Merge branch 'main' into collision-hooks

Author: Jondolf

crates/avian_derive/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "avian_derive"
-version = "0.2.0"
+version = "0.2.1"
 edition = "2021"
 license = "MIT OR Apache-2.0"
 authors = ["Joona Aalto <[email protected]>"]

crates/avian_derive/src/lib.rs

@@ -123,11 +123,6 @@ pub fn derive_physics_layer(input: TokenStream) -> TokenStream {
     };
 
     let expanded = quote! {
-        #[cfg(feature = "2d")]
-        use avian2d::prelude::PhysicsLayer;
-        #[cfg(feature = "3d")]
-        use avian3d::prelude::PhysicsLayer;
-
         impl PhysicsLayer for #enum_ident {
             fn all_bits() -> u32 {
                 #all_bits

src/collision/layers.rs

@@ -434,12 +434,6 @@ impl Default for CollisionLayers {
 
 #[cfg(test)]
 mod tests {
-    // Needed for `PhysicsLayer` derive macro
-    #[cfg(feature = "2d")]
-    use crate as avian2d;
-    #[cfg(feature = "3d")]
-    use crate as avian3d;
-
     use crate::prelude::*;
 
     #[derive(PhysicsLayer, Default)]

src/dynamics/solver/contact/tangent_part.rs

@@ -139,7 +139,7 @@ impl ContactTangentPart {
             // This is needed for solving the two tangent directions simultaneously.
             // TODO. Derive and explain the math for this, or consider an alternative approach,
             //       like using the Jacobians to compute the actual effective mass matrix.
-            part.effective_inverse_mass[2] = 2.0 * (i1_rt11.dot(i1_rt21) + i2_rt12.dot(i2_rt22));
+            part.effective_inverse_mass[2] = 2.0 * (rt11.dot(i1_rt21) + rt12.dot(i2_rt22));
         }
 
         part

src/lib.rs

@@ -699,7 +699,7 @@ pub struct PhysicsPlugins {
 impl PhysicsPlugins {
     /// Creates a [`PhysicsPlugins`] plugin group using the given schedule for running the [`PhysicsSchedule`].
     ///
-    /// The default schedule is [`FixedPostUpdate`].
+    /// The default schedule is `FixedPostUpdate`.
     pub fn new(schedule: impl ScheduleLabel) -> Self {
         Self {
             schedule: schedule.intern(),

src/sync/mod.rs

@@ -40,7 +40,7 @@ pub struct SyncPlugin {
 impl SyncPlugin {
     /// Creates a [`SyncPlugin`] with the schedule that is used for running the [`PhysicsSchedule`].
     ///
-    /// The default schedule is `PostUpdate`.
+    /// The default schedule is `FixedPostUpdate`.
     pub fn new(schedule: impl ScheduleLabel) -> Self {
         Self {
             schedule: schedule.intern(),
@@ -50,7 +50,7 @@ impl SyncPlugin {
 
 impl Default for SyncPlugin {
     fn default() -> Self {
-        Self::new(PostUpdate)
+        Self::new(FixedPostUpdate)
     }
 }