "https://github.com/jbuehler23/bevy_heavy", branch = "bsn" }
+bevy_transform_interpolation = { git = "https://github.com/jbuehler23/bevy_transform_interpolation", branch = "bsn" }
 libm = { version = "0.2", optional = true }
 approx = "0.5"
-parry2d = { version = "0.26", optional = true }
-parry2d-f64 = { version = "0.26", optional = true }
+parry2d = { version = "0.27", optional = true }
+parry2d-f64 = { version = "0.27", optional = true }
 obvhs = { version = "0.3" }
 serde = { version = "1", features = ["derive"], optional = true }
 derive_more = "2"
@@ -102,8 +102,8 @@ disqualified = { version = "1.0" }
 
 [dev-dependencies]
 examples_common_2d = { path = "../examples_common_2d" }
-bevy = { version = "0.18.0", default-features = false, features = ["2d", "ui"] }
-bevy_heavy = { version = "0.4", features = ["approx"] }
+bevy = { git = "https://github.com/bevyengine/bevy",default-features = false, features = ["2d", "ui"] }
+bevy_heavy = { git = "https://github.com/jbuehler23/bevy_heavy", branch = "bsn", features = ["approx"] }
 glam = { version = "0.30", features = ["bytemuck"] }
 bytemuck = "1.19"
 criterion = { version = "0.8", features = ["html_reports"] }

crates/avian3d/Cargo.toml

@@ -48,7 +48,7 @@ parry-f64 = ["f64", "dep:parry3d-f64", "default-collider"]
 xpbd_joints = []
 
 collider-from-mesh = ["bevy/bevy_mesh", "bevy/bevy_mikktspace", "3d"]
-bevy_scene = ["bevy/bevy_scene"]
+bevy_scene = ["bevy/bevy_world_serialization"]
 bevy_picking = ["bevy/bevy_picking"]
 serialize = [
     "dep:serde",
@@ -79,18 +79,18 @@ bench = false
 
 [dependencies]
 avian_derive = { path = "../avian_derive", version = "0.2" }
-bevy = { version = "0.18.0", default-features = false, features = [
+bevy = { git = "https://github.com/bevyengine/bevy",default-features = false, features = [
     "std",
     "bevy_log",
 ] }
-bevy_math = { version = "0.18.0", features = ["approx"] }
-glam_matrix_extras = { version = "0.2", features = ["bevy_reflect"] }
-bevy_heavy = { version = "0.4" }
-bevy_transform_interpolation = { version = "0.4" }
+bevy_math = { git = "https://github.com/bevyengine/bevy",features = ["approx"] }
+glam_matrix_extras = { git = "https://github.com/jbuehler23/glam_matrix_extras", branch = "bsn", features = ["bevy_reflect"] }
+bevy_heavy = { git = "https://github.com/jbuehler23/bevy_heavy", branch = "bsn" }
+bevy_transform_interpolation = { git = "https://github.com/jbuehler23/bevy_transform_interpolation", branch = "bsn" }
 libm = { version = "0.2", optional = true }
 approx = "0.5"
-parry3d = { version = "0.26", optional = true }
-parry3d-f64 = { version = "0.26", optional = true }
+parry3d = { version = "0.27", optional = true }
+parry3d-f64 = { version = "0.27", optional = true }
 obvhs = { version = "0.3" }
 serde = { version = "1", features = ["derive"], optional = true }
 derive_more = "2"
@@ -103,13 +103,13 @@ disqualified = { version = "1.0" }
 
 [dev-dependencies]
 examples_common_3d = { path = "../examples_common_3d" }
-bevy = { version = "0.18.0", features = [
+bevy = { git = "https://github.com/bevyengine/bevy",features = [
     "3d",
     "ui",
     "https",
-    "experimental_bevy_feathers",
+    "bevy_feathers",
 ] }
-bevy_heavy = { version = "0.4", features = ["approx"] }
+bevy_heavy = { git = "https://github.com/jbuehler23/bevy_heavy", branch = "bsn", features = ["approx"] }
 criterion = { version = "0.8", features = ["html_reports"] }
 bevy_mod_debugdump = { version = "0.15" }
 rand = "0.9"

crates/examples_common_2d/Cargo.toml

@@ -7,7 +7,7 @@ edition = "2024"
 use-debug-plugin = []
 
 [dependencies]
-bevy = { version = "0.18.0", default-features = false, features = ["2d", "ui"] }
+bevy = { git = "https://github.com/bevyengine/bevy", default-features = false, features = ["2d", "ui"] }
 avian2d = { path = "../avian2d", default-features = false, features = [
     "diagnostic_ui",
 ] }

crates/examples_common_3d/Cargo.toml

@@ -7,7 +7,7 @@ edition = "2024"
 use-debug-plugin = []
 
 [dependencies]
-bevy = { version = "0.18.0", default-features = false, features = ["3d", "ui"] }
+bevy = { git = "https://github.com/bevyengine/bevy", default-features = false, features = ["3d", "ui"] }
 avian3d = { path = "../avian3d", default-features = false, features = [
     "diagnostic_ui",
 ] }

src/ancestor_marker.rs

@@ -47,7 +47,7 @@ impl<C: Component + TypePath> Plugin for AncestorMarkerPlugin<C> {
         // until an ancestor that has other `AncestorMarker<C>` entities as children is encountered.
         #[allow(clippy::type_complexity)]
         app.add_observer(
-            |insert: On<Replace, (ChildOf, C)>,
+            |insert: On<Discard, (ChildOf, C)>,
             mut commands: Commands,
             collider_query: Query<&C>,
             child_query: Query<&Children>,

src/collider_tree/update.rs

@@ -191,11 +191,11 @@ impl<C: AnyCollider> Plugin for ColliderTreeUpdatePlugin<C> {
         );
 
         // Cases 4
-        // Note: We use `Replace` here to run before Case 2.
+        // Note: We use `Discard` here to run before Case 2.
         app.add_observer(
-            add_to_tree_on::<Replace, Disabled, (Without<ColliderDisabled>, Allow<Disabled>)>,
+            add_to_tree_on::<Discard, Disabled, (Without<ColliderDisabled>, Allow<Disabled>)>,
         );
-        app.add_observer(add_to_tree_on::<Replace, ColliderDisabled, ()>);
+        app.add_observer(add_to_tree_on::<Discard, ColliderDisabled, ()>);
 
         // Case 5
         app.add_observer(
@@ -371,7 +371,7 @@ impl<C: AnyCollider> Plugin for ColliderTreeUpdatePlugin<C> {
 
         // Case 11
         app.add_observer(
-            |trigger: On<Replace, RigidBodyDisabled>,
+            |trigger: On<Discard, RigidBodyDisabled>,
              body_query: Query<(&RigidBodyColliders, Has<RigidBodyDisabled>)>,
              mut collider_query: Query<&ColliderTreeProxyKey, Without<ColliderDisabled>>,
              mut trees: ResMut<ColliderTrees>| {

src/collision/collider/backend.rs

@@ -12,7 +12,7 @@ use crate::{
     prelude::*,
 };
 #[cfg(all(feature = "bevy_scene", feature = "default-collider"))]
-use bevy::scene::SceneInstance;
+use bevy::world_serialization::{WorldAssetRoot as SceneRoot, WorldInstance as SceneInstance, WorldInstanceSpawner as SceneSpawner};
 use bevy::{
     ecs::{intern::Interned, schedule::ScheduleLabel},
     prelude::*,

src/collision/collider/collider_hierarchy/mod.rs

@@ -45,7 +45,7 @@ use bevy::{
 ///
 /// [`Relationship`]: bevy::ecs::relationship::Relationship
 #[derive(Component, Clone, Copy, Debug, PartialEq, Eq, Reflect)]
-#[component(immutable, on_insert = <ColliderOf as Relationship>::on_insert, on_replace = <ColliderOf as Relationship>::on_replace)]
+#[component(immutable, on_insert = <ColliderOf as Relationship>::on_insert, on_discard = <ColliderOf as Relationship>::on_discard)]
 #[require(ColliderTransform)]
 #[cfg_attr(feature = "serialize", derive(serde::Serialize, serde::Deserialize))]
 #[cfg_attr(feature = "serialize", reflect(Serialize, Deserialize))]
@@ -69,6 +69,8 @@ impl FromWorld for ColliderOf {
 impl Relationship for ColliderOf {
     type RelationshipTarget = RigidBodyColliders;
 
+    const ALLOW_SELF_REFERENTIAL: bool = true;
+
     fn get(&self) -> Entity {
         self.body
     }
@@ -145,7 +147,7 @@ impl Relationship for ColliderOf {
         }
     }
 
-    fn on_replace(
+    fn on_discard(
         mut world: DeferredWorld,
         HookContext {
             entity,
@@ -169,27 +171,20 @@ impl Relationship for ColliderOf {
         if let Ok(mut body_mut) = world.get_entity_mut(body)
             && let Some(mut relationship_target) = body_mut.get_mut::<Self::RelationshipTarget>()
         {
-            RelationshipSourceCollection::remove(
-                relationship_target.collection_mut_risky(),
-                entity,
-            );
-            if relationship_target.is_empty()
-                && let Ok(mut entity) = world.commands().get_entity(body)
-            {
-                // this "remove" operation must check emptiness because in the event that an identical
-                // relationship is inserted on top, this despawn would result in the removal of that identical
-                // relationship ... not what we want!
-                entity.queue_handled(
-                    |mut entity: EntityWorldMut| {
-                        if entity
-                            .get::<Self::RelationshipTarget>()
-                            .is_some_and(RelationshipTarget::is_empty)
-                        {
-                            entity.remove::<Self::RelationshipTarget>();
-                        }
-                    },
-                    |_, _| {},
-                );
+            RelationshipSourceCollection::remove(relationship_target.collection_mut_risky(), entity);
+            if relationship_target.len() == 0 {
+                let command = |mut entity: EntityWorldMut| {
+                    if entity
+                        .get::<Self::RelationshipTarget>()
+                        .is_some_and(RelationshipTarget::is_empty)
+                    {
+                        entity.remove::<Self::RelationshipTarget>();
+                    }
+                };
+
+                world
+                    .commands()
+                    .queue_silenced(command.with_entity(body));
             }
         }
     }

src/collision/collider/parry/contact_query.rs

@@ -199,7 +199,7 @@ pub fn contact_manifolds(
             prediction_distance,
         )
     {
-        let normal = rotation1 * contact.normal1;
+        let normal: Vector = rotation1 * contact.normal1;
 
         // Make sure the normal is valid
         if !normal.is_normalized() {

src/collision/collider/parry/mod.rs

@@ -950,7 +950,8 @@ impl Collider {
     /// defined by its vertex and index buffers.
     #[cfg(feature = "3d")]
     pub fn convex_decomposition(vertices: Vec<Vector>, indices: Vec<[u32; 3]>) -> Self {
-        SharedShape::convex_decomposition(&vertices, &indices).into()
+        let pv = vertices;
+        SharedShape::convex_decomposition(&pv, &indices).into()
     }
 
     /// Creates a collider shape with a compound shape obtained from the decomposition of a given polyline
@@ -975,7 +976,8 @@ impl Collider {
         indices: Vec<[u32; 3]>,
         params: VhacdParameters,
     ) -> Self {
-        SharedShape::convex_decomposition_with_params(&vertices, &indices, &params.clone().into())
+        let pv = vertices;
+        SharedShape::convex_decomposition_with_params(&pv, &indices, &params.clone().into())
             .into()
     }
 
@@ -990,7 +992,8 @@ impl Collider {
     /// the [convex hull](https://en.wikipedia.org/wiki/Convex_hull) of the given points.
     #[cfg(feature = "3d")]
     pub fn convex_hull(points: Vec<Vector>) -> Option<Self> {
-        SharedShape::convex_hull(&points).map(Into::into)
+        let pv = points;
+        SharedShape::convex_hull(&pv).map(Into::into)
     }
 
     /// Creates a collider with a [convex polygon](https://en.wikipedia.org/wiki/Convex_polygon) shape **without** computing
@@ -1015,6 +1018,8 @@ impl Collider {
             .iter()
             .map(|c| c.as_i64vec3())
             .collect::<Vec<_>>();
+        #[cfg(all(feature = "3d", not(feature = "f64")))]
+        let grid_coordinates = &grid_coordinates;
         let shape = Voxels::new(voxel_size, grid_coordinates);
         SharedShape::new(shape).into()
     }
@@ -1023,7 +1028,8 @@ impl Collider {
     ///
     /// Each voxel has the size `voxel_size` and contains at least one point from `points`.
     pub fn voxels_from_points(voxel_size: Vector, points: &[Vector]) -> Self {
-        SharedShape::voxels_from_points(voxel_size, points).into()
+        let pp = points;
+        SharedShape::voxels_from_points(voxel_size, &pp).into()
     }
 
     /// Creates a voxel collider obtained from the decomposition of the given polyline into voxelized convex parts.
@@ -1045,7 +1051,8 @@ impl Collider {
         voxel_size: Scalar,
         fill_mode: FillMode,
     ) -> Self {
-        SharedShape::voxelized_mesh(vertices, indices, voxel_size, fill_mode.into()).into()
+        let pv = vertices;
+        SharedShape::voxelized_mesh(&pv, indices, voxel_size, fill_mode.into()).into()
     }
 
     /// Creates a voxel collider obtained from the decomposition of the given `Mesh` into voxelized convex parts.
@@ -1058,7 +1065,8 @@ impl Collider {
         fill_mode: FillMode,
     ) -> Option<Self> {
         extract_mesh_vertices_indices(mesh).map(|(vertices, indices)| {
-            SharedShape::voxelized_mesh(&vertices, &indices, voxel_size, fill_mode.into()).into()
+            let pv = &vertices;
+            SharedShape::voxelized_mesh(&pv, &indices, voxel_size, fill_mode.into()).into()
         })
     }
 
@@ -1094,8 +1102,9 @@ impl Collider {
         indices: &[[u32; DIM]],
         parameters: &VhacdParameters,
     ) -> Vec<Self> {
+        let pv = vertices;
         SharedShape::voxelized_convex_decomposition_with_params(
-            vertices,
+            &pv,
             indices,
             &parameters.clone().into(),
         )
@@ -1242,7 +1251,10 @@ impl Collider {
     #[cfg(feature = "collider-from-mesh")]
     pub fn convex_hull_from_mesh(mesh: &Mesh) -> Option<Self> {
         extract_mesh_vertices_indices(mesh)
-            .and_then(|(vertices, _)| SharedShape::convex_hull(&vertices).map(|shape| shape.into()))
+            .and_then(|(vertices, _)| {
+                let pv = vertices;
+                SharedShape::convex_hull(&pv).map(|shape| shape.into())
+            })
     }
 
     /// Creates a compound shape obtained from the decomposition of a `Mesh`.
@@ -1264,7 +1276,8 @@ impl Collider {
     #[cfg(feature = "collider-from-mesh")]
     pub fn convex_decomposition_from_mesh(mesh: &Mesh) -> Option<Self> {
         extract_mesh_vertices_indices(mesh).map(|(vertices, indices)| {
-            SharedShape::convex_decomposition(&vertices, &indices).into()
+            let pv = vertices;
+            SharedShape::convex_decomposition(&pv, &indices).into()
         })
     }
 
@@ -1295,8 +1308,9 @@ impl Collider {
         parameters: &VhacdParameters,
     ) -> Option<Self> {
         extract_mesh_vertices_indices(mesh).map(|(vertices, indices)| {
+            let pv = vertices;
             SharedShape::convex_decomposition_with_params(
-                &vertices,
+                &pv,
                 &indices,
                 &parameters.clone().into(),
             )
@@ -1690,7 +1704,10 @@ fn scale_shape(
                 ));
                 #[cfg(feature = "3d")]
                 scaled.push((
-                    make_pose(pose.translation * scale, pose.rotation),
+                    make_pose(
+                        pose.translation * scale,
+                        Rotation(pose.rotation),
+                    ),
                     scale_shape(shape, scale, num_subdivisions)?,
                 ));
             }

src/collision/narrow_phase/mod.rs

@@ -315,7 +315,7 @@ fn trigger_collision_events(
     mut started: Local<Vec<CollisionStart>>,
     mut ended: Local<Vec<CollisionEnd>>,
 ) {
-    let mut state = state.get_mut(world);
+    let mut state = state.get_mut(world).unwrap();
 
     // Collect `CollisionStart` events.
     for event in state.started.read() {

src/diagnostics/mod.rs

@@ -81,6 +81,7 @@ pub use total::{PhysicsTotalDiagnostics, PhysicsTotalDiagnosticsPlugin};
 use crate::{PhysicsStepSystems, schedule::PhysicsSchedule};
 use bevy::{
     diagnostic::DiagnosticPath,
+    ecs::component::Mutable,
     prelude::{App, IntoScheduleConfigs, ResMut, Resource, SystemSet},
 };
 #[cfg(feature = "bevy_diagnostic")]
@@ -127,7 +128,7 @@ pub enum PhysicsDiagnosticsSystems {
 }
 
 /// A trait for resources storing timers and counters for [physics diagnostics](crate::diagnostics).
-pub trait PhysicsDiagnostics: Default + Resource {
+pub trait PhysicsDiagnostics: Default + Resource<Mutability = Mutable> {
     /// Maps diagnostic paths to their respective duration fields.
     fn timer_paths(&self) -> Vec<(&'static DiagnosticPath, Duration)> {
         Vec::new()