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Fix warning when despawning sleeping bodies #924

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Merged
Jondolf merged 3 commits into from
Jan 18, 2026
Merged

Fix warning when despawning sleeping bodies #924

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d63db35
Fix error for waking non-existent bodies
Jondolf Jan 18, 2026
898a144
Merge branch 'main' into fix-nonexistent-wake-error
Jondolf Jan 18, 2026
315ea64
Update migration guide
Jondolf Jan 18, 2026
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9 changes: 7 additions & 2 deletions migration-guides/0.5-to-main.md
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Expand Up @@ -6,12 +6,17 @@ 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.
1 change: 0 additions & 1 deletion src/dynamics/mod.rs
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Expand Up @@ -111,7 +111,6 @@ pub mod prelude {
PhysicsLengthUnit, SolverPlugin, SolverPlugins,
islands::{
IslandPlugin, IslandSleepingPlugin, SleepBody, SleepIslands, WakeBody, WakeIslands,
WakeUpBody,
},
schedule::{
SolverSchedulePlugin, SolverSet, SolverSystems, SubstepCount, SubstepSchedule,
Expand Down
6 changes: 1 addition & 5 deletions src/dynamics/solver/islands/mod.rs
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Expand Up @@ -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},
Expand Down
118 changes: 61 additions & 57 deletions src/dynamics/solver/islands/sleeping.rs
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Expand Up @@ -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},
Expand All @@ -21,7 +22,6 @@ use bevy::{
},
world::{DeferredWorld, Mut, Ref, World},
},
log::warn,
prelude::{Deref, DerefMut},
time::Time,
};
Expand Down Expand Up @@ -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) {
Expand All @@ -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(
Expand Down Expand Up @@ -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())
}
}
}
Expand Down Expand Up @@ -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>);

Expand Down