ColliderParent component

bevy_rapier3d/examples/ray_casting3.rs

@@ -80,12 +80,16 @@ fn cast_ray(
 ) {
     let window = windows.single();
 
-    let Some(cursor_position) = window.cursor_position() else { return; };
+    let Some(cursor_position) = window.cursor_position() else {
+        return;
+    };
 
     // We will color in read the colliders hovered by the mouse.
     for (camera, camera_transform) in &cameras {
         // First, compute a ray from the mouse position.
-        let Some(ray) = camera.viewport_to_world(camera_transform, cursor_position) else { return; };
+        let Some(ray) = camera.viewport_to_world(camera_transform, cursor_position) else {
+            return;
+        };
 
         // Then cast the ray.
         let hit = rapier_context.cast_ray(

src/geometry/collider.rs

@@ -3,9 +3,15 @@ use std::fmt;
 #[cfg(all(feature = "dim3", feature = "async-collider"))]
 use {crate::geometry::VHACDParameters, bevy::utils::HashMap};
 
-use bevy::prelude::*;
+use bevy::{
+    ecs::{
+        entity::{EntityMapper, MapEntities},
+        reflect::ReflectMapEntities,
+    },
+    prelude::*,
+    utils::HashSet,
+};
 
-use bevy::utils::HashSet;
 use rapier::geometry::Shape;
 use rapier::prelude::{ColliderHandle, InteractionGroups, SharedShape};
 
@@ -503,6 +509,44 @@ impl CollidingEntities {
 #[reflect(Component, PartialEq)]
 pub struct ColliderDisabled;
 
+/// Rigid body parent of the collider.
+///
+/// This is not meant to be set directly, this is controlled by bevy's hierarchy.
+///
+/// To change a colliders parent, set the [`Parent`] of the entity to a
+/// different rigid body or remove the parent to leave the collider unattached.
+#[derive(Component, Debug, Eq, PartialEq, Reflect)]
+#[reflect(Component, MapEntities, PartialEq)]
+pub struct ColliderParent(pub(crate) Entity);
+
+impl ColliderParent {
+    /// Gets the [`Entity`] ID of the rigid-body parent this collider is attached to.
+    ///
+    /// This may be the same entity as the collider.
+    pub fn get(&self) -> Entity {
+        self.0
+    }
+}
+
+impl FromWorld for ColliderParent {
+    fn from_world(_world: &mut World) -> Self {
+        Self(Entity::PLACEHOLDER)
+    }
+}
+
+impl MapEntities for ColliderParent {
+    fn map_entities(&mut self, entity_mapper: &mut EntityMapper) {
+        self.0 = entity_mapper.get_or_reserve(self.0);
+    }
+}
+
+impl std::ops::Deref for ColliderParent {
+    type Target = Entity;
+    fn deref(&self) -> &Self::Target {
+        &self.0
+    }
+}
+
 /// We restrict the scaling increment to 1.0e-4, to avoid numerical jitter
 /// due to the extraction of scaling factor from the GlobalTransform matrix.
 pub fn get_snapped_scale(scale: Vect) -> Vect {

src/geometry/collider_impl.rs

@@ -172,7 +172,9 @@ impl Collider {
     /// Returns `None` if the index buffer or vertex buffer of the mesh are in an incompatible format.
     #[cfg(all(feature = "dim3", feature = "async-collider"))]
     pub fn from_bevy_mesh(mesh: &Mesh, collider_shape: &ComputedColliderShape) -> Option<Self> {
-        let Some((vtx, idx)) = extract_mesh_vertices_indices(mesh) else { return None; };
+        let Some((vtx, idx)) = extract_mesh_vertices_indices(mesh) else {
+            return None;
+        };
         match collider_shape {
             ComputedColliderShape::TriMesh => Some(
                 SharedShape::trimesh_with_flags(vtx, idx, TriMeshFlags::MERGE_DUPLICATE_VERTICES)

src/plugin/plugin.rs

@@ -77,6 +77,13 @@ where
     /// See [`PhysicsSet`] for a description of these systems.
     pub fn get_systems(set: PhysicsSet) -> SystemConfigs {
         match set {
+            PhysicsSet::EveryFrame => (
+                systems::collect_collider_hierarchy_changes,
+                apply_deferred,
+                systems::sync_removals,
+            )
+                .chain()
+                .into_configs(),
             PhysicsSet::SyncBackend => (
                 // Run the character controller before the manual transform propagation.
                 systems::update_character_controls,
@@ -94,9 +101,10 @@ where
                 systems::init_rigid_bodies,
                 systems::init_colliders,
                 systems::init_joints,
-                systems::sync_removals,
-                // Run this here so the folowwing systems do not have a 1 frame delay.
+                systems::collect_collider_hierarchy_changes,
+                // Run this here so the following systems do not have a 1 frame delay.
                 apply_deferred,
+                systems::sync_removals,
                 systems::apply_scale,
                 systems::apply_collider_user_changes,
                 systems::apply_rigid_body_user_changes,
@@ -159,6 +167,9 @@ pub enum PhysicsSet {
     /// components and the [`GlobalTransform`] component.
     /// These systems typically run immediately after [`PhysicsSet::StepSimulation`].
     Writeback,
+    /// The systems responsible for responding to state like `Events` that get
+    /// cleared every 2 main schedule runs.
+    EveryFrame,
 }
 
 impl<PhysicsHooks> Plugin for RapierPhysicsPlugin<PhysicsHooks>
@@ -172,6 +183,10 @@ where
             .register_type::<Velocity>()
             .register_type::<AdditionalMassProperties>()
             .register_type::<MassProperties>()
+            .register_type::<ReadMassProperties>()
+            .register_type::<ColliderMassProperties>()
+            .register_type::<ColliderDisabled>()
+            .register_type::<RigidBodyDisabled>()
             .register_type::<LockedAxes>()
             .register_type::<ExternalForce>()
             .register_type::<ExternalImpulse>()
@@ -185,6 +200,7 @@ where
             .register_type::<Friction>()
             .register_type::<Restitution>()
             .register_type::<CollisionGroups>()
+            .register_type::<ColliderParent>()
             .register_type::<SolverGroups>()
             .register_type::<ContactForceEventThreshold>()
             .register_type::<Group>();
@@ -204,6 +220,7 @@ where
 
         // Add each set as necessary
         if self.default_system_setup {
+            app.configure_sets(PostUpdate, (PhysicsSet::EveryFrame,));
             app.configure_sets(
                 self.schedule.clone(),
                 (
@@ -216,7 +233,10 @@ where
             );
 
             // These *must* be in the main schedule currently so that they do not miss events.
-            app.add_systems(PostUpdate, (systems::sync_removals,));
+            app.add_systems(
+                PostUpdate,
+                Self::get_systems(PhysicsSet::EveryFrame).in_set(PhysicsSet::EveryFrame),
+            );
 
             app.add_systems(
                 self.schedule.clone(),