added beginings of rapier physics

examples/demo/src/main.rs

@@ -1,17 +1,26 @@
 use bevy::{
     diagnostic::{FrameTimeDiagnosticsPlugin, LogDiagnosticsPlugin},
-    prelude::{info, App, Startup, Commands, SpatialBundle},
+    prelude::{info, App, Commands, SpatialBundle, Startup, PostUpdate, IntoSystemSetConfigs, IntoSystemConfigs, Transform, Color}, transform::{TransformSystem, TransformBundle},
+};
+use bevy_openxr::{
+    xr_input::{
+        debug_gizmos::OpenXrDebugRenderer,
+        trackers::{OpenXRController, OpenXRLeftController, OpenXRRightController, OpenXRTracker},
+    },
+    DefaultXrPlugins,
 };
-use bevy_openxr::{xr_input::{debug_gizmos::OpenXrDebugRenderer, trackers::{OpenXRLeftController, OpenXRController, OpenXRTracker, OpenXRRightController}}, DefaultXrPlugins};
 
 mod setup;
 use crate::setup::setup_scene;
+use bevy_rapier3d::prelude::*;
 
 fn main() {
     color_eyre::install().unwrap();
 
     info!("Running bevy_openxr demo");
-    App::new()
+    let mut app = App::new();
+
+    app
         //lets get the usual diagnostic stuff added
         .add_plugins(LogDiagnosticsPlugin::default())
         .add_plugins(FrameTimeDiagnosticsPlugin)
@@ -19,10 +28,44 @@ fn main() {
         .add_plugins(DefaultXrPlugins)
         //lets add the debug renderer for the controllers
         .add_plugins(OpenXrDebugRenderer)
+        //rapier goes here
+        .add_plugins(RapierPhysicsPlugin::<NoUserData>::default().with_default_system_setup(false))
+        .add_plugins(RapierDebugRenderPlugin::default())
         //lets setup the starting scene
         .add_systems(Startup, setup_scene)
         .add_systems(Startup, spawn_controllers_example) //you need to spawn controllers or it crashes TODO:: Fix this
-        .run();
+        //spawn rapier test physics
+        .add_systems(Startup, setup_physics)
+        ;
+
+    //configure rapier sets
+    app.configure_sets(
+        PostUpdate,
+        (
+            PhysicsSet::SyncBackend,
+            PhysicsSet::StepSimulation,
+            PhysicsSet::Writeback,
+        )
+            .chain()
+            .before(TransformSystem::TransformPropagate),
+    );
+    //add rapier systems
+    app.add_systems(
+        PostUpdate,
+        (
+            RapierPhysicsPlugin::<NoUserData>::get_systems(PhysicsSet::SyncBackend)
+                .in_set(PhysicsSet::SyncBackend),
+            (
+                RapierPhysicsPlugin::<NoUserData>::get_systems(PhysicsSet::StepSimulation),
+                // despawn_one_box,
+            )
+                .in_set(PhysicsSet::StepSimulation),
+            RapierPhysicsPlugin::<NoUserData>::get_systems(PhysicsSet::Writeback)
+                .in_set(PhysicsSet::Writeback),
+        ),
+    );
+
+    app.run();
 }
 
 fn spawn_controllers_example(mut commands: Commands) {
@@ -47,3 +90,54 @@ fn spawn_controllers_example(mut commands: Commands) {
     ));
 }
 
+pub fn setup_physics(mut commands: Commands) {
+    /*
+     * Ground
+     */
+    let ground_size = 200.1;
+    let ground_height = 0.1;
+
+    commands.spawn((
+        TransformBundle::from(Transform::from_xyz(0.0, -ground_height, 0.0)),
+        Collider::cuboid(ground_size, ground_height, ground_size),
+    ));
+
+    /*
+     * Create the cubes
+     */
+    let num = 8;
+    let rad = 1.0;
+
+    let shift = rad * 2.0 + rad;
+    let centerx = shift * (num / 2) as f32;
+    let centery = shift / 2.0;
+    let centerz = shift * (num / 2) as f32;
+
+    let mut offset = -(num as f32) * (rad * 2.0 + rad) * 0.5;
+    let mut color = 0;
+    let colors = [
+        Color::hsl(220.0, 1.0, 0.3),
+        Color::hsl(180.0, 1.0, 0.3),
+        Color::hsl(260.0, 1.0, 0.7),
+    ];
+
+    for j in 0usize..20 {
+        for i in 0..num {
+            for k in 0usize..num {
+                let x = i as f32 * shift - centerx + offset;
+                let y = j as f32 * shift + centery + 3.0;
+                let z = k as f32 * shift - centerz + offset;
+                color += 1;
+
+                commands.spawn((
+                    TransformBundle::from(Transform::from_xyz(x, y, z)),
+                    RigidBody::Dynamic,
+                    Collider::cuboid(rad, rad, rad),
+                    ColliderDebugColor(colors[color % 3]),
+                ));
+            }
+        }
+
+        offset -= 0.05 * rad * (num as f32 - 1.0);
+    }
+}