WIP: Refactor to Avian.

Cargo.toml

@@ -14,8 +14,8 @@ speech_dispatcher_0_10 = ["bevy_tts/speech_dispatcher_0_10"]
 speech_dispatcher_0_11 = ["bevy_tts/speech_dispatcher_0_11"]
 
 [dependencies]
+avian2d = "0.1"
 bevy = "0.14"
-bevy_rapier2d = "0.27"
 bevy_synthizer = "0.7"
 bevy_tts = { version = "0.9", default-features = false, features = ["tolk"] }
 coord_2d = "0.3"

src/core.rs

@@ -6,12 +6,14 @@ use std::{
     sync::RwLock,
 };
 
-use bevy::{app::PluginGroupBuilder, math::FloatOrd, prelude::*};
+use avian2d::{
-use bevy_rapier2d::{
+    parry::{
-    parry::query::{closest_points, distance, ClosestPoints},
+        math::Isometry,
+        query::{closest_points, distance, ClosestPoints},
+    },
     prelude::*,
-    rapier::{math::Isometry, prelude::Aabb},
 };
+use bevy::{app::PluginGroupBuilder, math::FloatOrd, prelude::*};
 use once_cell::sync::Lazy;
 use rand::prelude::*;
 use serde::{Deserialize, Serialize};
@@ -530,7 +532,14 @@ impl GlobalTransformExt for GlobalTransform {
             (other.translation() / *scale).xy().into(),
             other.yaw().radians(),
         );
-        closest_points(&pos1, &*collider.raw, &pos2, &*other_collider.raw, f32::MAX).unwrap()
+        closest_points(
+            &pos1,
+            collider.shape().as_ref(),
+            &pos2,
+            other_collider.shape().as_ref(),
+            f32::MAX,
+        )
+        .unwrap()
     }
 
     fn collider_direction_and_distance(
@@ -549,7 +558,13 @@ impl GlobalTransformExt for GlobalTransform {
             other.yaw().radians(),
         );
         let closest = self.closest_points(collider, other, other_collider);
-        let distance = distance(&pos1, &*collider.raw, &pos2, &*other_collider.raw).unwrap() as u32;
+        let distance = distance(
+            &pos1,
+            collider.shape().as_ref(),
+            &pos2,
+            other_collider.shape().as_ref(),
+        )
+        .unwrap() as u32;
         let tile_or_tiles = if distance == 1 { "tile" } else { "tiles" };
         if distance > 0 {
             if let ClosestPoints::WithinMargin(p1, p2) = closest {
@@ -568,9 +583,6 @@ impl GlobalTransformExt for GlobalTransform {
     }
 }
 
-#[derive(Component, Copy, Clone, Debug, Deref, DerefMut, PartialEq)]
-pub struct Area(pub Aabb);
-
 #[derive(Component, Clone, Copy, Debug, Default, Reflect)]
 #[reflect(Component)]
 pub struct Player;
@@ -676,9 +688,7 @@ impl Plugin for CorePlugin {
         };
         app.insert_resource(config)
             .register_type::<CardinalDirection>()
-            .add_plugins(RapierPhysicsPlugin::<NoUserData>::pixels_per_meter(
+            .add_plugins(PhysicsPlugins::default().with_length_unit(config.pixels_per_unit as f32))
-                config.pixels_per_unit as f32,
-            ))
             .add_systems(Startup, setup)
             .add_systems(Update, sync_config);
     }

src/exploration.rs

@@ -1,7 +1,7 @@
 use std::{error::Error, fmt::Debug, hash::Hash, marker::PhantomData};
 
+use avian2d::prelude::*;
 use bevy::prelude::*;
-use bevy_rapier2d::prelude::*;
 use bevy_tts::Tts;
 use leafwing_input_manager::prelude::*;
 
@@ -281,7 +281,7 @@ fn exploration_changed_announcement<ExplorationType, MapData>(
     names: Query<&Name>,
     types: Query<&ExplorationType>,
     mappables: Query<&Mappable>,
-    rapier_context: Res<RapierContext>,
+    spatial_query: SpatialQuery,
 ) -> Result<(), Box<dyn Error>>
 where
     ExplorationType: Component + Copy + Into<String>,
@@ -290,7 +290,7 @@ where
     if let Ok((coordinates, exploring, viewshed)) = explorer.get_single() {
         let coordinates = coordinates.trunc();
         let point = **exploring;
-        let shape = Collider::cuboid(0.5 - f32::EPSILON, 0.5 - f32::EPSILON);
+        let shape = Collider::rectangle(0.5 - f32::EPSILON, 0.5 - f32::EPSILON);
         let (known, idx) = if let Ok((map, revealed_tiles)) = map.get_single() {
             let idx = point.to_index(map.width);
             (revealed_tiles[idx], Some(idx))
@@ -305,12 +305,13 @@ where
                 commands.entity(entity).remove::<ExplorationFocused>();
             }
             let exploring = Vec2::new(exploring.x(), exploring.y());
-            rapier_context.intersections_with_shape(
+            spatial_query.shape_intersections_callback(
+                &shape,
                 exploring,
                 0.,
-                &shape,
+                SpatialQueryFilter::default(),
-                QueryFilter::new().predicate(&|v| explorable.get(v).is_ok()),
                 |entity| {
+                    if explorable.contains(entity) {
                         commands.entity(entity).insert(ExplorationFocused);
                         if visible || mappables.get(entity).is_ok() {
                             if let Ok(name) = names.get(entity) {
@@ -322,6 +323,7 @@ where
                                 }
                             }
                         }
+                    }
                     true
                 },
             );

src/lib.rs

@@ -2,8 +2,8 @@
 #![allow(clippy::too_many_arguments)]
 #![allow(clippy::type_complexity)]
 
+pub use avian2d;
 pub use bevy;
-pub use bevy_rapier2d;
 pub use bevy_synthizer;
 pub use bevy_tts;
 pub use coord_2d;

src/map.rs

@@ -1,20 +1,13 @@
 use std::marker::PhantomData;
 
+use avian2d::prelude::*;
 use bevy::prelude::*;
-use bevy_rapier2d::{
-    na::{Isometry2, Vector2},
-    prelude::*,
-};
 pub use here_be_dragons::Map as MapgenMap;
 use here_be_dragons::{geometry::Rect as MRect, MapFilter, Tile};
 use maze_generator::{prelude::*, recursive_backtracking::RbGenerator};
 use rand::prelude::StdRng;
 
-use crate::{
+use crate::{core::PointLike, exploration::Mappable, visibility::Visible};
-    core::{Area, PointLike},
-    exploration::Mappable,
-    visibility::Visible,
-};
 
 #[derive(Component, Clone, Default, Deref, DerefMut)]
 pub struct Map<D: 'static + Clone + Default + Send + Sync>(pub MapgenMap<D>);
@@ -80,9 +73,9 @@ impl ITileType for Tile {
 
 #[derive(Bundle, Default)]
 pub struct PortalBundle {
+    pub transform: TransformBundle,
     pub portal: Portal,
     pub mappable: Mappable,
-    pub transform: TransformBundle,
 }
 
 #[derive(Bundle, Clone, Default)]
@@ -98,7 +91,6 @@ pub struct TileBundle {
     pub transform: TransformBundle,
     pub collider: Collider,
     pub rigid_body: RigidBody,
-    pub active_collision_types: ActiveCollisionTypes,
     pub map_obstruction: MapObstruction,
 }
 
@@ -106,12 +98,9 @@ impl Default for TileBundle {
     fn default() -> Self {
         Self {
             transform: default(),
-            collider: Collider::cuboid(0.5, 0.5),
+            collider: Collider::rectangle(0.5, 0.5),
-            rigid_body: RigidBody::Fixed,
+            rigid_body: RigidBody::Static,
-            active_collision_types: ActiveCollisionTypes::default()
+            map_obstruction: default(),
-                | ActiveCollisionTypes::KINEMATIC_STATIC
-                | ActiveCollisionTypes::DYNAMIC_STATIC,
-            map_obstruction: MapObstruction,
         }
     }
 }
@@ -129,34 +118,28 @@ impl TileBundle {
 pub struct ZoneBundle {
     pub collider: Collider,
     pub transform: TransformBundle,
-    pub area: Area,
     pub zone: Zone,
     pub sensor: Sensor,
-    pub active_events: ActiveEvents,
 }
 
 impl ZoneBundle {
-    fn new(collider: Collider, position: (f32, f32)) -> Self {
+    fn new(collider: Collider, position: Vec2) -> Self {
-        let point = Isometry2::new(Vector2::new(position.0, position.1), 0.);
-        let aabb = collider.raw.compute_aabb(&point);
         Self {
             collider,
-            area: Area(aabb),
+            transform: Transform::from_translation(position.extend(0.)).into(),
-            transform: Transform::from_translation(Vec3::new(position.0, position.1, 0.)).into(),
             zone: default(),
             sensor: default(),
-            active_events: ActiveEvents::COLLISION_EVENTS,
         }
     }
 }
 
 impl From<&MRect> for ZoneBundle {
     fn from(rect: &MRect) -> Self {
-        let collider = Collider::cuboid(
+        let collider = Collider::rectangle(
             rect.width() as f32 / 2. + 0.5,
             rect.height() as f32 / 2. + 0.5,
         );
-        let position = (rect.center().x(), rect.center().y());
+        let position = Vec2::new(rect.center().x(), rect.center().y());
         Self::new(collider, position)
     }
 }
@@ -332,7 +315,7 @@ fn spawn_portal_colliders<D: 'static + Clone + Default + Send + Sync>(
             for portal_entity in &portals {
                 commands
                     .entity(portal_entity)
-                    .insert((Collider::cuboid(0.5, 0.5), Sensor));
+                    .insert((Collider::rectangle(0.5, 0.5), Sensor));
             }
             commands.entity(entity).remove::<SpawnColliders>();
         }

src/navigation.rs

@@ -1,14 +1,17 @@
+#![allow(clippy::map_entry)]
+
 use std::{collections::HashMap, error::Error, f32::consts::PI, fmt::Debug, hash::Hash};
 
+use avian2d::prelude::*;
 use bevy::prelude::*;
-use bevy_rapier2d::prelude::*;
 use bevy_tts::Tts;
 use leafwing_input_manager::prelude::*;
 
 use crate::{
-    core::{Angle, Area, CardinalDirection, GlobalTransformExt, Player, TransformExt},
+    core::{Angle, CardinalDirection, GlobalTransformExt, Player, TransformExt},
     error::error_handler,
     log::Log,
+    map::Zone,
     utils::target_and_other,
 };
 
@@ -151,13 +154,14 @@ fn tick_snap_timers(time: Res<Time>, mut snap_timers: ResMut<SnapTimers>) {
 }
 
 fn controls(
-    rapier_context: Res<RapierContext>,
+    spatial_query: SpatialQuery,
     time: Res<Time>,
     snap_timers: Res<SnapTimers>,
+    sensors: Query<Entity, With<Sensor>>,
     mut query: Query<(
         Entity,
         &mut ActionState<NavigationAction>,
-        &mut Velocity,
+        &mut LinearVelocity,
         &Speed,
         Option<&RotationSpeed>,
         Option<&BackwardMovementFactor>,
@@ -212,24 +216,21 @@ fn controls(
             // println!("{entity:?}: SetLinearVelocity: {velocity:?}");
             actions.set_axis_pair(&NavigationAction::SetLinearVelocity, move_velocity);
         }
-        if velocity.linvel != actions.axis_pair(&NavigationAction::SetLinearVelocity) {
+        if velocity.0 != actions.axis_pair(&NavigationAction::SetLinearVelocity) {
-            velocity.linvel = actions.axis_pair(&NavigationAction::SetLinearVelocity);
+            **velocity = actions.axis_pair(&NavigationAction::SetLinearVelocity);
         }
         if actions.axis_pair(&NavigationAction::Translate) != Vec2::ZERO {
             let pair = actions.axis_pair(&NavigationAction::Translate);
-            if rapier_context
+            let dir = Dir2::new_unchecked(pair.normalize());
+            if spatial_query
                 .cast_shape(
+                    collider,
                     transform.translation.truncate(),
                     transform.yaw().radians(),
-                    pair,
+                    dir,
-                    collider,
+                    1.,
-                    ShapeCastOptions {
+                    true,
-                        max_time_of_impact: 1.,
+                    SpatialQueryFilter::from_excluded_entities(&sensors),
-                        ..default()
-                    },
-                    QueryFilter::new()
-                        .exclude_sensors()
-                        .exclude_collider(entity),
                 )
                 .is_none()
             {
@@ -302,18 +303,18 @@ fn speak_direction(
     Ok(())
 }
 
-fn add_speed(mut commands: Commands, query: Query<Entity, (Added<Speed>, Without<Velocity>)>) {
+fn add_speed(
+    mut commands: Commands,
+    query: Query<Entity, (Added<Speed>, Without<LinearVelocity>)>,
+) {
     for entity in &query {
-        commands.entity(entity).insert(Velocity {
+        commands.entity(entity).insert(LinearVelocity::default());
-            linvel: Vec2::ZERO,
-            ..default()
-        });
     }
 }
 
-fn log_area_descriptions<State>(
+fn log_zone_descriptions<State>(
-    mut events: EventReader<CollisionEvent>,
+    mut events: EventReader<Collision>,
-    areas: Query<(&Area, Option<&Name>)>,
+    zones: Query<(&ColliderAabb, Option<&Name>), With<Zone>>,
     players: Query<&Player>,
     config: Res<NavigationPlugin<State>>,
     mut log: Query<&mut Log>,
@@ -323,19 +324,21 @@ fn log_area_descriptions<State>(
     if !config.log_area_descriptions {
         return;
     }
-    for event in events.read() {
+    for Collision(contacts) in events.read() {
-        let (entity1, entity2, started) = match event {
+        let started = contacts.during_current_frame && !contacts.during_previous_frame;
-            CollisionEvent::Started(collider1, collider2, _) => (collider1, collider2, true),
+        let stopped = !contacts.during_current_frame && contacts.during_previous_frame;
-            CollisionEvent::Stopped(collider1, collider2, _) => (collider1, collider2, false),
+        if !started && !stopped {
-        };
+            continue;
-        if let Some((area, other)) = target_and_other(*entity1, *entity2, &|v| areas.get(v).is_ok())
+        }
+        if let Some((area, other)) =
+            target_and_other(contacts.entity1, contacts.entity2, &|v| zones.contains(v))
         {
-            if players.get(other).is_ok() {
+            if players.contains(other) {
-                if let Ok((aabb, area_name)) = areas.get(area) {
+                if let Ok((aabb, area_name)) = zones.get(area) {
                     let name = if let Some(name) = area_name {
                         Some(name.to_string())
                     } else if config.describe_undescribed_areas {
-                        Some(format!("{}-by-{} area", aabb.extents().x, aabb.extents().y))
+                        Some(format!("{}-by-{} area", aabb.size().x, aabb.size().y))
                     } else {
                         None
                     };
@@ -400,7 +403,7 @@ where
             )
             .add_systems(
                 PostUpdate,
-                (remove_direction, log_area_descriptions::<State>),
+                (remove_direction, log_zone_descriptions::<State>),
             );
         if !self.states.is_empty() {
             for state in &self.states {

src/pathfinding.rs

@@ -1,19 +1,11 @@
-use bevy::{
+use avian2d::prelude::*;
-    prelude::*,
+use bevy::{prelude::*, utils::HashMap};
-    tasks::{futures_lite::future, prelude::*, Task},
-    utils::HashMap,
-};
-use bevy_rapier2d::{
-    na::{Isometry2, Vector2},
-    prelude::*,
-    rapier::prelude::{ColliderHandle, ColliderSet, QueryPipeline, RigidBodySet},
-};
 use leafwing_input_manager::{plugin::InputManagerSystem, prelude::*};
 use pathfinding::prelude::*;
 
 use crate::{
     core::{PointLike, TransformExt},
-    map::{Map, MapObstruction},
+    map::Map,
     navigation::{NavigationAction, RotationSpeed, Speed},
 };
 
@@ -26,9 +18,6 @@ impl Actionlike for NegotiatePathAction {
     }
 }
 
-#[derive(Component, Debug, Deref, DerefMut)]
-struct Calculating(Task<Option<Path>>);
-
 #[derive(Component, Clone, Copy, Debug, Default, Deref, DerefMut, Eq, Hash, PartialEq, Reflect)]
 #[reflect(Component)]
 pub struct Destination(pub (i32, i32));
@@ -93,16 +82,41 @@ pub fn find_path<D: 'static + Clone + Default + Send + Sync>(
     )
 }
 
-fn find_path_for_shape(
+fn calculate_path(
-    initiator: ColliderHandle,
+    mut commands: Commands,
-    start: Transform,
+    spatial_query: SpatialQuery,
-    destination: Destination,
+    mut query: Query<
-    cost_map: &Option<CostMap>,
+        (
-    query_pipeline: QueryPipeline,
+            Entity,
-    collider_set: ColliderSet,
+            &Destination,
-    rigid_body_set: RigidBodySet,
+            &Transform,
-    shape: Collider,
+            &Collider,
-) -> Option<Path> {
+            Option<&CostMap>,
+            Option<&mut ActionState<NegotiatePathAction>>,
+        ),
+        Changed<Destination>,
+    >,
+) {
+    for (entity, destination, start, collider, cost_map, actions) in &mut query {
+        trace!("{entity}: destination: {destination:?}");
+        if start.i32() == **destination {
+            trace!("{entity}: remove1");
+            commands
+                .entity(entity)
+                .remove::<Path>()
+                .remove::<NoPath>()
+                .remove::<Destination>();
+            continue;
+        }
+        trace!(
+            "{entity:?}: Calculating path from {:?} to {destination:?}",
+            start.translation.truncate().i32()
+        );
+        trace!(
+            "{entity:?}: path: calculating from {:?} to {destination:?}",
+            start.i32(),
+        );
+        commands.entity(entity).remove::<Path>().remove::<NoPath>();
         let path = astar(
             &start.i32(),
             |p| {
@@ -121,18 +135,14 @@ fn find_path_for_shape(
                 ];
                 for exit in &exits {
                     let mut should_push = true;
-                let dest = Isometry2::new(Vector2::new(exit.0 .0 as f32, exit.0 .1 as f32), 0.);
+                    if !spatial_query
-                if query_pipeline
+                        .shape_intersections(
-                    .intersection_with_shape(
+                            collider,
-                        &rigid_body_set,
+                            start.translation.truncate(),
-                        &collider_set,
+                            start.yaw().radians(),
-                        &dest,
+                            SpatialQueryFilter::default(),
-                        &*shape.raw,
-                        bevy_rapier2d::rapier::pipeline::QueryFilter::new()
-                            .exclude_sensors()
-                            .exclude_collider(initiator),
                         )
-                    .is_some()
+                        .is_empty()
                     {
                         should_push = false;
                     }
@@ -152,115 +162,8 @@ fn find_path_for_shape(
             |p| *p == destination.i32(),
         );
         if let Some(path) = path {
-        Some(Path(path.0))
+            commands.entity(entity).insert(Path(path.0));
         } else {
-        None
-    }
-}
-
-fn calculate_path(
-    mut commands: Commands,
-    rapier_context: Res<RapierContext>,
-    obstructions: Query<&RapierColliderHandle, With<MapObstruction>>,
-    query: Query<
-        (
-            Entity,
-            &RapierColliderHandle,
-            &Destination,
-            &Transform,
-            &Collider,
-            Option<&CostMap>,
-        ),
-        Changed<Destination>,
-    >,
-) {
-    for (entity, handle, destination, coordinates, shape, cost_map) in &query {
-        trace
-!("{entity}: destination: {destination:?}");
-        if coordinates.i32() == **destination {
-            trace
-!("{entity}: remove1");
-            commands
-                .entity(entity)
-                .remove::<Path>()
-                .remove::<NoPath>()
-                .remove::<Calculating>()
-                .remove::<Destination>();
-            continue;
-        }
-        trace!(
-            "{entity:?}: Calculating path from {:?} to {destination:?}",
-            coordinates.translation.truncate().i32()
-        );
-        let coordinates_clone = *coordinates;
-        let destination_clone = *destination;
-        let query_pipeline = rapier_context.query_pipeline.clone();
-        let cost_map_clone = cost_map.cloned();
-        let handle_clone = *handle;
-        let mut collider_set = rapier_context.colliders.clone();
-        let mut to_remove = vec![handle.0];
-        for handle in collider_set.iter() {
-            if !obstructions.iter().map(|v| v.0).any(|x| x == handle.0) {
-                to_remove.push(handle.0);
-            }
-        }
-        let mut bodies = rapier_context.bodies.clone();
-        if !to_remove.is_empty() {
-            let mut islands = rapier_context.islands.clone();
-            for handle in to_remove {
-                collider_set.remove(handle, &mut islands, &mut bodies, false);
-            }
-        }
-        let shape_clone = (*shape).clone();
-        trace!(
-            "{entity:?}: path: calculating from {:?} to {destination:?}",
-            coordinates.i32(),
-        );
-        let pool = AsyncComputeTaskPool::get();
-        let task = pool.spawn(async move {
-            find_path_for_shape(
-                handle_clone.0,
-                coordinates_clone,
-                destination_clone,
-                &cost_map_clone,
-                query_pipeline,
-                collider_set,
-                bodies,
-                shape_clone,
-            )
-        });
-        trace
-!("{entity}: remove2");
-        commands
-            .entity(entity)
-            .insert(Calculating(task))
-            .remove::<Path>()
-            .remove::<NoPath>();
-    }
-}
-
-fn poll_tasks(
-    mut commands: Commands,
-    mut query: Query<(
-        Entity,
-        &mut Calculating,
-        &Transform,
-        &Destination,
-        Option<&mut ActionState<NegotiatePathAction>>,
-    )>,
-) {
-    for (entity, mut calculating, transform, destination, actions) in &mut query {
-        if let Some(result) = future::block_on(future::poll_once(&mut **calculating)) {
-            if let Some(path) = result {
-                trace!("{entity:?}: Path: {path:?}");
-                commands.entity(entity).insert(path);
-            } else {
-                trace
-!(
-                    "{entity:?}: path: no path from {:?} to {:?}",
-                    transform.translation.truncate().i32(),
-                    **destination
-                );
             commands.entity(entity).insert(NoPath);
             if let Some(mut actions) = actions {
                 trace!("{entity:?}: Disabling and resetting because no path");
@@ -268,18 +171,13 @@ fn poll_tasks(
                 actions.reset_all();
             }
         }
-            commands.entity(entity).remove::<Calculating>();
-        }
     }
 }
 
 fn remove_destination(mut commands: Commands, mut removed: RemovedComponents<Destination>) {
     for entity in removed.read() {
         if let Some(mut commands) = commands.get_entity(entity) {
-            commands
+            commands.remove::<Path>().remove::<NoPath>();
-                .remove::<Calculating>()
-                .remove::<Path>()
-                .remove::<NoPath>();
         }
     }
 }
@@ -287,7 +185,7 @@ fn remove_destination(mut commands: Commands, mut removed: RemovedComponents<Des
 fn negotiate_path(
     mut commands: Commands,
     time: Res<Time>,
-    physics_config: Res<RapierConfiguration>,
+    spatial_query: SpatialQuery,
     mut query: Query<(
         Entity,
         Option<&mut ActionState<NegotiatePathAction>>,
@@ -298,11 +196,7 @@ fn negotiate_path(
         &Speed,
         Option<&RotationSpeed>,
     )>,
-    rapier_context: Res<RapierContext>,
 ) {
-    if !physics_config.physics_pipeline_active || !physics_config.query_pipeline_active {
-        return;
-    }
     for (
         entity,
         actions,
@@ -346,24 +240,19 @@ fn negotiate_path(
                 "{entity:?}: Direction: {direction:?}, Distance: {}",
                 (next - start).length()
             );
-            if rapier_context
+            if spatial_query
                 .cast_shape(
+                    collider,
                     start,
                     transform.yaw().radians(),
-                    direction,
+                    Dir2::new_unchecked(direction.normalize()),
-                    collider,
+                    direction.length(),
-                    ShapeCastOptions {
+                    true,
-                        max_time_of_impact: 1.,
+                    SpatialQueryFilter::default(),
-                        ..default()
-                    },
-                    QueryFilter::new()
-                        .exclude_sensors()
-                        .exclude_collider(entity),
                 )
                 .is_some()
             {
-                trace
+                trace!("{entity:?} is stuck");
-!("{entity:?} is stuck");
                 // TODO: Remove when we have an actual character controller.
                 next.x = next.x.trunc();
                 next.y = next.y.trunc();
@@ -376,8 +265,7 @@ fn negotiate_path(
                 transform.rotation = Quat::from_rotation_z(angle);
             }
         } else {
-            trace
+            trace!("{entity:?}: empty path, cleaning");
-!("{entity:?}: empty path, cleaning");
             if let Some(mut actions) = actions {
                 trace!("{entity:?}: Disabling pathfind because at destination");
                 actions.reset_all();
@@ -421,8 +309,7 @@ fn actions(
                     *current_dest = dest;
                 }
             } else {
-                trace
+                trace!("{entity:?}: Adding destination, zeroing velocity");
-!("{entity:?}: Adding destination, zeroing velocity");
                 navigation_action.set_axis_pair(&NavigationAction::SetLinearVelocity, Vec2::ZERO);
                 commands.entity(entity).insert(dest);
             }
@@ -439,7 +326,7 @@ impl Plugin for PathfindingPlugin {
             .register_type::<NoPath>()
             .register_type::<Path>()
             .register_type::<CostMap>()
-            .add_systems(PreUpdate, (poll_tasks, negotiate_path).chain())
+            .add_systems(PreUpdate, negotiate_path)
             .add_systems(
                 PreUpdate,
                 (actions, calculate_path)

src/sound/volumetric.rs

@@ -1,5 +1,5 @@
+use avian2d::{parry::query::ClosestPoints, prelude::*};
 use bevy::{prelude::*, transform::TransformSystem};
-use bevy_rapier2d::{parry::query::ClosestPoints, prelude::*};
 use bevy_synthizer::{Listener, Sound};
 
 use crate::core::GlobalTransformExt;

src/visibility.rs

@@ -4,14 +4,12 @@ use std::{
     marker::PhantomData,
 };
 
+use avian2d::prelude::*;
 use bevy::prelude::*;
-
-use bevy_rapier2d::{na::Isometry2, parry::bounding_volume::BoundingVolume};
 use coord_2d::{Coord, Size};
 use shadowcast::{vision_distance, Context, InputGrid};
 
 use crate::{
-    bevy_rapier2d::prelude::*,
     core::{GlobalTransformExt, Player, PointLike},
     log::Log,
     map::{Map, MapPlugin},
@@ -51,29 +49,22 @@ impl Viewshed {
         viewer_entity: &Entity,
         visible_entities: &mut VisibleEntities,
         start: &Vec2,
-        rapier_context: &RapierContext,
+        spatial_query: &SpatialQuery,
         visible_query: &Query<(&Visible, &Collider, &GlobalTransform)>,
         cache: &mut RefCell<HashMap<(i32, i32), (u8, HashSet<Entity>)>>,
     ) {
         // println!("Start");
         let mut boxes = vec![];
-        let shape = Collider::cuboid(self.range as f32, self.range as f32);
+        let shape = Collider::rectangle(self.range as f32, self.range as f32);
-        rapier_context.intersections_with_shape(*start, 0., &shape, default(), |entity| {
+        spatial_query.shape_intersections_callback(&shape, *start, 0., default(), |entity| {
             if let Ok((_, collider, transform)) = visible_query.get(entity) {
-                let position =
+                boxes.push(collider.aabb(transform.translation().truncate(), 0.));
-                    Isometry2::translation(transform.translation().x, transform.translation().y);
-                // println!(
-                // "Hit {:?}, pushing {:?}",
-                // entity,
-                // collider.raw.compute_aabb(&position)
-                // );
-                boxes.push(collider.raw.compute_aabb(&position));
             }
             true
         });
         let mut context: Context<u8> = Context::default();
         let vision_distance = vision_distance::Circle::new(self.range);
-        let shape = Collider::cuboid(0.49, 0.49);
+        let shape = Collider::rectangle(0.49, 0.49);
         let size = (
             (start.x.abs() + self.range as f32 * 2.) as u32,
             (start.y.abs() + self.range as f32 * 2.) as u32,
@@ -96,15 +87,14 @@ impl Viewshed {
                     coord_entities = entities.clone();
                     *opacity
                 } else {
-                    let position = Isometry2::translation(shape_pos.x, shape_pos.y);
+                    let aabb = shape.aabb(shape_pos, 0.);
-                    let aabb = shape.raw.compute_aabb(&position);
                     if boxes.iter().any(|b| b.intersects(&aabb)) {
                         // println!("Hit");
                         let mut opacity = 0;
-                        rapier_context.intersections_with_shape(
+                        spatial_query.shape_intersections_callback(
+                            &shape,
                             shape_pos,
                             0.,
-                            &shape,
                             default(),
                             |entity| {
                                 if let Ok((visible, _, _)) = visible_query.get(entity) {
@@ -130,7 +120,7 @@ impl Viewshed {
                 if let Some((k, v)) = to_insert {
                     cache.borrow_mut().insert(k, v);
                 }
-                if coord_entities.contains(&viewer_entity) {
+                if coord_entities.contains(viewer_entity) {
                     let mut coord_entities = coord_entities.clone();
                     coord_entities.retain(|e| e != viewer_entity);
                     let opacity = coord_entities
@@ -282,7 +272,6 @@ where
 
 fn update_viewshed(
     mut commands: Commands,
-    config: Res<RapierConfiguration>,
     visible: Query<(&Visible, &Collider, &GlobalTransform)>,
     mut viewers: Query<(
         Entity,
@@ -290,11 +279,8 @@ fn update_viewshed(
         &mut VisibleEntities,
         &GlobalTransform,
     )>,
-    rapier_context: Res<RapierContext>,
+    spatial_query: SpatialQuery,
 ) {
-    if !config.query_pipeline_active {
-        return;
-    }
     let mut cache = default();
     for (viewer_entity, mut viewshed, mut visible_entities, viewer_transform) in &mut viewers {
         viewshed.update(
@@ -302,7 +288,7 @@ fn update_viewshed(
             &viewer_entity,
             &mut visible_entities,
             &viewer_transform.translation().truncate(),
-            &rapier_context,
+            &spatial_query,
             &visible,
             &mut cache,
         );
@@ -318,7 +304,7 @@ fn remove_visible(
         &mut VisibleEntities,
         &GlobalTransform,
     )>,
-    rapier_context: Res<RapierContext>,
+    spatial_query: SpatialQuery,
     visible: Query<(&Visible, &Collider, &GlobalTransform)>,
 ) {
     if !removed.is_empty() {
@@ -333,7 +319,7 @@ fn remove_visible(
                     &viewer_entity,
                     &mut visible_entities,
                     &start.translation().truncate(),
-                    &rapier_context,
+                    &spatial_query,
                     &visible,
                     &mut cache,
                 );