fishfolk · zicklag · Mar 21, 2024 · Mar 20, 2024 · Mar 20, 2024
diff --git a/Cargo.lock b/Cargo.lock
diff --git a/Cargo.toml b/Cargo.toml
@@ -23,7 +23,7 @@ tracing             = "0.1.37"
 puffin              = { version = "0.17.0", features = ["web"] }
 puffin_egui         = "0.23.0"
 petgraph            = "0.6.4"
-rapier2d            = { version = "0.17.2", features = ["debug-render", "enhanced-determinism"] }
+rapier2d            = { git = "https://github.com/MaxCWhitehead/rapier", branch = "fix-dynamic-change", features = ["debug-render", "enhanced-determinism"] }
 indexmap            = "2.0.0"
 serde               = { version = "1.0.188", features = ["derive"] }
 shiftnanigans       = "0.3.3"

diff --git a/src/core/debug.rs b/src/core/debug.rs
@@ -52,7 +52,8 @@ impl<'a> rapier::DebugRenderBackend for RapierDebugBackend<'a> {
             rapier::DebugRenderObject::Collider(_, collider) => collider.is_enabled(),
             rapier::DebugRenderObject::ImpulseJoint(_, _) => true,
             rapier::DebugRenderObject::MultibodyJoint(_, _, _) => true,
-            rapier::DebugRenderObject::Other => true,
+            rapier::DebugRenderObject::ColliderAabb(_, _, _) => true,
+            rapier::DebugRenderObject::ContactPair(_, _, _) => true,
         };
         if render {
             self.points.push(vec2(a.x, a.y));
@@ -94,14 +95,15 @@ fn debug_render_colliders(
     settings: ResInit<DebugSettings>,
     mut collision_world: CollisionWorld,
     transforms: Comp<Transform>,
+    mut dynamic_bodies: CompMut<DynamicBody>,
     mut paths: CompMut<Path2d>,
     mut debug_context: ResMutInit<RapierDebugContext>,
 ) {
     if settings.show_kinematic_colliders {
         // TODO: It's unfortunate that we are doing an extra sync here, just for debug rendering. We
         // should try find a way to avoid this. Without this, the collider body positions will be
         // out of sync when they are rendered.
-        collision_world.update(&transforms);
+        collision_world.sync_bodies(&transforms, &mut dynamic_bodies);
 
         let mut points = Vec::new();
         let mut line_breaks = Vec::new();

diff --git a/src/core/physics.rs b/src/core/physics.rs
@@ -3,13 +3,20 @@
 use crate::prelude::*;
 
 pub use collisions::{
-    Actor, Collider, ColliderShape, CollisionWorld, RapierContext, RapierUserData, Solid,
-    TileCollisionKind,
+    Actor, Collider, ColliderShape, CollisionWorld, PhysicsParams, RapierContext, RapierUserData,
+    Solid, TileCollisionKind,
 };
 
 use super::utils::Rect;
+pub use rapier2d::prelude as rapier;
 
 pub mod collisions;
+pub mod dynamic_body;
+
+pub use dynamic_body::*;
+
+/// For now kinematic mode is globally position based.
+pub static KINEMATIC_MODE: rapier::RigidBodyType = rapier::RigidBodyType::KinematicPositionBased;
 
 #[derive(Debug, Clone, Copy)]
 enum PhysicsStage {
@@ -145,6 +152,7 @@ fn update_kinematic_bodies(
     meta: Root<GameMeta>,
     entities: Res<Entities>,
     mut bodies: CompMut<KinematicBody>,
+    mut dynamic_bodies: CompMut<DynamicBody>,
     mut collision_world: CollisionWorld,
     mut transforms: CompMut<Transform>,
     time: Res<Time>,
@@ -153,15 +161,31 @@ fn update_kinematic_bodies(
 
     let time_factor = time.delta().as_secs_f32();
 
-    collision_world.update(&transforms);
-    for (entity, body) in entities.iter_with(&mut bodies) {
+    let global_gravity = meta.core.physics.gravity;
+    collision_world.update(
+        time_factor,
+        PhysicsParams {
+            gravity: global_gravity,
+            terminal_velocity: Some(meta.core.physics.terminal_velocity),
+        },
+        &mut transforms,
+        &mut dynamic_bodies,
+    );
+    for (entity, (body, dynamic_body)) in
+        entities.iter_with((&mut bodies, &mut OptionalMut(&mut dynamic_bodies)))
+    {
         if body.is_deactivated {
             collision_world.colliders.get_mut(entity).unwrap().disabled = true;
             continue;
         } else {
             collision_world.colliders.get_mut(entity).unwrap().disabled = false;
         }
 
+        if let Some(dynamic_body) = dynamic_body {
+            if dynamic_body.is_dynamic {
+                continue;
+            }
+        }
         // has the body moved since last call to update_kinematic_bodies?
         let has_moved = {
             let transform = transforms.get(entity).copied().unwrap();