Merge branch 'main' into joint-motors4

Author: Jondolf

Cargo.lock

@@ -74,11 +74,11 @@ First, add `avian2d` or `avian3d` to your dependencies in `Cargo.toml`:
 ```toml
 # For 2D applications:
 [dependencies]
-avian2d = "0.4"
+avian2d = "0.5"
 
 # For 3D applications:
 [dependencies]
-avian3d = "0.4"
+avian3d = "0.5"
 
 # If you want to use the most up-to-date version, you can follow the main branch:
 [dependencies]
@@ -159,13 +159,13 @@ cargo run --example cubes --no-default-features --features "3d f64 parry-f64"
 
 ## Version Table
 
-| Bevy    | Avian  |
-| ------- | ------ |
-| 0.18    | main   |
-| 0.17    | 0.4    |
-| 0.16    | 0.3    |
-| 0.15    | 0.2    |
-| 0.14    | 0.1    |
+| Bevy    | Avian     |
+| ------- | --------- |
+| 0.18    | 0.5, main |
+| 0.17    | 0.4       |
+| 0.16    | 0.3       |
+| 0.15    | 0.2       |
+| 0.14    | 0.1       |
 
 Avian provides [migration guides](./migration-guides) for each version.
 

README.md

@@ -1,6 +1,6 @@
 [package]
 name = "avian2d"
-version = "0.5.0"
+version = "0.6.0-dev"
 edition = "2024"
 license = "MIT OR Apache-2.0"
 authors = ["Joona Aalto <[email protected]>"]

crates/avian2d/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "avian3d"
-version = "0.5.0"
+version = "0.6.0-dev"
 edition = "2024"
 license = "MIT OR Apache-2.0"
 authors = ["Joona Aalto <[email protected]>"]

crates/avian3d/Cargo.toml

@@ -0,0 +1,5 @@
+# Migrating From v0.4 to v0.5
+
+**Avian 0.5** migrated from Bevy 0.17 to 0.18. See [Bevy's migration guide](https://bevy.org/learn/migration-guides/0-17-to-0-18/) for migrating to the new version.
+
+This release contains no breaking changes for Avian itself.

migration-guides/0.4-to-0.5.md

@@ -1,17 +1,22 @@
-# Migrating From v0.4 to `main`
+# Migrating From v0.5 to `main`
 
 This file contains migration guides for breaking changes that have happened on the `main` branch
 since the latest release. These guides are evolving and may not be polished yet.
 
 See [migration-guides/README.md](./README.md) and existing entries for information about Avian's
 migration guide process and what to put here.
 
-## `ReadRigidBody` and `WriteRigidBody`
+## `ReadRigidBodyForces` and `WriteRigidBodyForces`
 
-PR [#908](https://github.com/avianphysics/avian/pull/908) introduced two new traits: `ReadRigidBody` and `WriteRigidBody`, and `RigidyBodyForces` is now defined as:
+PR [#908](https://github.com/avianphysics/avian/pull/908) introduced two new traits: `ReadRigidBodyForces` and `WriteRigidBodyForces`, and `RigidyBodyForces` is now defined as:
 
 ```rust
 pub trait RigidBodyForces: ReadRigidBodyForces + WriteRigidBodyForces {}
 ```
 
 In most cases this should just work, but if it doesn't, you can replace your implementation for `RigidBodyForces` with both `ReadRigidBodyForces` and `WriteRigidBodyForces` where it is used / needed. Both traits are required to implement `RigidBodyForces`, but you can implement them separately.
+
+## `SleepBody` and `WakeBody`
+
+The `SleepBody` and `WakeBody` commands now return an error when applied for an entity that doesn't exist
+or doesn't belong to an island. Previously, they logged a warning instead.

migration-guides/0.4-to-main.md migration-guides/0.5-to-main.mdmigration-guides/0.4-to-main.md renamed to migration-guides/0.5-to-main.md

@@ -111,7 +111,6 @@ pub mod prelude {
             PhysicsLengthUnit, SolverPlugin, SolverPlugins,
             islands::{
                 IslandPlugin, IslandSleepingPlugin, SleepBody, SleepIslands, WakeBody, WakeIslands,
-                WakeUpBody,
             },
             schedule::{
                 SolverSchedulePlugin, SolverSet, SolverSystems, SubstepCount, SubstepSchedule,

src/dynamics/mod.rs

@@ -43,11 +43,7 @@
 // https://github.com/erincatto/box2d/blob/df9787b59e4480135fbd73d275f007b5d931a83f/src/island.c#L57
 
 mod sleeping;
-
-#[expect(deprecated)]
-pub use sleeping::{
-    IslandSleepingPlugin, SleepBody, SleepIslands, WakeBody, WakeIslands, WakeUpBody,
-};
+pub use sleeping::{IslandSleepingPlugin, SleepBody, SleepIslands, WakeBody, WakeIslands};
 
 use bevy::{
     ecs::{entity_disabling::Disabled, lifecycle::HookContext, world::DeferredWorld},

src/dynamics/solver/islands/mod.rs

@@ -7,6 +7,7 @@ use bevy::{
     ecs::{
         entity::Entity,
         entity_disabling::Disabled,
+        error::Result,
         lifecycle::{HookContext, Insert, Replace},
         observer::On,
         query::{Changed, Has, Or, With, Without},
@@ -21,7 +22,6 @@ use bevy::{
         },
         world::{DeferredWorld, Mut, Ref, World},
     },
-    log::warn,
     prelude::{Deref, DerefMut},
     time::Time,
 };
@@ -100,7 +100,7 @@ fn sleep_on_add_sleeping(mut world: DeferredWorld, ctx: HookContext) {
         return;
     }
 
-    world.commands().queue(SleepBody(ctx.entity));
+    world.commands().queue_silenced(SleepBody(ctx.entity));
 }
 
 fn wake_on_remove_sleeping(mut world: DeferredWorld, ctx: HookContext) {
@@ -119,7 +119,7 @@ fn wake_on_remove_sleeping(mut world: DeferredWorld, ctx: HookContext) {
         return;
     }
 
-    world.commands().queue(WakeBody(ctx.entity));
+    world.commands().queue_silenced(WakeBody(ctx.entity));
 }
 
 fn wake_on_replace_rigid_body(
@@ -293,46 +293,52 @@ struct CachedBodySleepingSystemState(
 /// A [`Command`] that forces a [`RigidBody`] and its [`PhysicsIsland`][super::PhysicsIsland] to be [`Sleeping`].
 pub struct SleepBody(pub Entity);
 
-impl Command for SleepBody {
-    fn apply(self, world: &mut World) {
-        if let Some(island_id) = world
-            .get::<BodyIslandNode>(self.0)
-            .map(|node| node.island_id)
-        {
-            world.try_resource_scope(|world, mut state: Mut<CachedBodySleepingSystemState>| {
-                let (
-                    mut body_islands,
-                    body_colliders,
-                    mut islands,
-                    mut contact_graph,
-                    mut joint_graph,
-                ) = state.0.get_mut(world);
-
-                let Some(island) = islands.get_mut(island_id) else {
-                    return;
-                };
-
-                // The island must be split before it can be woken up.
-                // Note that this is expensive.
-                if island.constraints_removed > 0 {
-                    islands.split_island(
-                        island_id,
-                        &mut body_islands,
-                        &body_colliders,
-                        &mut contact_graph,
-                        &mut joint_graph,
-                    );
-                }
-
-                // The ID of the body's island might have changed due to the split,
-                // so we need to retrieve it again.
-                let island_id = body_islands.get(self.0).map(|node| node.island_id).unwrap();
+impl Command<Result> for SleepBody {
+    fn apply(self, world: &mut World) -> Result {
+        if let Ok(entity) = world.get_entity(self.0) {
+            if let Some(island_id) = entity.get::<BodyIslandNode>().map(|node| node.island_id) {
+                world.try_resource_scope(|world, mut state: Mut<CachedBodySleepingSystemState>| {
+                    let (
+                        mut body_islands,
+                        body_colliders,
+                        mut islands,
+                        mut contact_graph,
+                        mut joint_graph,
+                    ) = state.0.get_mut(world);
+
+                    let Some(island) = islands.get_mut(island_id) else {
+                        return;
+                    };
+
+                    // The island must be split before it can be woken up.
+                    // Note that this is expensive.
+                    if island.constraints_removed > 0 {
+                        islands.split_island(
+                            island_id,
+                            &mut body_islands,
+                            &body_colliders,
+                            &mut contact_graph,
+                            &mut joint_graph,
+                        );
+                    }
 
-                // Sleep the island.
-                SleepIslands(vec![island_id]).apply(world);
-            });
+                    // The ID of the body's island might have changed due to the split,
+                    // so we need to retrieve it again.
+                    let island_id = body_islands.get(self.0).map(|node| node.island_id).unwrap();
+
+                    // Sleep the island.
+                    SleepIslands(vec![island_id]).apply(world);
+                });
+                Ok(())
+            } else {
+                Err(format!(
+                    "Tried to sleep entity {:?} that is not a body or does not belong to an island",
+                    self.0
+                )
+                .into())
+            }
         } else {
-            warn!("Tried to sleep body {:?} that does not exist", self.0);
+            Err(format!("Tried to sleep entity {:?} that does not exist", self.0).into())
         }
     }
 }
@@ -442,27 +448,25 @@ struct CachedIslandWakingSystemState(
 /// A [`Command`] that wakes up a [`RigidBody`] and its [`PhysicsIsland`](super::PhysicsIsland) if it is [`Sleeping`].
 pub struct WakeBody(pub Entity);
 
-impl Command for WakeBody {
-    fn apply(self, world: &mut World) {
-        if let Some(body_island) = world.get::<BodyIslandNode>(self.0) {
-            WakeIslands(vec![body_island.island_id]).apply(world);
+impl Command<Result> for WakeBody {
+    fn apply(self, world: &mut World) -> Result {
+        if let Ok(entity) = world.get_entity(self.0) {
+            if let Some(body_island) = entity.get::<BodyIslandNode>() {
+                WakeIslands(vec![body_island.island_id]).apply(world);
+                Ok(())
+            } else {
+                Err(format!(
+                    "Tried to wake entity {:?} that is not a body or does not belong to an island",
+                    self.0
+                )
+                .into())
+            }
         } else {
-            warn!("Tried to wake body {:?} that does not exist", self.0);
+            Err(format!("Tried to wake entity {:?} that does not exist", self.0).into())
         }
     }
 }
 
-/// A deprecated alias for [`WakeBody`].
-#[deprecated(since = "0.4.0", note = "Renamed to `WakeBody`.")]
-pub struct WakeUpBody(pub Entity);
-
-#[expect(deprecated)]
-impl Command for WakeUpBody {
-    fn apply(self, world: &mut World) {
-        WakeBody(self.0).apply(world);
-    }
-}
-
 /// A [`Command`] that wakes up the [`PhysicsIsland`](super::PhysicsIsland)s with the given IDs if they are sleeping.
 pub struct WakeIslands(pub Vec<IslandId>);
 

src/dynamics/solver/islands/sleeping.rs

@@ -21,11 +21,11 @@
 //! ```toml
 //! # For 2D applications:
 //! [dependencies]
-//! avian2d = "0.4"
+//! avian2d = "0.5"
 //!
 //! # For 3D applications:
 //! [dependencies]
-//! avian3d = "0.4"
+//! avian3d = "0.5"
 //!
 //! # If you want to use the most up-to-date version, you can follow the main branch:
 //! [dependencies]
@@ -39,7 +39,7 @@
 //! [dependencies]
 //! # Add 3D Avian with double-precision floating point numbers.
 //! # `parry-f64` enables collision detection using Parry.
-//! avian3d = { version = "0.4", default-features = false, features = ["3d", "f64", "parry-f64", "xpbd_joints"] }
+//! avian3d = { version = "0.5", default-features = false, features = ["3d", "f64", "parry-f64", "xpbd_joints"] }
 //! ```
 //!
 //! ## Feature Flags