chore: reorganize bindings directories + bring in bevy_rapier

.github/workflows/bevy-rapier.yml

@@ -0,0 +1,142 @@
+name: Bevy plugin
+
+# `bindings/bevy_rapier` is its own Cargo workspace (it tracks Bevy's main branch), building
+# `bevy_rapier2d` and `bevy_rapier3d` against the rapier crates of this repository. It runs
+# on engine changes too, so a rapier change breaking the plugin is caught in its own PR.
+on:
+  push:
+    branches: [master]
+    paths:
+      - "bindings/bevy_rapier/**"
+      - "src/**"
+      - "crates/rapier*/**"
+      - "crates/mjcf-rs/**"
+      - "Cargo.toml"
+      - "website/docs-examples/*/bevy/**"
+      - ".github/workflows/bevy-rapier.yml"
+  pull_request:
+    branches: [master]
+    paths:
+      - "bindings/bevy_rapier/**"
+      - "src/**"
+      - "crates/rapier*/**"
+      - "crates/mjcf-rs/**"
+      - "Cargo.toml"
+      - "website/docs-examples/*/bevy/**"
+      - ".github/workflows/bevy-rapier.yml"
+  workflow_dispatch:
+
+# A new push to a PR cancels the still-running build of the previous push.
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ github.event_name == 'pull_request' }}
+
+env:
+  CARGO_TERM_COLOR: always
+  CARGO_INCREMENTAL: 0
+  CARGO_PROFILE_DEV_DEBUG: none
+
+defaults:
+  run:
+    working-directory: bindings/bevy_rapier
+
+jobs:
+  check-fmt:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: dtolnay/rust-toolchain@stable
+        with:
+          components: rustfmt
+      - name: Check formatting
+        run: cargo fmt --all -- --check
+  doc:
+    runs-on: ubuntu-latest
+    env:
+      RUSTDOCFLAGS: -D warnings
+    steps:
+      - uses: actions/checkout@v4
+      - uses: dtolnay/rust-toolchain@stable
+      - uses: Swatinem/rust-cache@v2
+        with:
+          workspaces: bindings/bevy_rapier
+      - run: sudo apt update && sudo apt-get install pkg-config libx11-dev libasound2-dev libudev-dev libwayland-dev libxkbcommon-dev
+      - name: Cargo doc
+        run: cargo doc --no-deps
+  test:
+    runs-on: ubuntu-latest
+    env:
+      RUSTFLAGS: -D warnings
+    steps:
+      - uses: actions/checkout@v4
+      - uses: dtolnay/rust-toolchain@stable
+        with:
+          components: clippy
+      - uses: Swatinem/rust-cache@v2
+        with:
+          workspaces: bindings/bevy_rapier
+      - run: sudo apt update && sudo apt-get install pkg-config libx11-dev libasound2-dev libudev-dev libwayland-dev libxkbcommon-dev
+      - run: cargo install cargo-all-features
+      - name: Clippy for bevy_rapier2d
+        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,simd8,serde-serialize,picking-backend
+      - name: Clippy for bevy_rapier3d (debug-render, simd, 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
+        run: cargo test --verbose -p bevy_rapier3d
+      - name: Test for no conflicting system order ambiguity
+        run: cargo run --bin ambiguity_detection
+      - name: Check all features individually
+        run: cargo check-all-features
+  test-wasm:
+    runs-on: ubuntu-latest
+    env:
+      RUSTFLAGS: -D warnings
+    steps:
+      - uses: actions/checkout@v4
+      - uses: dtolnay/rust-toolchain@stable
+        with:
+          components: clippy
+          targets: wasm32-unknown-unknown
+      - uses: Swatinem/rust-cache@v2
+        with:
+          workspaces: bindings/bevy_rapier
+      - name: Clippy bevy_rapier2d
+        run: cd bevy_rapier2d && cargo clippy --verbose --features bevy/webgl2 --target wasm32-unknown-unknown
+      - name: Clippy bevy_rapier3d
+        run: cd bevy_rapier3d && cargo clippy --verbose --features bevy/webgl2 --target wasm32-unknown-unknown
+  dependencies:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - name: Check dependencies
+        uses: EmbarkStudios/cargo-deny-action@v2
+        with:
+          manifest-path: bindings/bevy_rapier/Cargo.toml
+  # Checks the Bevy documentation snippets compile against the in-tree bevy_rapier. Both
+  # snippet crates are standalone workspaces sharing one target directory.
+  website-bevy-snippets:
+    runs-on: ubuntu-latest
+    env:
+      CARGO_TARGET_DIR: ${{ github.workspace }}/website/docs-examples/target
+    defaults:
+      run:
+        working-directory: website/docs-examples
+    steps:
+      - uses: actions/checkout@v4
+      - uses: dtolnay/rust-toolchain@stable
+      - uses: Swatinem/rust-cache@v2
+        with:
+          workspaces: |
+            website/docs-examples/2d/bevy -> ../../target
+            website/docs-examples/3d/bevy -> ../../target
+      - run: sudo apt update && sudo apt-get install pkg-config libx11-dev libasound2-dev libudev-dev libwayland-dev libxkbcommon-dev
+      - name: Check the 2D snippets
+        run: cd 2d/bevy && cargo check --examples
+      - name: Check the 3D snippets
+        run: cd 3d/bevy && cargo check --examples

.github/workflows/c-bindings.yml

@@ -2,10 +2,10 @@ name: C bindings
 on:
   push:
     branches: [master]
-    paths: ['c/**', 'src/**', 'crates/rapier*/**', 'Cargo.toml', '.github/workflows/c-bindings.yml']
+    paths: ['bindings/c/**', 'src/**', 'crates/rapier*/**', 'Cargo.toml', '.github/workflows/c-bindings.yml']
   pull_request:
     branches: [master]
-    paths: ['c/**', 'src/**', 'crates/rapier*/**', 'Cargo.toml', '.github/workflows/c-bindings.yml']
+    paths: ['bindings/c/**', 'src/**', 'crates/rapier*/**', 'Cargo.toml', '.github/workflows/c-bindings.yml']
   workflow_dispatch:
 jobs:
   native:
@@ -26,7 +26,7 @@ jobs:
         if: runner.os == 'Linux'
         run: sudo apt-get update && sudo apt-get install -y libx11-dev libxrandr-dev libxinerama-dev libxcursor-dev libxi-dev libgl1-mesa-dev
       - name: Configure
-        run: cmake -S c -B build/c -DRAPIER_DIMENSION=${{ matrix.variant.dimension }} -DRAPIER_PRECISION=${{ matrix.precision }} -DRAPIER_ENABLE_PARALLEL=${{ matrix.variant.parallel }} -DRAPIER_BUILD_TESTBED=ON -DRAPIER_PROFILE=debug -DRAPIER_CARGO_TARGET_DIR=${{ github.workspace }}/target
+        run: cmake -S bindings/c -B build/c -DRAPIER_DIMENSION=${{ matrix.variant.dimension }} -DRAPIER_PRECISION=${{ matrix.precision }} -DRAPIER_ENABLE_PARALLEL=${{ matrix.variant.parallel }} -DRAPIER_BUILD_TESTBED=ON -DRAPIER_PROFILE=debug -DRAPIER_CARGO_TARGET_DIR=${{ github.workspace }}/target
       - name: Build
         run: cmake --build build/c --config Release --parallel 2
       - name: Test
@@ -35,7 +35,7 @@ jobs:
         run: cmake --install build/c --config Release --prefix build/install
       - name: Consume installed package
         run: |
-          cmake -S c/tests/consumer -B build/consumer -DCMAKE_PREFIX_PATH=${{ github.workspace }}/build/install
+          cmake -S bindings/c/tests/consumer -B build/consumer -DCMAKE_PREFIX_PATH=${{ github.workspace }}/build/install
           cmake --build build/consumer --config Release
           ctest --test-dir build/consumer -C Release --output-on-failure
   abi-and-features:
@@ -49,18 +49,18 @@ jobs:
       - run: cargo install cbindgen --version 0.29.4 --locked
       - name: Header matches source
         run: |
-          sh c/tools/generate-header.sh
-          git diff --exit-code -- c/include/rapier.h
+          sh bindings/c/tools/generate-header.sh
+          git diff --exit-code -- bindings/c/include/rapier.h
       - run: cargo fmt -p rapier-c-macros -p rapier3d-ffi -- --check
       - run: cargo test -p rapier-c-macros -p rapier2d-ffi -p rapier3d-ffi -p rapier2d-f64-ffi -p rapier3d-f64-ffi
       - run: cargo clippy -p rapier-c-macros -p rapier2d-ffi -p rapier3d-ffi -p rapier2d-f64-ffi -p rapier3d-f64-ffi --no-deps -- -D warnings
       - name: Every ABI symbol and both linkage modes
-        run: python3 c/tools/test-native.py
+        run: python3 bindings/c/tools/test-native.py
       - name: Optional feature combinations
         run: cargo check -p rapier2d-ffi -p rapier3d-ffi -p rapier2d-f64-ffi -p rapier3d-f64-ffi --features parallel,fem,enhanced-determinism
       - name: Eight-lane SIMD with parallel execution
         run: |
-          cmake -S c -B build/simd8 -DRAPIER_BUILD_TESTBED=ON -DRAPIER_TESTBED_GRAPHICS=OFF -DRAPIER_PROFILE=debug -DRAPIER_SIMD_LANES=8 -DRAPIER_ENABLE_PARALLEL=ON -DRAPIER_CARGO_TARGET_DIR=${{ github.workspace }}/target
+          cmake -S bindings/c -B build/simd8 -DRAPIER_BUILD_TESTBED=ON -DRAPIER_TESTBED_GRAPHICS=OFF -DRAPIER_PROFILE=debug -DRAPIER_SIMD_LANES=8 -DRAPIER_ENABLE_PARALLEL=ON -DRAPIER_CARGO_TARGET_DIR=${{ github.workspace }}/target
           cmake --build build/simd8 --parallel 2
           ctest --test-dir build/simd8 --output-on-failure
 
@@ -72,7 +72,7 @@ jobs:
         run: sudo apt-get update && sudo apt-get install -y doxygen
       - name: Generate and validate all API variants
         run: |
-          cmake -S c/doxygen -B build/c-docs
+          cmake -S bindings/c/doxygen -B build/c-docs
           cmake --build build/c-docs --target rapier_docs --parallel 2
       - name: Upload HTML reference
         uses: actions/upload-artifact@v4

.github/workflows/python-bindings.yml

@@ -9,9 +9,9 @@ on:
 env:
   CARGO_TERM_COLOR: always
 
-# The engine package lives under python/rapier-py-3d (rapier3d, f32); the
-# pure-Python testbed under python/rapier-testbed; the test suite under
-# python/tests.
+# The engine package lives under bindings/python/rapier-py-3d (rapier3d, f32); the
+# pure-Python testbed under bindings/python/rapier-testbed; the test suite under
+# bindings/python/tests.
 jobs:
   lint-rust:
     runs-on: ubuntu-latest
@@ -66,11 +66,11 @@ jobs:
       # environment so the test suite can import it.
       - name: Build & install engine package
         shell: bash
-        run: python -m pip install --no-build-isolation ./python/rapier-py-3d
+        run: python -m pip install --no-build-isolation ./bindings/python/rapier-py-3d
       - name: Install testbed (no deps; engine package already present)
         shell: bash
-        run: python -m pip install --no-deps ./python/rapier-testbed
+        run: python -m pip install --no-deps ./bindings/python/rapier-testbed
       - name: Smoke (import surface)
-        run: python -m pytest python/tests/test_smoke.py python/tests/test_math.py -v
+        run: python -m pytest bindings/python/tests/test_smoke.py bindings/python/tests/test_math.py -v
       - name: Full test suite
-        run: python -m pytest python/tests/ -q --timeout=120
+        run: python -m pytest bindings/python/tests/ -q --timeout=120

.github/workflows/python-wheels.yml

@@ -22,7 +22,7 @@ on:
   pull_request:
     branches: [master]
     paths:
-      - "python/**"
+      - "bindings/python/**"
       - ".github/workflows/python-wheels.yml"
   workflow_dispatch:
 
@@ -53,7 +53,7 @@ jobs:
           command: build
           target: ${{ matrix.platform.target }}
           manylinux: ${{ matrix.platform.manylinux }}
-          args: --release --out dist -m python/${{ matrix.package.dir }}/Cargo.toml
+          args: --release --out dist -m bindings/python/${{ matrix.package.dir }}/Cargo.toml
           sccache: "true"
       - uses: actions/upload-artifact@v4
         with:

.github/workflows/rapier-ci-build.yml

@@ -312,7 +312,7 @@ jobs:
         run: cd website/docs-examples && cargo test
   # Checks the JavaScript documentation snippets build against the in-tree bindings, so a
   # snippet may use an API before it is released on npm. The snippet package depends on
-  # `typescript/builds/rapier{2,3}d/pkg` through a `file:` path, which this job builds first
+  # `bindings/typescript/builds/rapier{2,3}d/pkg` through a `file:` path, which this job builds first
   # (the same two steps a local checkout runs).
   website-javascript-snippets:
     runs-on: ubuntu-latest
@@ -323,14 +323,14 @@ jobs:
       - uses: actions/checkout@v4
       - uses: Swatinem/rust-cache@v2
         with:
-          workspaces: typescript
+          workspaces: bindings/typescript
       - name: Generate the binding crates
-        working-directory: ./typescript
+        working-directory: ./bindings/typescript
         run: |
           npm ci
           cargo run -p prepare_builds -- -d dim${{ matrix.dimension == '2d' && '2' || '3' }} -f non-deterministic
       - name: Build the in-tree bindings
-        working-directory: ./typescript/builds/rapier${{ matrix.dimension }}
+        working-directory: ./bindings/typescript/builds/rapier${{ matrix.dimension }}
         run: |
           npm i
           npm run build:wasm

.github/workflows/typescript-bindings.yml

@@ -9,21 +9,21 @@ on:
         # the `paths` list below only ever gates the `master` pushes.
         tags: ["js-v*"]
         paths:
-            - "typescript/**"
+            - "bindings/typescript/**"
             - ".github/workflows/typescript-bindings.yml"
     pull_request:
         branches: [master]
         paths:
-            - "typescript/**"
+            - "bindings/typescript/**"
             - ".github/workflows/typescript-bindings.yml"
     workflow_dispatch:
 
 env:
     CARGO_TERM_COLOR: always
 
-# The JS/Wasm bindings live under `typescript/`, which is a self-contained Cargo
-# workspace (it pulls `rapier2d`/`rapier3d` from crates.io, not from the crates
-# in this repo). Every step therefore runs inside that directory.
+# The JS/Wasm bindings live under `bindings/typescript/`, which is a self-contained Cargo
+# workspace (its `[patch.crates-io]` builds `rapier2d`/`rapier3d` from the crates
+# of this repo). Every step therefore runs inside that directory.
 
 # Never cancel a run that can publish: interrupting the `publish` job partway
 # leaves some of the twelve packages released and the rest missing.
@@ -36,7 +36,7 @@ jobs:
         runs-on: ubuntu-latest
         defaults:
             run:
-                working-directory: typescript
+                working-directory: bindings/typescript
         steps:
             - uses: actions/checkout@v4
             - uses: actions/setup-node@v4
@@ -54,7 +54,7 @@ jobs:
         runs-on: ${{ matrix.os }}
         defaults:
             run:
-                working-directory: typescript
+                working-directory: bindings/typescript
         env:
             RUSTFLAGS: -D warnings
         steps:
@@ -66,8 +66,8 @@ jobs:
                       ~/.cargo/registry/index/
                       ~/.cargo/registry/cache/
                       ~/.cargo/git/db/
-                      typescript/target/
-                  key: ${{ runner.os }}-cargo-js-${{ hashFiles('typescript/builds/prepare_builds/templates/Cargo.toml.tera') }}
+                      bindings/typescript/target/
+                  key: ${{ runner.os }}-cargo-js-${{ hashFiles('bindings/typescript/builds/prepare_builds/templates/Cargo.toml.tera') }}
                   restore-keys: |
                       ${{ runner.os }}-cargo-js-
             - run: npm ci;
@@ -101,7 +101,7 @@ jobs:
               with:
                   name: pkg no-compat ${{ matrix.os }}
                   path: |
-                      typescript/builds/*/pkg
+                      bindings/typescript/builds/*/pkg
                   overwrite: true
     build-compat:
         strategy:
@@ -110,7 +110,7 @@ jobs:
         runs-on: ${{ matrix.os }}
         defaults:
             run:
-                working-directory: typescript
+                working-directory: bindings/typescript
         env:
             RUSTFLAGS: -D warnings
         steps:
@@ -122,8 +122,8 @@ jobs:
                       ~/.cargo/registry/index/
                       ~/.cargo/registry/cache/
                       ~/.cargo/git/db/
-                      typescript/target/
-                  key: ${{ runner.os }}-cargo-js-${{ hashFiles('typescript/builds/prepare_builds/templates/Cargo.toml.tera') }}
+                      bindings/typescript/target/
+                  key: ${{ runner.os }}-cargo-js-${{ hashFiles('bindings/typescript/builds/prepare_builds/templates/Cargo.toml.tera') }}
                   restore-keys: |
                       ${{ runner.os }}-cargo-js-
             - run: npm ci;
@@ -161,7 +161,7 @@ jobs:
               with:
                   name: pkg compat ${{ matrix.os }}
                   path: |
-                      typescript/rapier-compat/builds/*/pkg
+                      bindings/typescript/rapier-compat/builds/*/pkg
                   overwrite: true
     # Publishes with npm Trusted Publishing: instead of a long-lived `NPM_TOKEN`,
     # npm mints a short-lived credential from the GitHub OIDC token of this very
@@ -186,17 +186,17 @@ jobs:
             id-token: write
         defaults:
             run:
-                working-directory: typescript
+                working-directory: bindings/typescript
         steps:
             - uses: actions/checkout@v4
             - uses: actions/download-artifact@v4
               with:
                   name: pkg no-compat ubuntu-latest
-                  path: typescript/builds
+                  path: bindings/typescript/builds
             - uses: actions/download-artifact@v4
               with:
                   name: pkg compat ubuntu-latest
-                  path: typescript/rapier-compat/builds
+                  path: bindings/typescript/rapier-compat/builds
             # No `registry-url`: that would write an `.npmrc` expecting a
             # `NODE_AUTH_TOKEN`, which trusted publishing replaces.
             - uses: actions/setup-node@v4