Allow using XPBD with substep timestep

idanarye · Mar 27, 2024 · ac1ae02 · ac1ae02
1 parent 57cd979
commit ac1ae02
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Showing 6 changed files with 57 additions and 5 deletions.
diff --git a/demos/src/app_setup_options.rs b/demos/src/app_setup_options.rs
@@ -56,6 +56,8 @@ impl AppSetupConfiguration {
 pub enum ScheduleToUse {
     Update,
     FixedUpdate,
+    #[cfg(feature = "xpbd")]
+    PhysicsSchedule,
 }
 
 impl ScheduleToUse {

diff --git a/demos/src/bin/platformer_2d.rs b/demos/src/bin/platformer_2d.rs
@@ -16,7 +16,7 @@ use bevy_tnua_rapier2d::*;
 #[cfg(feature = "xpbd2d")]
 use bevy_tnua_xpbd2d::*;
 #[cfg(feature = "xpbd2d")]
-use bevy_xpbd_2d::{prelude as xpbd, prelude::*};
+use bevy_xpbd_2d::{prelude as xpbd, prelude::*, PhysicsSchedule};
 
 use tnua_demos_crate::app_setup_options::{AppSetupConfiguration, ScheduleToUse};
 use tnua_demos_crate::character_control_systems::platformer_control_systems::{
@@ -53,6 +53,10 @@ fn main() {
                 // bevy-tnua-rapier2d.
                 app.add_plugins(TnuaRapier2dPlugin::new(FixedUpdate));
             }
+            #[cfg(feature = "xpbd")]
+            ScheduleToUse::PhysicsSchedule => {
+                panic!("Cannot happen - XPBD and Rapier used together");
+            }
         }
     }
     #[cfg(feature = "xpbd2d")]
@@ -69,6 +73,11 @@ fn main() {
                 app.add_plugins(PhysicsPlugins::new(FixedUpdate));
                 app.add_plugins(TnuaXpbd2dPlugin::new(FixedUpdate));
             }
+            ScheduleToUse::PhysicsSchedule => {
+                app.add_plugins(PhysicsPlugins::default());
+                app.insert_resource(Time::new_with(Physics::fixed_hz(144.0)));
+                app.add_plugins(TnuaXpbd2dPlugin::new(PhysicsSchedule));
+            }
         }
     }
 
@@ -85,6 +94,11 @@ fn main() {
             app.add_plugins(TnuaControllerPlugin::new(FixedUpdate));
             app.add_plugins(TnuaCrouchEnforcerPlugin::new(FixedUpdate));
         }
+        #[cfg(feature = "xpbd")]
+        ScheduleToUse::PhysicsSchedule => {
+            app.add_plugins(TnuaControllerPlugin::new(PhysicsSchedule));
+            app.add_plugins(TnuaCrouchEnforcerPlugin::new(PhysicsSchedule));
+        }
     }
 
     app.add_plugins(tnua_demos_crate::ui::DemoUi::<
@@ -100,6 +114,8 @@ fn main() {
         match app_setup_configuration.schedule_to_use {
             ScheduleToUse::Update => Update.intern(),
             ScheduleToUse::FixedUpdate => FixedUpdate.intern(),
+            #[cfg(feature = "xpbd")]
+            ScheduleToUse::PhysicsSchedule => PhysicsSchedule.intern(),
         },
         apply_platformer_controls.in_set(TnuaUserControlsSystemSet),
     );

diff --git a/demos/src/bin/platformer_3d.rs b/demos/src/bin/platformer_3d.rs
@@ -16,7 +16,7 @@ use bevy_tnua_rapier3d::*;
 #[cfg(feature = "xpbd3d")]
 use bevy_tnua_xpbd3d::*;
 #[cfg(feature = "xpbd3d")]
-use bevy_xpbd_3d::{prelude as xpbd, prelude::*};
+use bevy_xpbd_3d::{prelude as xpbd, prelude::*, PhysicsSchedule};
 
 use tnua_demos_crate::app_setup_options::{AppSetupConfiguration, ScheduleToUse};
 use tnua_demos_crate::character_animating_systems::platformer_animating_systems::{
@@ -54,6 +54,10 @@ fn main() {
                 app.add_plugins(RapierPhysicsPlugin::<NoUserData>::default().in_fixed_schedule());
                 app.add_plugins(TnuaRapier3dPlugin::new(FixedUpdate));
             }
+            #[cfg(feature = "xpbd")]
+            ScheduleToUse::PhysicsSchedule => {
+                panic!("Cannot happen - XPBD and Rapier used together");
+            }
         }
     }
     #[cfg(feature = "xpbd3d")]
@@ -69,6 +73,11 @@ fn main() {
                 app.add_plugins(PhysicsPlugins::new(FixedUpdate));
                 app.add_plugins(TnuaXpbd3dPlugin::new(FixedUpdate));
             }
+            ScheduleToUse::PhysicsSchedule => {
+                app.add_plugins(PhysicsPlugins::default());
+                app.insert_resource(Time::new_with(Physics::fixed_hz(144.0)));
+                app.add_plugins(TnuaXpbd3dPlugin::new(PhysicsSchedule));
+            }
         }
     }
 
@@ -85,6 +94,11 @@ fn main() {
             app.add_plugins(TnuaControllerPlugin::new(FixedUpdate));
             app.add_plugins(TnuaCrouchEnforcerPlugin::new(FixedUpdate));
         }
+        #[cfg(feature = "xpbd")]
+        ScheduleToUse::PhysicsSchedule => {
+            app.add_plugins(TnuaControllerPlugin::new(PhysicsSchedule));
+            app.add_plugins(TnuaCrouchEnforcerPlugin::new(PhysicsSchedule));
+        }
     }
 
     app.add_plugins(tnua_demos_crate::ui::DemoUi::<
@@ -100,6 +114,8 @@ fn main() {
         match app_setup_configuration.schedule_to_use {
             ScheduleToUse::Update => Update.intern(),
             ScheduleToUse::FixedUpdate => FixedUpdate.intern(),
+            #[cfg(feature = "xpbd")]
+            ScheduleToUse::PhysicsSchedule => PhysicsSchedule.intern(),
         },
         apply_platformer_controls.in_set(TnuaUserControlsSystemSet),
     );

diff --git a/demos/src/bin/shooter_like.rs b/demos/src/bin/shooter_like.rs
@@ -17,7 +17,7 @@ use bevy_tnua_rapier3d::*;
 #[cfg(feature = "xpbd3d")]
 use bevy_tnua_xpbd3d::*;
 #[cfg(feature = "xpbd3d")]
-use bevy_xpbd_3d::{prelude as xpbd, prelude::*};
+use bevy_xpbd_3d::{prelude as xpbd, prelude::*, PhysicsSchedule};
 
 use tnua_demos_crate::app_setup_options::{AppSetupConfiguration, ScheduleToUse};
 use tnua_demos_crate::character_animating_systems::platformer_animating_systems::{
@@ -56,6 +56,10 @@ fn main() {
                 app.add_plugins(RapierPhysicsPlugin::<NoUserData>::default().in_fixed_schedule());
                 app.add_plugins(TnuaRapier3dPlugin::new(FixedUpdate));
             }
+            #[cfg(feature = "xpbd")]
+            ScheduleToUse::PhysicsSchedule => {
+                panic!("Cannot happen - XPBD and Rapier used together");
+            }
         }
     }
     #[cfg(feature = "xpbd3d")]
@@ -71,6 +75,11 @@ fn main() {
                 app.add_plugins(PhysicsPlugins::new(FixedUpdate));
                 app.add_plugins(TnuaXpbd3dPlugin::new(FixedUpdate));
             }
+            ScheduleToUse::PhysicsSchedule => {
+                app.add_plugins(PhysicsPlugins::default());
+                app.insert_resource(Time::new_with(Physics::fixed_hz(144.0)));
+                app.add_plugins(TnuaXpbd3dPlugin::new(PhysicsSchedule));
+            }
         }
     }
 
@@ -87,6 +96,11 @@ fn main() {
             app.add_plugins(TnuaControllerPlugin::new(FixedUpdate));
             app.add_plugins(TnuaCrouchEnforcerPlugin::new(FixedUpdate));
         }
+        #[cfg(feature = "xpbd")]
+        ScheduleToUse::PhysicsSchedule => {
+            app.add_plugins(TnuaControllerPlugin::new(PhysicsSchedule));
+            app.add_plugins(TnuaCrouchEnforcerPlugin::new(PhysicsSchedule));
+        }
     }
 
     app.add_plugins(tnua_demos_crate::ui::DemoUi::<
@@ -103,6 +117,8 @@ fn main() {
         match app_setup_configuration.schedule_to_use {
             ScheduleToUse::Update => Update.intern(),
             ScheduleToUse::FixedUpdate => FixedUpdate.intern(),
+            #[cfg(feature = "xpbd")]
+            ScheduleToUse::PhysicsSchedule => PhysicsSchedule.intern(),
         },
         apply_platformer_controls.in_set(TnuaUserControlsSystemSet),
     );

diff --git a/xpbd2d/src/lib.rs b/xpbd2d/src/lib.rs
@@ -15,7 +15,7 @@ use bevy_tnua_physics_integration_layer::data_for_backends::{
 use bevy_tnua_physics_integration_layer::math::*;
 use bevy_tnua_physics_integration_layer::subservient_sensors::TnuaSubservientSensor;
 use bevy_xpbd_2d::math::{AdjustPrecision, AsF32};
-use bevy_xpbd_2d::prelude::*;
+use bevy_xpbd_2d::{prelude::*, PhysicsStepSet};
 
 use bevy_tnua_physics_integration_layer::*;
 
@@ -46,6 +46,7 @@ impl Plugin for TnuaXpbd2dPlugin {
             self.schedule,
             TnuaSystemSet
                 .before(PhysicsSet::Prepare)
+                .before(PhysicsStepSet::BroadPhase)
                 .run_if(|physics_time: Res<Time<Physics>>| !physics_time.is_paused()),
         );
         app.add_systems(

diff --git a/xpbd3d/src/lib.rs b/xpbd3d/src/lib.rs
@@ -12,7 +12,7 @@ use bevy_tnua_physics_integration_layer::math::AdjustPrecision;
 use bevy_tnua_physics_integration_layer::math::AsF32;
 use bevy_tnua_physics_integration_layer::math::Float;
 use bevy_tnua_physics_integration_layer::math::Vector3;
-use bevy_xpbd_3d::prelude::*;
+use bevy_xpbd_3d::{prelude::*, PhysicsStepSet};
 
 use bevy_tnua_physics_integration_layer::data_for_backends::TnuaGhostPlatform;
 use bevy_tnua_physics_integration_layer::data_for_backends::TnuaGhostSensor;
@@ -51,6 +51,7 @@ impl Plugin for TnuaXpbd3dPlugin {
             self.schedule,
             TnuaSystemSet
                 .before(PhysicsSet::Prepare)
+                .before(PhysicsStepSet::BroadPhase)
                 .run_if(|physics_time: Res<Time<Physics>>| !physics_time.is_paused()),
         );
         app.add_systems(