Make it possible to update colliders

bevy_rapier2d/examples/despawn2.rs

@@ -17,6 +17,11 @@ pub struct DespawnResource {
  pub entities: Vec<Entity>,
 }
 
+#[derive(Default)]
+pub struct ResizeResource {
+ pub entities: Vec<Entity>,
+}
+
 fn main() {
  App::build()
  .add_resource(ClearColor(Color::rgb(
@@ -26,6 +31,7 @@ fn main() {
  )))
  .add_resource(Msaa::default())
  .add_resource(DespawnResource::default())
+ .add_resource(ResizeResource::default())
  .add_plugins(DefaultPlugins)
  .add_plugin(bevy_winit::WinitPlugin::default())
  .add_plugin(bevy_wgpu::WgpuPlugin::default())
@@ -36,6 +42,7 @@ fn main() {
  .add_startup_system(setup_physics.system())
  .add_startup_system(enable_physics_profiling.system())
  .add_system(despawn.system())
+ .add_system(resize.system())
  .run();
 }
 
@@ -57,7 +64,11 @@ fn setup_graphics(commands: &mut Commands, mut configuration: ResMut<RapierConfi
  });
 }
 
-pub fn setup_physics(commands: &mut Commands, mut despawn: ResMut<DespawnResource>) {
+pub fn setup_physics(
+ commands: &mut Commands,
+ mut despawn: ResMut<DespawnResource>,
+ mut resize: ResMut<ResizeResource>,
+) {
  /*
  * Ground
  */
@@ -107,6 +118,9 @@ pub fn setup_physics(commands: &mut Commands, mut despawn: ResMut<DespawnResourc
  let body = RigidBodyBuilder::new_dynamic().translation(x, y);
  let collider = ColliderBuilder::cuboid(rad, rad).density(1.0);
  commands.spawn((body, collider));
+ if (i + j * num) % 100 == 0 {
+ resize.entities.push(commands.current_entity().unwrap());
+ }
  }
  }
 }
@@ -120,3 +134,14 @@ pub fn despawn(commands: &mut Commands, time: Res<Time>, mut despawn: ResMut<Des
  despawn.entities.clear();
  }
 }
+
+pub fn resize(commands: &mut Commands, time: Res<Time>, mut resize: ResMut<ResizeResource>) {
+ if time.seconds_since_startup() > 6.0 {
+ for entity in &resize.entities {
+ println!("Resizing a block");
+ let collider = ColliderBuilder::cuboid(4.0, 4.0).density(1.0);
+ commands.insert_one(*entity, collider);
+ }
+ resize.entities.clear();
+ }
+}

src/physics/plugins.rs

@@ -47,6 +47,7 @@ impl Plugin for RapierPhysicsPlugin {
  stage::PRE_UPDATE,
  physics::create_body_and_collider_system.system(),
  )
+ .add_system_to_stage(stage::PRE_UPDATE, physics::update_collider_system.system())
  .add_system_to_stage(stage::PRE_UPDATE, physics::create_joints_system.system())
  .add_system_to_stage(stage::UPDATE, physics::step_world_system.system())
  .add_stage_before(

src/physics/systems.rs

@@ -51,6 +51,45 @@ pub fn create_body_and_collider_system(
  }
 }
 
+/// System responsible for replacing colliders on existing bodies when a new
+/// builder is added.
+///
+/// NOTE: This only adds new colliders, the old collider is actually removed
+/// by `destroy_body_and_collider_system`
+pub fn update_collider_system(
+ commands: &mut Commands,
+ mut bodies: ResMut<RigidBodySet>,
+ mut colliders: ResMut<ColliderSet>,
+ mut entity_maps: ResMut<EntityMaps>,
+ with_body_query: Query<
+ (Entity, &RigidBodyHandleComponent, &ColliderBuilder),
+ With<ColliderHandleComponent>,
+ >,
+ without_body_query: Query<
+ (Entity, &Parent, &ColliderBuilder),
+ (
+ Without<RigidBodyHandleComponent>,
+ With<ColliderHandleComponent>,
+ ),
+ >,
+) {
+ for (entity, body_handle, collider_builder) in with_body_query.iter() {
+ let handle = colliders.insert(collider_builder.build(), body_handle.handle(), &mut bodies);
+ commands.insert_one(entity, ColliderHandleComponent::from(handle));
+ commands.remove_one::<ColliderBuilder>(entity);
+ entity_maps.colliders.insert(entity, handle);
+ }
+
+ for (entity, parent, collider_builder) in without_body_query.iter() {
+ if let Some(body_handle) = entity_maps.bodies.get(&parent.0) {
+ let handle = colliders.insert(collider_builder.build(), *body_handle, &mut bodies);
+ commands.insert_one(entity, ColliderHandleComponent::from(handle));
+ commands.remove_one::<ColliderBuilder>(entity);
+ entity_maps.colliders.insert(entity, handle);
+ }
+ }
+}
+
 #[test]
 fn test_create_body_and_collider_system() {
  use bevy::ecs::Schedule;

src/render/systems.rs

@@ -16,7 +16,7 @@ pub fn create_collider_renders_system(
  colliders: ResMut<ColliderSet>,
  query: Query<
  (Entity, &ColliderHandleComponent, Option<&RapierRenderColor>),
- Without<Handle<Mesh>>,
+ Or<(Without<Handle<Mesh>>, Changed<ColliderHandleComponent>)>,
  >,
 ) {
  let ground_color = Color::rgb(