feat: update to rapier 0.35.0

.github/workflows/main.yml

@@ -52,10 +52,10 @@ jobs:
         run: cargo clippy --verbose -p bevy_rapier2d --examples
       - name: Clippy for bevy_rapier3d
         run: cargo clippy --verbose -p bevy_rapier3d --examples
-      - name: Clippy for bevy_rapier2d (debug-render, simd, serde)
-        run: cargo clippy --verbose -p bevy_rapier2d --features debug-render-2d,simd-stable,serde-serialize,picking-backend
-      - name: Clippy for bevy_rapier3d (debug-render, simd, serde)
-        run: cargo clippy --verbose -p bevy_rapier3d --features debug-render-3d,simd-stable,serde-serialize,picking-backend
+      - name: Clippy for bevy_rapier2d (debug-render, simd8, serde)
+        run: cargo clippy --verbose -p bevy_rapier2d --features debug-render-2d,simd8,serde-serialize,picking-backend
+      - name: Clippy for bevy_rapier3d (debug-render, simd8, serde)
+        run: cargo clippy --verbose -p bevy_rapier3d --features debug-render-3d,simd8,serde-serialize,picking-backend
       - name: Test for bevy_rapier2d
         run: cargo test --verbose -p bevy_rapier2d
       - name: Test for bevy_rapier3d

CHANGELOG.md

@@ -1,5 +1,22 @@
 # Changelog
 
+## Unreleased
+
+### Modified
+
+- Update to bevy `0.20` (currently tracking bevy’s `main` branch).
+- Update from rapier `0.34` to rapier `0.35`.
+  See [rapier's changelog](https://github.com/dimforge/rapier/blob/master/CHANGELOG.md) for details.
+  - Removed the `simd-stable` and `simd-nightly` features: SIMD is now always enabled in rapier.
+    The new `simd8` feature widens the solver’s SIMD from 4 to 8 lanes (f32 only, needs an AVX2-capable
+    target). Just drop `simd-stable`/`simd-nightly` from your `Cargo.toml`.
+  - `SolverContactView::point` is now derived from the contact’s per-body anchors, and
+    `SolverContactView::{friction, restitution}` report the value of the contact’s manifold, since
+    rapier made both coefficients per-manifold instead of per-contact.
+  - The `enhanced-determinism` and `serde-serialize` features can’t currently be enabled together:
+    `enhanced-determinism` turns on `glam/scalar-math`, for which glam doesn’t implement `serde` on
+    `BVec3A`/`BVec4A`, which `bevy_reflect` requires when bevy’s `serialize` feature is on.
+
 ## v0.35.0 (12 July 2026)
 
 ### Modified

Cargo.toml

@@ -3,8 +3,8 @@ members = ["bevy_rapier2d", "bevy_rapier3d", "bevy_rapier_benches3d", "ci"]
 resolver = "2"
 
 [workspace.dependencies]
-rapier2d = "=0.33.0-alpha"
-rapier3d = "=0.33.0-alpha"
+rapier2d = "0.35.0"
+rapier3d = "0.35.0"
 
 [profile.dev]
 # Use slightly better optimization by default, as examples otherwise seem laggy.
@@ -14,13 +14,6 @@ opt-level = 1
 codegen-units = 1
 
 [patch.crates-io]
-#nalgebra = { path = "../nalgebra" }
-#parry2d = { path = "../parry/crates/parry2d" }
-#parry3d = { path = "../parry/crates/parry3d" }
 #rapier2d = { path = "../rapier/crates/rapier2d" }
 #rapier3d = { path = "../rapier/crates/rapier3d" }
-#nalgebra = { git = "https://github.com/dimforge/nalgebra", branch = "dev" }
-#parry2d = { git = "https://github.com/dimforge/parry", branch = "master" }
-#parry3d = { git = "https://github.com/dimforge/parry", branch = "master" }
-#rapier2d = { git = "https://github.com/dimforge/rapier", branch = "character-controller" }
-#rapier3d = { git = "https://github.com/dimforge/rapier", branch = "character-controller" }
+bevy = { git = "https://github.com/bevyengine/bevy", rev = "87a24bf95af15ed707fe634969994852155a2eac" }

bevy_rapier2d/Cargo.toml

@@ -49,11 +49,12 @@ debug-render-3d = [
 rapier-debug-render = ["rapier2d/debug-render"]
 
 parallel = ["rapier2d/parallel"]
-simd-stable = ["rapier2d/simd-stable"]
-simd-nightly = ["rapier2d/simd-nightly"]
+simd8 = ["rapier2d/simd8"]
 serde-serialize = ["rapier2d/serde-serialize", "bevy/serialize", "serde"]
 enhanced-determinism = ["rapier2d/enhanced-determinism"]
 headless = []
+# Depends on bevy_egui / bevy-inspector-egui / bevy_mod_debugdump which don't support bevy main yet.
+egui-examples = []
 picking-backend = ["bevy/bevy_picking", "bevy/bevy_render"]
 async-collider = [
     "bevy/bevy_asset",
@@ -64,15 +65,15 @@ async-collider = [
 to-bevy-mesh = ["bevy/bevy_render", "bevy/bevy_asset"]
 
 [dependencies]
-bevy = { version = "0.19.0", default-features = false, features = ["std"] }
-nalgebra = { version = "0.34.2", features = ["convert-glam032"] }
+bevy = { version = "0.20.0-dev", default-features = false, features = ["std"] }
+nalgebra = { version = "0.35", features = ["convert-glam033"] }
 rapier2d = { workspace = true }
 bitflags = "2.10.0"
 log = "0.4"
 serde = { version = "1", features = ["derive"], optional = true }
 
 [dev-dependencies]
-bevy = { version = "0.19.0", default-features = false, features = [
+bevy = { version = "0.20.0-dev", default-features = false, features = [
     "x11",
     "bevy_state",
     "bevy_window",
@@ -92,10 +93,10 @@ bevy = { version = "0.19.0", default-features = false, features = [
 ] }
 oorandom = "11"
 approx = "0.5.1"
-glam = { version = "0.32.1", features = ["approx"] }
-bevy-inspector-egui = "0.37.0"
-bevy_egui = "0.40.0"
-bevy_mod_debugdump = "0.16.0"
+glam = { version = "0.33", features = ["approx"] }
+#bevy-inspector-egui = "0.37.0" # FIXME: re-enable once it supports bevy main
+#bevy_egui = "0.40.0" # FIXME: re-enable once it supports bevy main
+#bevy_mod_debugdump = "0.16.0" # FIXME: re-enable once it supports bevy main
 serde_json = "1.0"
 
 [package.metadata.docs.rs]
@@ -104,14 +105,26 @@ features = ["debug-render-2d", "serde-serialize"]
 
 [package.metadata.cargo-all-features]
 
-denylist = ["simd-nightly"]
-
-# Features "dim2" and "dim3" are incompatible, so skip permutations including them
-skip_feature_sets = [["enhanced-determinism", "simd-stable"]]
+# Features "dim2" and "dim3" are incompatible, so skip permutations including them.
+# `enhanced-determinism` + `serde-serialize` is skipped because the former enables
+# `glam/scalar-math`, for which glam doesn’t implement `serde` on `BVec3A`/`BVec4A`,
+# which `bevy_reflect` needs when bevy’s `serialize` feature is on.
+skip_feature_sets = [
+    ["enhanced-determinism", "simd8"],
+    ["enhanced-determinism", "serde-serialize"],
+]
 
 always_include_features = ["dim2"]
 
 # The maximum number of features to try at once. Does not count features from `always_include_features`.
 # This is useful for reducing the number of combinations run for a crate with a large amount of features,
 # since in most cases a bug just needs a small set of 2-3 features to reproduce.
 max_combination_size = 1
+
+[[example]]
+name = "testbed2"
+required-features = ["egui-examples"]
+
+[[example]]
+name = "debugdump2"
+required-features = ["egui-examples"]

bevy_rapier3d/Cargo.toml

@@ -50,11 +50,12 @@ debug-render-3d = [
 rapier-debug-render = ["rapier3d/debug-render"]
 
 parallel = ["rapier3d/parallel"]
-simd-stable = ["rapier3d/simd-stable"]
-simd-nightly = ["rapier3d/simd-nightly"]
+simd8 = ["rapier3d/simd8"]
 serde-serialize = ["rapier3d/serde-serialize", "bevy/serialize", "serde"]
 enhanced-determinism = ["rapier3d/enhanced-determinism"]
 headless = []
+# Depends on bevy_egui / bevy-inspector-egui / bevy_mod_debugdump which don't support bevy main yet.
+egui-examples = []
 picking-backend = ["bevy/bevy_picking", "bevy/bevy_render"]
 async-collider = [
     "bevy/bevy_asset",
@@ -65,18 +66,19 @@ async-collider = [
 to-bevy-mesh = ["bevy/bevy_render", "bevy/bevy_asset"]
 
 [dependencies]
-bevy = { version = "0.19.0", default-features = false, features = ["std"] }
-nalgebra = { version = "0.34.2", features = ["convert-glam032"] }
+bevy = { version = "0.20.0-dev", default-features = false, features = ["std"] }
+nalgebra = { version = "0.35", features = ["convert-glam033"] }
 rapier3d = { workspace = true }
 bitflags = "2.10.0"
 log = "0.4"
 serde = { version = "1", features = ["derive"], optional = true }
 
 [dev-dependencies]
-bevy = { version = "0.19.0", default-features = false, features = [
+bevy = { version = "0.20.0-dev", default-features = false, features = [
     "bevy_window",
     "x11",
     "tonemapping_luts",
+    "zstd_rust",
     "bevy_state",
     "bevy_debug_stepping",
     "bevy_text",
@@ -86,21 +88,25 @@ bevy = { version = "0.19.0", default-features = false, features = [
     "bevy_gizmos_render",
 ] }
 approx = "0.5.1"
-glam = { version = "0.32.1", features = ["approx"] }
-bevy-inspector-egui = "0.37.0"
-bevy_egui = "0.40.0"
-bevy_mod_debugdump = "0.16.0"
+glam = { version = "0.33", features = ["approx"] }
+#bevy-inspector-egui = "0.37.0" # FIXME: re-enable once it supports bevy main
+#bevy_egui = "0.40.0" # FIXME: re-enable once it supports bevy main
+#bevy_mod_debugdump = "0.16.0" # FIXME: re-enable once it supports bevy main
 
 [package.metadata.docs.rs]
 # Enable all the features when building the docs on docs.rs
 features = ["debug-render-3d", "serde-serialize", "async-collider"]
 
 [package.metadata.cargo-all-features]
 
-denylist = ["simd-nightly"]
-
-# Features "dim2" and "dim3" are incompatible, so skip permutations including them
-skip_feature_sets = [["enhanced-determinism", "simd-stable"]]
+# Features "dim2" and "dim3" are incompatible, so skip permutations including them.
+# `enhanced-determinism` + `serde-serialize` is skipped because the former enables
+# `glam/scalar-math`, for which glam doesn’t implement `serde` on `BVec3A`/`BVec4A`,
+# which `bevy_reflect` needs when bevy’s `serialize` feature is on.
+skip_feature_sets = [
+    ["enhanced-determinism", "simd8"],
+    ["enhanced-determinism", "serde-serialize"],
+]
 
 always_include_features = ["dim3"]
 
@@ -115,4 +121,8 @@ required-features = ["picking-backend"]
 
 [[example]]
 name = "testbed3"
-required-features = ["picking-backend"]
+required-features = ["picking-backend", "egui-examples"]
+
+[[example]]
+name = "debugdump3"
+required-features = ["egui-examples"]

bevy_rapier_benches3d/Cargo.toml

@@ -5,13 +5,14 @@ description = "Custom benchmarks for bevy_rapier."
 readme = "./README.md"
 license = "Apache-2.0"
 edition = "2021"
+publish = false
 
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 
 [dependencies]
-rapier3d = { workspace = true }
+rapier3d = { workspace = true, features = ["profiler"] }
 bevy_rapier3d = { version = "0.35", path = "../bevy_rapier3d" }
-bevy = { version = "0.19.0", default-features = false }
+bevy = { version = "0.20.0-dev", default-features = false }
 
 [dev-dependencies]
 divan = "0.1"

ci/Cargo.toml

@@ -2,9 +2,10 @@
 name = "ci"
 version = "0.1.0"
 edition = "2021"
+publish = false
 
 [dependencies]
-bevy = "0.19.0"
+bevy = { version = "0.20.0-dev" }
 bevy_rapier3d = { version = "0.35", path = "../bevy_rapier3d" }
 bevy_rapier2d = { version = "0.35", path = "../bevy_rapier2d" }
 

publish.sh

@@ -1,25 +1,87 @@
-#!/bin/sh
-set -e
+#! /bin/bash
+#
+# Publishes both bevy_rapier crates to crates.io with a single
+# `cargo publish --workspace` invocation:
+#
+#   - bevy_rapier2d / bevy_rapier3d
+#
+# Cargo computes the dependency order itself and waits for each crate to become
+# available on the registry before publishing the ones that depend on it. The
+# `bevy_rapier_benches3d` and `ci` crates are marked `publish = false`, so
+# `--workspace` skips them.
+#
+# Why this script exists
+# ----------------------
+# Both crates share a single source tree at `<repo>/src`, referenced from each
+# manifest as `path = "../src/lib.rs"`. That path points outside the crate
+# directory, which `cargo publish` refuses to package.
+#
+# To work around it *only during publishing*, this script temporarily, for each
+# affected crate:
+#   1. rewrites the `[lib] path` to a crate-local one (i.e. `src/lib.rs`), and
+#   2. creates a symlink inside the crate pointing at the shared source tree.
+#
+# Cargo follows the symlink and bundles the real source into each `.crate`. A
+# trap restores the manifests and removes the symlinks on exit (including on
+# error or Ctrl-C), leaving the tree exactly as it was.
+#
+# Extra arguments are forwarded to `cargo publish`, e.g.:
+#   ./publish.sh --dry-run
+#   ./publish.sh --token "$CARGO_TOKEN"
+#
+# Requires cargo >= 1.90 (for `cargo publish --workspace`).
 
-tmp=$(mktemp -d)
+set -euo pipefail
 
-echo "$tmp"
+ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+cd "$ROOT"
 
-cp -r src "$tmp"/.
-cp -r LICENSE README.md "$tmp"/.
+# Crates sharing `src/lib.rs`.
+SRC_CRATES=(bevy_rapier2d bevy_rapier3d)
 
-### Publish the 2D version.
-sed 's#\.\./src#src#g' bevy_rapier2d/Cargo.toml > "$tmp"/Cargo.toml
-gawk -i inplace '{ gsub("../README.md", "README.md") }; { print }' "$tmp"/Cargo.toml
-currdir=$(pwd)
-cd "$tmp" && cargo publish
-cd "$currdir" || exit
+# Refuse to run on a dirty tree: the only diff during publishing must be our own
+# temporary edits, so the restore at the end is guaranteed to be correct.
+if [ -n "$(git status --porcelain)" ]; then
+    echo "error: working tree is not clean. Commit or stash changes before publishing." >&2
+    exit 1
+fi
 
+backup_dir="$(mktemp -d)"
 
-### Publish the 3D version.
-sed 's#\.\./src#src#g' bevy_rapier3d/Cargo.toml > "$tmp"/Cargo.toml
-gawk -i inplace '{ gsub("../README.md", "README.md") }; { print }' "$tmp"/Cargo.toml
-cp -r LICENSE README.md "$tmp"/.
-cd "$tmp" && cargo publish
+cleanup() {
+    for crate in "${SRC_CRATES[@]}"; do
+        # Remove the symlink we created (only if it is in fact a symlink).
+        [ -L "$crate/src" ] && rm -f "$crate/src"
+        # Restore the original manifest.
+        if [ -f "$backup_dir/$crate.Cargo.toml" ]; then
+            cp "$backup_dir/$crate.Cargo.toml" "$crate/Cargo.toml"
+        fi
+    done
+    rm -rf "$backup_dir"
+}
+trap cleanup EXIT INT TERM
 
-rm -rf "$tmp"
+# Apply the temporary symlink layout: the shared `src` dir lives at the repo
+# root and is linked into each crate, while the manifest's `[lib] path` is made
+# crate-local.
+link_shared() {
+    local crate="$1"
+    local manifest="$crate/Cargo.toml"
+
+    cp "$manifest" "$backup_dir/$crate.Cargo.toml"
+
+    local tmp
+    tmp="$(mktemp)"
+    sed 's#path = "\.\./src/lib.rs"#path = "src/lib.rs"#' "$manifest" > "$tmp"
+    mv "$tmp" "$manifest"
+
+    ln -s ../src "$crate/src"
+}
+
+for crate in "${SRC_CRATES[@]}"; do
+    link_shared "$crate"
+done
+
+# Publish the whole workspace. `--allow-dirty` is required because our temporary
+# edits make the tree dirty; the clean-tree check above keeps that safe.
+cargo publish --workspace --allow-dirty "$@"