Update to Bevy 0.17 and rapier 0.29 along with dependencies nalgebra, glam

bevy_rapier2d/Cargo.toml

@@ -64,15 +64,15 @@ async-collider = [
 to-bevy-mesh = ["bevy/bevy_render", "bevy/bevy_asset"]
 
 [dependencies]
-bevy = { version = "0.16.0", default-features = false, features = ["std"] }
-nalgebra = { version = "0.33", features = ["convert-glam029"] }
-rapier2d = "0.27.0-beta.0"
+bevy = { version = "0.17.0", default-features = false, features = ["std"] }
+nalgebra = { version = "0.34.1", features = ["convert-glam030"] }
+rapier2d = "0.29.0"
 bitflags = "2.4"
 log = "0.4"
 serde = { version = "1", features = ["derive"], optional = true }
 
 [dev-dependencies]
-bevy = { version = "0.16.0", default-features = false, features = [
+bevy = { version = "0.17.0", default-features = false, features = [
     "x11",
     "bevy_state",
     "bevy_window",
@@ -81,10 +81,10 @@ bevy = { version = "0.16.0", default-features = false, features = [
 ] }
 oorandom = "11"
 approx = "0.5.1"
-glam = { version = "0.29", features = ["approx"] }
-bevy-inspector-egui = "0.31"
-bevy_egui = "0.34"
-bevy_mod_debugdump = "0.13"
+glam = { version = "0.30.8", features = ["approx"] }
+bevy-inspector-egui = "0.34"
+bevy_egui = "0.37.0"
+bevy_mod_debugdump = "0.14.0"
 serde_json = "1.0"
 
 [package.metadata.docs.rs]

bevy_rapier2d/examples/custom_system_setup2.rs

@@ -1,4 +1,4 @@
-use bevy::{diagnostic::FrameCount, prelude::*, transform::TransformSystem};
+use bevy::{diagnostic::FrameCount, prelude::*, transform::TransformSystems};
 use bevy_rapier2d::prelude::*;
 
 fn main() {
@@ -24,7 +24,7 @@ fn main() {
             PhysicsSet::Writeback,
         )
             .chain()
-            .before(TransformSystem::TransformPropagate),
+            .before(TransformSystems::Propagate),
     );
 
     app.add_systems(

bevy_rapier2d/examples/events2.rs

@@ -23,8 +23,8 @@ pub fn setup_graphics(mut commands: Commands) {
 }
 
 pub fn display_events(
-    mut collision_events: EventReader<CollisionEvent>,
-    mut contact_force_events: EventReader<ContactForceEvent>,
+    mut collision_events: MessageReader<CollisionMessage>,
+    mut contact_force_events: MessageReader<ContactForceMessage>,
 ) {
     for collision_event in collision_events.read() {
         println!("Received collision event: {collision_event:?}");

bevy_rapier2d/examples/player_movement2.rs

@@ -6,7 +6,7 @@ fn main() {
         .add_plugins((
             DefaultPlugins.set(WindowPlugin {
                 primary_window: Some(Window {
-                    resolution: WindowResolution::new(1000., 1000.),
+                    resolution: WindowResolution::new(1000, 1000),
                     title: "Player Movement Example".to_string(),
                     ..default()
                 }),

bevy_rapier2d/examples/serialization2.rs

@@ -35,6 +35,6 @@ pub fn print_physics(_context: ReadRapierContext) {
     panic!("Example 'serialization' should be run with '--features serde-serialize'.");
 }
 
-fn quit(mut exit_event: EventWriter<AppExit>) {
+fn quit(mut exit_event: MessageWriter<AppExit>) {
     exit_event.write(AppExit::Success);
 }

bevy_rapier2d/examples/testbed2.rs

@@ -67,9 +67,7 @@ fn main() {
     app.init_resource::<ExamplesRes>()
         .add_plugins((
             DefaultPlugins,
-            EguiPlugin {
-                enable_multipass_for_primary_context: false,
-            },
+            EguiPlugin::default(),
             RapierPhysicsPlugin::<NoUserData>::pixels_per_meter(10.0),
             RapierDebugRenderPlugin::default(),
             WorldInspectorPlugin::new(),
@@ -256,15 +254,19 @@ fn main() {
 fn init(world: &mut World) {
     //save all entities that are in the world before setting up any example
     // to be able to always return to this state when switching from one example to the other
-    world.resource_mut::<ExamplesRes>().entities_before =
-        world.iter_entities().map(|e| e.id()).collect::<Vec<_>>();
+    world.resource_mut::<ExamplesRes>().entities_before = world
+        .query::<EntityRef>()
+        .iter(world)
+        .map(|e| e.id())
+        .collect::<Vec<_>>();
 }
 
 fn cleanup(world: &mut World) {
     let keep_alive = world.resource::<ExamplesRes>().entities_before.clone();
 
     let remove = world
-        .iter_entities()
+        .query::<EntityRef>()
+        .iter(world)
         .filter_map(|e| (!keep_alive.contains(&e.id())).then_some(e.id()))
         .collect::<Vec<_>>();
 
@@ -290,7 +292,7 @@ fn ui_example_system(
     mut current_example: ResMut<ExampleSelected>,
     examples_available: Res<ExampleSet>,
 ) {
-    egui::Window::new("Testbed").show(contexts.ctx_mut(), |ui| {
+    egui::Window::new("Testbed").show(contexts.ctx_mut().unwrap(), |ui| {
         let mut changed = false;
         egui::ComboBox::from_label("example")
             .width(150.0)

bevy_rapier3d/Cargo.toml

@@ -65,15 +65,15 @@ async-collider = [
 to-bevy-mesh = ["bevy/bevy_render", "bevy/bevy_asset"]
 
 [dependencies]
-bevy = { version = "0.16.0", default-features = false, features = ["std"] }
-nalgebra = { version = "0.33", features = ["convert-glam029"] }
-rapier3d = "0.27.0-beta.0"
+bevy = { version = "0.17.0", default-features = false, features = ["std"] }
+nalgebra = { version = "0.34.1", features = ["convert-glam030"] }
+rapier3d = "0.29.0"
 bitflags = "2.4"
 log = "0.4"
 serde = { version = "1", features = ["derive"], optional = true }
 
 [dev-dependencies]
-bevy = { version = "0.16.0", default-features = false, features = [
+bevy = { version = "0.17.0", default-features = false, features = [
     "bevy_window",
     "x11",
     "tonemapping_luts",
@@ -85,10 +85,10 @@ bevy = { version = "0.16.0", default-features = false, features = [
     "bevy_log",
 ] }
 approx = "0.5.1"
-glam = { version = "0.29", features = ["approx"] }
-bevy-inspector-egui = "0.31"
-bevy_egui = "0.34"
-bevy_mod_debugdump = "0.13"
+glam = { version = "0.30.7", features = ["approx"] }
+bevy-inspector-egui = "0.34"
+bevy_egui = "0.37.0"
+bevy_mod_debugdump = "0.14.0"
 
 [package.metadata.docs.rs]
 # Enable all the features when building the docs on docs.rs

bevy_rapier3d/examples/character_controller3.rs

@@ -1,5 +1,5 @@
 use bevy::{
-    input::{mouse::MouseMotion, InputSystem},
+    input::{mouse::MouseMotion, InputSystems},
     prelude::*,
 };
 use bevy_rapier3d::{control::KinematicCharacterController, prelude::*};
@@ -25,7 +25,7 @@ fn main() {
             RapierDebugRenderPlugin::default(),
         ))
         .add_systems(Startup, (setup_player, setup_map))
-        .add_systems(PreUpdate, handle_input.after(InputSystem))
+        .add_systems(PreUpdate, handle_input.after(InputSystems))
         .add_systems(Update, player_look)
         .add_systems(FixedUpdate, player_movement)
         .run();
@@ -112,7 +112,7 @@ fn handle_input(
     keyboard: Res<ButtonInput<KeyCode>>,
     mut movement: ResMut<MovementInput>,
     mut look: ResMut<LookInput>,
-    mut mouse_events: EventReader<MouseMotion>,
+    mut mouse_events: MessageReader<MouseMotion>,
 ) {
     if keyboard.pressed(KeyCode::KeyW) {
         movement.z -= 1.0;

bevy_rapier3d/examples/custom_system_setup3.rs

@@ -1,4 +1,4 @@
-use bevy::{diagnostic::FrameCount, prelude::*, transform::TransformSystem};
+use bevy::{diagnostic::FrameCount, prelude::*, transform::TransformSystems};
 use bevy_rapier3d::prelude::*;
 
 fn main() {
@@ -24,7 +24,7 @@ fn main() {
             PhysicsSet::Writeback,
         )
             .chain()
-            .before(TransformSystem::TransformPropagate),
+            .before(TransformSystems::Propagate),
     );
 
     app.add_systems(

bevy_rapier3d/examples/despawn3.rs

@@ -95,7 +95,7 @@ pub fn despawn(
     mut despawn: ResMut<DespawnResource>,
     query: Query<Entity, With<Despawn>>,
 ) {
-    if despawn.timer.tick(time.delta()).finished() {
+    if despawn.timer.tick(time.delta()).is_finished() {
         for entity in &query {
             println!("Despawning ground entity");
             commands.entity(entity).despawn();

bevy_rapier3d/examples/events3.rs

@@ -26,8 +26,8 @@ pub fn setup_graphics(mut commands: Commands) {
 }
 
 pub fn display_events(
-    mut collision_events: EventReader<CollisionEvent>,
-    mut contact_force_events: EventReader<ContactForceEvent>,
+    mut collision_events: MessageReader<CollisionEvent>,
+    mut contact_force_events: MessageReader<ContactForceEvent>,
 ) {
     for collision_event in collision_events.read() {
         println!("Received collision event: {collision_event:?}");

bevy_rapier3d/examples/joints_despawn3.rs

@@ -273,7 +273,7 @@ pub fn despawn(
     mut despawn: ResMut<DespawnResource>,
     query: Query<Entity, With<Despawn>>,
 ) {
-    if despawn.timer.tick(time.delta()).finished() {
+    if despawn.timer.tick(time.delta()).is_finished() {
         for entity in &query {
             println!("Despawning joint entity");
             commands.entity(entity).despawn();

bevy_rapier3d/examples/picking3.rs

@@ -45,15 +45,13 @@ pub fn setup_physics(mut commands: Commands) {
             },
         ))
         .observe(on_click_spawn_cube)
+        .observe(|out: On<Pointer<Out>>, mut texts: Query<&mut TextColor>| {
+            let mut text_color = texts.get_mut(out.event().entity).unwrap();
+            text_color.0 = Color::WHITE;
+        })
         .observe(
-            |out: Trigger<Pointer<Out>>, mut texts: Query<&mut TextColor>| {
-                let mut text_color = texts.get_mut(out.target()).unwrap();
-                text_color.0 = Color::WHITE;
-            },
-        )
-        .observe(
-            |over: Trigger<Pointer<Over>>, mut texts: Query<&mut TextColor>| {
-                let mut color = texts.get_mut(over.target()).unwrap();
+            |over: On<Pointer<Over>>, mut texts: Query<&mut TextColor>| {
+                let mut color = texts.get_mut(over.event().entity).unwrap();
                 color.0 = bevy::color::palettes::tailwind::CYAN_400.into();
             },
         );
@@ -67,11 +65,7 @@ pub fn setup_physics(mut commands: Commands) {
     ));
 }
 
-fn on_click_spawn_cube(
-    _click: Trigger<Pointer<Click>>,
-    mut commands: Commands,
-    mut num: Local<usize>,
-) {
+fn on_click_spawn_cube(_click: On<Pointer<Click>>, mut commands: Commands, mut num: Local<usize>) {
     let rad = 0.25;
     let colors = [
         Hsla::hsl(220.0, 1.0, 0.3),
@@ -92,8 +86,8 @@ fn on_click_spawn_cube(
     *num += 1;
 }
 
-fn on_drag_rotate(drag: Trigger<Pointer<Drag>>, mut transforms: Query<&mut Transform>) {
-    if let Ok(mut transform) = transforms.get_mut(drag.target()) {
+fn on_drag_rotate(drag: On<Pointer<Drag>>, mut transforms: Query<&mut Transform>) {
+    if let Ok(mut transform) = transforms.get_mut(drag.event().entity) {
         transform.rotate_y(drag.delta.x * 0.02);
         transform.rotate_x(drag.delta.y * 0.02);
     }

bevy_rapier3d/examples/rapier_context_component.rs

@@ -19,7 +19,7 @@ fn main() {
 /// Demonstrates how to access a more specific component of [`RapierContext`]
 fn display_nb_colliders(
     query_context: Query<&RapierContextColliders, With<DefaultRapierContext>>,
-    mut exit: EventWriter<AppExit>,
+    mut exit: MessageWriter<AppExit>,
 ) -> Result<()> {
     let nb_colliders = query_context.single()?.colliders.len();
     println!("There are {nb_colliders} colliders.");

bevy_rapier3d/examples/static_trimesh3.rs

@@ -123,7 +123,7 @@ pub fn ball_spawner(mut commands: Commands, time: Res<Time>, mut ball_state: Res
         return;
     }
 
-    if ball_state.timer.tick(time.delta()).finished() {
+    if ball_state.timer.tick(time.delta()).is_finished() {
         // Spawn a ball near the top of the ramp.
         let ramp_size = ramp_size();
         let rad = 0.3;

bevy_rapier3d/examples/testbed3.rs

@@ -69,6 +69,7 @@ fn main() {
             DefaultPlugins,
             EguiPlugin {
                 enable_multipass_for_primary_context: false,
+                ..Default::default()
             },
             RapierPhysicsPlugin::<NoUserData>::default(),
             RapierDebugRenderPlugin::default(),
@@ -248,15 +249,19 @@ fn main() {
 fn init(world: &mut World) {
     //save all entities that are in the world before setting up any example
     // to be able to always return to this state when switching from one example to the other
-    world.resource_mut::<ExamplesRes>().entities_before =
-        world.iter_entities().map(|e| e.id()).collect::<Vec<_>>();
+    world.resource_mut::<ExamplesRes>().entities_before = world
+        .query::<EntityRef>()
+        .iter(world)
+        .map(|e| e.id())
+        .collect::<Vec<_>>();
 }
 
 fn cleanup(world: &mut World) {
     let keep_alive = world.resource::<ExamplesRes>().entities_before.clone();
 
     let remove = world
-        .iter_entities()
+        .query::<EntityRef>()
+        .iter(world)
         .filter_map(|e| (!keep_alive.contains(&e.id())).then_some(e.id()))
         .collect::<Vec<_>>();
     for r in remove {
@@ -281,7 +286,7 @@ fn ui_example_system(
     mut current_example: ResMut<ExampleSelected>,
     examples_available: Res<ExampleSet>,
 ) {
-    egui::Window::new("Testbed").show(contexts.ctx_mut(), |ui| {
+    egui::Window::new("Testbed").show(contexts.ctx_mut().unwrap(), |ui| {
         let mut changed = false;
         egui::ComboBox::from_label("example")
             .width(150.0)

bevy_rapier_benches3d/Cargo.toml

@@ -9,9 +9,9 @@ edition = "2021"
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 
 [dependencies]
-rapier3d = { features = ["profiler"], version = "0.27.0-beta.0" }
+rapier3d = { features = ["profiler"], version = "0.29.0" }
 bevy_rapier3d = { version = "0.31", path = "../bevy_rapier3d" }
-bevy = { version = "0.16.0", default-features = false }
+bevy = { version = "0.17.0", default-features = false }
 
 [dev-dependencies]
 divan = "0.1"

ci/Cargo.toml

@@ -4,7 +4,7 @@ version = "0.1.0"
 edition = "2021"
 
 [dependencies]
-bevy = "0.16.0"
+bevy = "0.17.0"
 bevy_rapier3d = { version = "0.31", path = "../bevy_rapier3d" }
 bevy_rapier2d = { version = "0.31", path = "../bevy_rapier2d" }
 

src/dynamics/rigid_body.rs

@@ -202,15 +202,21 @@ impl std::ops::Deref for ReadMassProperties {
 }
 
 /// Entity that likely had their mass properties changed this frame.
-#[derive(Deref, Copy, Clone, Debug, PartialEq, Event)]
-pub struct MassModifiedEvent(pub Entity);
+#[derive(Deref, Copy, Clone, Debug, PartialEq, Message)]
+pub struct MassModifiedMessage(pub Entity);
 
-impl From<Entity> for MassModifiedEvent {
+impl From<Entity> for MassModifiedMessage {
     fn from(entity: Entity) -> Self {
         Self(entity)
     }
 }
 
+#[deprecated(
+    since = "0.32.0",
+    note = "MassModifiedMessage has been renamed to MassModifiedEvent for consistency with Bevy 0.17 naming conventions. "
+)]
+pub use MassModifiedMessage as MassModifiedEvent;
+
 /// Center-of-mass, mass, and angular inertia.
 ///
 /// This cannot be used as a component. Use the components `ReadMassProperties` to read a [`RigidBody`]’s

src/geometry/collider_impl.rs

@@ -2,8 +2,8 @@
 use na::DVector;
 #[cfg(all(feature = "dim3", feature = "async-collider"))]
 use {
+    bevy::mesh::{Indices, VertexAttributeValues},
     bevy::prelude::*,
-    bevy::render::mesh::{Indices, VertexAttributeValues},
 };
 
 use rapier::{