update bevy, rapier, parry, nalgebra

Cargo.toml

@@ -1,5 +1,6 @@
 [workspace]
 members = [ "build/salva2d", "build/salva3d", "examples2d", "examples3d" ]
+resolver = "2"
 
 [profile.release]
 #lto = true
@@ -17,10 +18,10 @@ salva3d = { path = "./build/salva3d" }
 #rapier_testbed2d = { git = "https://github.com/dimforge/rapier", branch = "split_geom"  }
 #rapier_testbed3d = { git = "https://github.com/dimforge/rapier", branch = "split_geom"  }
 
-#rapier2d = { git = "https://github.com/dimforge/rapier"}
-#rapier3d = { git = "https://github.com/dimforge/rapier"}
-#rapier_testbed2d = { git = "https://github.com/dimforge/rapier" }
-#rapier_testbed3d = { git = "https://github.com/dimforge/rapier" }
+rapier2d = { git = "https://github.com/dimforge/rapier" }
+rapier3d = { git = "https://github.com/dimforge/rapier" }
+rapier_testbed2d = { git = "https://github.com/dimforge/rapier" }
+rapier_testbed3d = { git = "https://github.com/dimforge/rapier" }
 
 # rapier2d = { git = "https://github.com/dimforge/rapier", rev = "3b0d256" }
 # rapier3d = { git = "https://github.com/dimforge/rapier", rev = "3b0d256" }

build/salva2d/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name    = "salva2d"
-version = "0.7.0"
+version = "0.8.0"
 authors = [ "Sébastien Crozet <developer@crozet.re>" ]
 description = "2-dimensional particle-based fluid dynamics in Rust."
 documentation = "https://salva.rs/docs"
@@ -10,7 +10,7 @@ readme = "README.md"
 categories = [ "science", "game-development", "mathematics", "simulation", "wasm"]
 keywords = [ "physics", "dynamics", "particles", "fluids", "SPH" ]
 license = "Apache-2.0"
-edition = "2018"
+edition = "2021"
 
 [badges]
 maintenance = { status = "actively-developed" }
@@ -33,25 +33,24 @@ path = "../../src/lib.rs"
 required-features = [ "dim2" ]
 
 [dependencies]
-approx = "0.4"
+approx = "0.5"
 num-traits = "0.2"
 fnv = "1.0"
-itertools = "0.10"
+itertools = "0.12"
 generational-arena = "0.2"
 instant = { version = "0.1", features = [ "now" ] }
-rayon = { version = "1.5", optional = true }
+rayon = { version = "1.8", optional = true }
 
-nalgebra  = "0.29"
-parry2d = { version = "0.7", optional = true }
-rapier2d = { version = "0.11", optional = true }
-rapier_testbed2d = { version = "0.11", optional = true }
+nalgebra  = "0.32"
+parry2d = { version = "0.13", optional = true }
+rapier2d = { version = "0.17", optional = true }
+rapier_testbed2d = { version = "0.17", optional = true }
 
-bevy_egui = { version = "0.5", optional = true }
+bevy_egui = { version = "0.23", features = ["immutable_ctx"], optional = true }
 
 [target.'cfg(not(target_arch = "wasm32"))'.dependencies]
-bevy = { version = "0.5", default-features = false, features = ["bevy_wgpu", "bevy_winit", "render", "x11"], optional = true }
+bevy = { version = "0.12.1", default-features = false, features = ["bevy_winit", "bevy_render", "x11"], optional = true }
 
 # Dependencies for WASM only.
 [target.'cfg(target_arch = "wasm32")'.dependencies]
-bevy = { version = "0.5", default-features = false, features = ["bevy_winit", "render"], optional = true }
-bevy_webgl2 = { version = "0.5", optional = true }
+bevy = { version = "0.12", default-features = false, features = ["bevy_winit", "bevy_render"], optional = true }

build/salva3d/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name    = "salva3d"
-version = "0.7.0"
+version = "0.8.0"
 authors = [ "Sébastien Crozet <developer@crozet.re>" ]
 description = "3-dimensional particle-based fluid dynamics in Rust."
 documentation = "https://salva.rs/rustdoc/salva3d/index.html"
@@ -9,7 +9,7 @@ repository = "https://github.com/dimforge/salva"
 readme = "README.md"
 keywords = [ "physics", "dynamics", "particles", "fluids", "SPH" ]
 license = "Apache-2.0"
-edition = "2018"
+edition = "2021"
 
 [features]
 default = [ "dim3" ]
@@ -29,26 +29,24 @@ path = "../../src/lib.rs"
 required-features = [ "dim3" ]
 
 [dependencies]
-approx = "0.4"
+approx = "0.5"
 num-traits = "0.2"
 fnv = "1.0"
-itertools = "0.10"
+itertools = "0.12"
 generational-arena = "0.2"
 instant = { version = "0.1", features = [ "now" ] }
-rayon = { version = "1.5", optional = true }
+rayon = { version = "1.8", optional = true }
 
-nalgebra  = "0.29"
-parry3d = { version = "0.7", optional = true }
-rapier3d = { version = "0.11", optional = true }
-rapier_testbed3d = { version = "0.11", optional = true }
+nalgebra  = "0.32"
+parry3d = { version = "0.13", optional = true }
+rapier3d = { version = "0.17", optional = true }
+rapier_testbed3d = { version = "0.17", optional = true }
 
-bevy_egui = { version = "0.5", optional = true }
+bevy_egui = { version = "0.23", features = ["immutable_ctx"], optional = true }
 
 [target.'cfg(not(target_arch = "wasm32"))'.dependencies]
-bevy = { version = "0.5", default-features = false, features = ["bevy_wgpu", "bevy_winit", "render", "x11"], optional = true }
+bevy = { version = "0.12", default-features = false, features = ["bevy_winit", "bevy_render", "x11"], optional = true }
 
 # Dependencies for WASM only.
 [target.'cfg(target_arch = "wasm32")'.dependencies]
-bevy = { version = "0.5", default-features = false, features = ["bevy_winit", "render"], optional = true }
-bevy_webgl2 = { version = "0.5", optional = true }
-
+bevy = { version = "0.12", default-features = false, features = ["bevy_winit", "bevy_render"], optional = true }

examples2d/Cargo.toml

@@ -10,12 +10,12 @@ parallel = [ "rapier_testbed2d/parallel"]
 
 [dependencies]
 Inflector  = "0.11"
-nalgebra   = "0.29"
-parry2d = "0.6"
-rapier2d = "0.11"
-rapier_testbed2d = "0.11"
-parry3d = { version = "0.7" }
-bevy = "0.5"
+nalgebra   = "0.32"
+parry2d = "0.13"
+rapier2d = "0.17"
+rapier_testbed2d = "0.17"
+parry3d = "0.13"
+bevy = "0.12.1"
 
 [dependencies.salva2d]
 path = "../build/salva2d"

examples2d/basic2.rs

@@ -1,7 +1,7 @@
 extern crate nalgebra as na;
 
 use na::{DVector, Point2, Point3, Vector2};
-use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
+use rapier2d::dynamics::{ImpulseJointSet, MultibodyJointSet, RigidBodyBuilder, RigidBodySet};
 use rapier2d::geometry::{Collider, ColliderBuilder, ColliderSet};
 use rapier_testbed2d::Testbed;
 use salva2d::integrations::rapier::{ColliderSampling, FluidsPipeline, FluidsTestbedPlugin};
@@ -20,7 +20,8 @@ pub fn init_world(testbed: &mut Testbed) {
     let mut plugin = FluidsTestbedPlugin::new();
     let mut bodies = RigidBodySet::new();
     let mut colliders = ColliderSet::new();
-    let joints = JointSet::new();
+    let impulse_joints = ImpulseJointSet::new();
+    let multibody_joints = MultibodyJointSet::new();
     let mut fluids_pipeline = FluidsPipeline::new(PARTICLE_RADIUS, SMOOTHING_FACTOR);
 
     // Liquid.
@@ -85,7 +86,7 @@ pub fn init_world(testbed: &mut Testbed) {
         }
     });
 
-    let rigid_body = RigidBodyBuilder::new_static().build();
+    let rigid_body = RigidBodyBuilder::fixed().build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::heightfield(heights, ground_size).build();
     let co_handle = colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -105,7 +106,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let mut build_rigid_body_with_coupling = |x, y, collider: Collider| {
         let samples =
             salva2d::sampling::shape_surface_ray_sample(collider.shape(), PARTICLE_RADIUS).unwrap();
-        let rb = RigidBodyBuilder::new_dynamic()
+        let rb = RigidBodyBuilder::dynamic()
             .translation(Vector2::new(x, y))
             .build();
         let _rb_handle = bodies.insert(rb);
@@ -132,7 +133,14 @@ pub fn init_world(testbed: &mut Testbed) {
      */
     plugin.set_pipeline(fluids_pipeline);
     testbed.add_plugin(plugin);
-    testbed.set_world_with_params(bodies, colliders, joints, gravity, ());
+    testbed.set_world_with_params(
+        bodies,
+        colliders,
+        impulse_joints,
+        multibody_joints,
+        gravity,
+        (),
+    );
     testbed.integration_parameters_mut().dt = 1.0 / 200.0;
     //    testbed.enable_boundary_particles_rendering(true);
 }

examples2d/custom_forces2.rs

@@ -1,7 +1,7 @@
 extern crate nalgebra as na;
 
 use na::{Point2, Point3, Unit, Vector2};
-use rapier2d::dynamics::{JointSet, RigidBodySet};
+use rapier2d::dynamics::{ImpulseJointSet, MultibodyJointSet, RigidBodySet};
 use rapier2d::geometry::ColliderSet;
 use rapier_testbed2d::Testbed;
 use salva2d::integrations::rapier::{FluidsPipeline, FluidsRenderingMode, FluidsTestbedPlugin};
@@ -23,7 +23,8 @@ pub fn init_world(testbed: &mut Testbed) {
     let mut plugin = FluidsTestbedPlugin::new();
     let bodies = RigidBodySet::new();
     let colliders = ColliderSet::new();
-    let joints = JointSet::new();
+    let impulse_joints = ImpulseJointSet::new();
+    let multibody_joints = MultibodyJointSet::new();
     let mut fluids_pipeline = FluidsPipeline::new(PARTICLE_RADIUS, SMOOTHING_FACTOR);
 
     // Liquid.
@@ -46,7 +47,14 @@ pub fn init_world(testbed: &mut Testbed) {
     plugin.set_pipeline(fluids_pipeline);
     plugin.set_fluid_rendering_mode(FluidsRenderingMode::VelocityColor { min: 0.0, max: 5.0 });
     testbed.add_plugin(plugin);
-    testbed.set_world_with_params(bodies, colliders, joints, gravity, ());
+    testbed.set_world_with_params(
+        bodies,
+        colliders,
+        impulse_joints,
+        multibody_joints,
+        gravity,
+        (),
+    );
     testbed.integration_parameters_mut().dt = 1.0 / 200.0;
     testbed.look_at(Point2::origin(), 300.0);
 }

examples2d/elasticity2.rs

@@ -1,7 +1,7 @@
 extern crate nalgebra as na;
 
 use na::{Isometry2, Point2, Point3, Vector2};
-use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
+use rapier2d::dynamics::{ImpulseJointSet, MultibodyJointSet, RigidBodyBuilder, RigidBodySet};
 use rapier2d::geometry::{ColliderBuilder, ColliderSet};
 use rapier_testbed2d::Testbed;
 use salva2d::integrations::rapier::{
@@ -25,7 +25,8 @@ pub fn init_world(testbed: &mut Testbed) {
     let mut plugin = FluidsTestbedPlugin::new();
     let mut bodies = RigidBodySet::new();
     let mut colliders = ColliderSet::new();
-    let joints = JointSet::new();
+    let impulse_joints = ImpulseJointSet::new();
+    let multibody_joints = MultibodyJointSet::new();
     let mut fluids_pipeline = FluidsPipeline::new(PARTICLE_RADIUS, SMOOTHING_FACTOR);
 
     let ground_thickness = 0.2;
@@ -62,7 +63,7 @@ pub fn init_world(testbed: &mut Testbed) {
     plugin.set_fluid_color(fluid_handle, Point3::new(0.6, 0.8, 0.5));
 
     // Setup the ground.
-    bodies.insert(RigidBodyBuilder::new_static().build());
+    bodies.insert(RigidBodyBuilder::fixed().build());
     let co = ColliderBuilder::cuboid(ground_half_width, ground_thickness).build();
     let co_handle = colliders.insert(co);
     let bo_handle = fluids_pipeline
@@ -80,7 +81,14 @@ pub fn init_world(testbed: &mut Testbed) {
     plugin.set_pipeline(fluids_pipeline);
     plugin.set_fluid_rendering_mode(FluidsRenderingMode::VelocityColor { min: 0.0, max: 5.0 });
     testbed.add_plugin(plugin);
-    testbed.set_world_with_params(bodies, colliders, joints, gravity, ());
+    testbed.set_world_with_params(
+        bodies,
+        colliders,
+        impulse_joints,
+        multibody_joints,
+        gravity,
+        (),
+    );
     testbed.integration_parameters_mut().dt = 1.0 / 200.0;
     testbed.look_at(Point2::new(0.0, 1.0), 100.0);
 }

examples2d/surface_tension2.rs

@@ -1,7 +1,7 @@
 extern crate nalgebra as na;
 
 use na::{Isometry2, Point2, Point3, Vector2};
-use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
+use rapier2d::dynamics::{ImpulseJointSet, MultibodyJointSet, RigidBodyBuilder, RigidBodySet};
 use rapier2d::geometry::{ColliderBuilder, ColliderSet};
 use rapier_testbed2d::{Testbed, TestbedApp};
 use salva2d::integrations::rapier::{
@@ -27,7 +27,8 @@ pub fn init_world(testbed: &mut Testbed) {
     let mut plugin = FluidsTestbedPlugin::new();
     let mut bodies = RigidBodySet::new();
     let mut colliders = ColliderSet::new();
-    let joints = JointSet::new();
+    let impulse_joints = ImpulseJointSet::new();
+    let multibody_joints = MultibodyJointSet::new();
     let mut fluids_pipeline = FluidsPipeline::new(PARTICLE_RADIUS, SMOOTHING_FACTOR);
 
     // Initialize the fluid and give it some surface tension. This will make the fluid take a spherical shape.
@@ -44,7 +45,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_thickness = 0.02;
     let ground_half_width = 0.15;
 
-    bodies.insert(RigidBodyBuilder::new_static().build());
+    bodies.insert(RigidBodyBuilder::fixed().build());
     let co = ColliderBuilder::cuboid(ground_half_width, ground_thickness).build();
     let co_handle = colliders.insert(co);
     let bo_handle = fluids_pipeline
@@ -62,7 +63,14 @@ pub fn init_world(testbed: &mut Testbed) {
     plugin.set_pipeline(fluids_pipeline);
     plugin.set_fluid_rendering_mode(FluidsRenderingMode::VelocityColor { min: 0.0, max: 5.0 });
     testbed.add_plugin(plugin);
-    testbed.set_world_with_params(bodies, colliders, joints, gravity, ());
+    testbed.set_world_with_params(
+        bodies,
+        colliders,
+        impulse_joints,
+        multibody_joints,
+        gravity,
+        (),
+    );
     testbed.integration_parameters_mut().dt = 1.0 / 200.0;
     testbed.look_at(Point2::origin(), 1500.0);
     //    testbed.enable_boundary_particles_rendering(true);

examples3d/Cargo.toml

@@ -11,11 +11,11 @@ parallel = [ "rapier_testbed3d/parallel", "salva3d/parallel"]
 [dependencies]
 num-traits = "0.2"
 Inflector  = "0.11"
-nalgebra   = "0.29"
-rapier3d = "0.11"
-rapier_testbed3d = "0.11"
-parry3d = { version = "0.7" }
-bevy = "0.5"
+nalgebra   = "0.32"
+rapier3d = "0.17"
+rapier_testbed3d = "0.17"
+parry3d = "0.13"
+bevy = "0.12.1"
 
 [dependencies.salva3d]
 path = "../build/salva3d"

examples3d/basic3.rs

@@ -1,7 +1,7 @@
 extern crate nalgebra as na;
 
 use na::{Isometry3, Point3, Vector3};
-use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
+use rapier3d::dynamics::{ImpulseJointSet, MultibodyJointSet, RigidBodyBuilder, RigidBodySet};
 use rapier3d::geometry::{ColliderBuilder, ColliderSet, SharedShape};
 use rapier_testbed3d::{Testbed, TestbedApp};
 use salva3d::integrations::rapier::{ColliderSampling, FluidsPipeline, FluidsTestbedPlugin};
@@ -22,7 +22,8 @@ pub fn init_world(testbed: &mut Testbed) {
     let gravity = Vector3::y() * -9.81;
     let mut bodies = RigidBodySet::new();
     let mut colliders = ColliderSet::new();
-    let joints = JointSet::new();
+    let impulse_joints = ImpulseJointSet::new();
+    let multibody_joints = MultibodyJointSet::new();
     let mut fluids_pipeline = FluidsPipeline::new(PARTICLE_RADIUS, SMOOTHING_FACTOR);
 
     // Parameters of the ground.
@@ -48,7 +49,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_shape = SharedShape::cuboid(ground_half_width, ground_thickness, ground_half_width);
     let wall_shape = SharedShape::cuboid(ground_thickness, ground_half_height, ground_half_width);
 
-    let ground_body = RigidBodyBuilder::new_static().build();
+    let ground_body = RigidBodyBuilder::fixed().build();
     let ground_handle = bodies.insert(ground_body);
 
     let wall_poses = [
@@ -105,7 +106,14 @@ pub fn init_world(testbed: &mut Testbed) {
     plugin.render_boundary_particles = true;
     testbed.add_plugin(plugin);
     // testbed.set_body_wireframe(ground_handle, true);
-    testbed.set_world_with_params(bodies, colliders, joints, gravity, ());
+    testbed.set_world_with_params(
+        bodies,
+        colliders,
+        impulse_joints,
+        multibody_joints,
+        gravity,
+        (),
+    );
     testbed.integration_parameters_mut().dt = 1.0 / 200.0;
     testbed.look_at(Point3::new(3.0, 3.0, 3.0), Point3::origin());
 }