Update to Bevy 0.13 (#315)

# Objective

Closes #314 and #317.

This PR will be merged once Bevy 0.13 is released. Feel free to use this `bevy-main` branch in the meantime if you want to use the main branch of Bevy with `bevy_xpbd`.

## Solution

Update to the latest Bevy version.

For the 0.13 migration, I will be trying to implement various changes, mostly surrounding the new geometric primitives and ray structs. I will probably do these in PRs that I merge into this one, and it will all be merged into main once 0.13 is actually released.

- [x] Combine `PhysicsDebugRenderer` and `PhysicsDebugConfig` into `PhysicsGizmos` gizmo configuration group
- [x] Support creating colliders from primitives #326
- [x] Support ellipses and regular polygons as colliders (conical frusta and tori later) #326
- [x] Support creating `ShapeCaster`s with primitive shapes
- [x] Use `Direction2d`/`Direction3d` in spatial query APIs #329

---

## Migration Guide

### Debug rendering

The `PhysicsDebugConfig` resource and `PhysicsDebugRenderer` system parameter have been removed in favor of the new `PhysicsGizmos` [gizmo configuration group](https://bevyengine.org/news/bevy-0-13/#multiple-gizmo-configurations).

Before:

```rust
fn main() {
    App::new()
        .add_plugins((
            DefaultPlugins,
            PhysicsPlugins::default(),
            PhysicsDebugPlugin::default(),
        ))
        // Configure physics debug rendering
        .insert_resource(PhysicsDebugConfig {
            aabb_color: Some(Color::WHITE),
            ..default()
        })
        .run();
}
```

After:

```rust
fn main() {
    App::new()
        .add_plugins((
            DefaultPlugins,
            PhysicsPlugins::default(),
            PhysicsDebugPlugin::default(),
        ))
        // Configure physics debug rendering
        .insert_gizmo_group(
            PhysicsGizmos {
                aabb_color: Some(Color::WHITE),
                ..default()
            },
            GizmoConfig::default(),
        )
        .run();
}
```

This also allows you to configure e.g. line width for just physics gizmos by configuring their `GizmoConfig`.

### Renamed `Collider` constructors (#326)

- Replace `Collider::ball` with `Collider::circle` in 2D and `Collider::sphere` in 3D
- Replace `Collider::cuboid` with `Collider::rectangle` in 2D

### Ray and shape casting (#329)

For spatial queries, replace `Vec2`/`Vec3` directions with [`Direction2d`](https://docs.rs/bevy/0.13.0/bevy/math/primitives/struct.Direction2d.html)/[`Direction3d`](https://docs.rs/bevy/0.13.0/bevy/math/primitives/struct.Direction3d.html).

```rust
// Before
let caster = RayCaster::new(Vec3::ZERO, Vec3::X);

// After
let caster = RayCaster::new(Vec3::ZERO, Direction3d::X);
```

This applies to `RayCaster`, `ShapeCaster`, `SpatialQuery` methods like `cast_ray`, and many other methods that use directions.

README.md

@@ -7,7 +7,7 @@
 [![3D crates.io](https://img.shields.io/crates/v/bevy_xpbd_3d?label=3D%20crates.io)](https://crates.io/crates/bevy_xpbd_3d)
 [![3D docs.rs](https://img.shields.io/docsrs/bevy_xpbd_3d?label=3D%20docs.rs)](https://docs.rs/bevy_xpbd_3d)
 
-**Bevy XPBD** is a 2D and 3D physics engine based on *Extended Position Based Dynamics* (XPBD)
+**Bevy XPBD** is a 2D and 3D physics engine based on _Extended Position Based Dynamics_ (XPBD)
 for the [Bevy game engine](https://bevyengine.org/).
 
 ## Design
@@ -17,9 +17,9 @@ Below are some of the core design principles used in Bevy XPBD.
 - **Made with Bevy, for Bevy.** No wrappers around existing engines.
 - **Provide an ergonomic and familiar API.** Ergonomics is key for a good experience.
 - **Utilize the ECS as much as possible.** The engine should feel like a part of Bevy, and it shouldn't
-need to maintain a separate physics world.
+    need to maintain a separate physics world.
 - **Use a highly modular plugin architecture.** Users should be able to replace parts of the engine
-with their own implementations.
+    with their own implementations.
 - **Have good documentation.** A physics engine is pointless if you don't know how to use it.
 
 ## Features
@@ -104,23 +104,25 @@ fn setup(
         RigidBody::Static,
         Collider::cuboid(8.0, 0.002, 8.0),
         PbrBundle {
-            mesh: meshes.add(Mesh::from(shape::Plane::from_size(8.0))),
-            material: materials.add(Color::rgb(0.3, 0.5, 0.3).into()),
+            mesh: meshes.add(Plane3d::default().mesh().size(8.0, 8.0)),
+            material: materials.add(Color::rgb(0.3, 0.5, 0.3)),
             ..default()
         },
     ));
+
     // Cube
     commands.spawn((
         RigidBody::Dynamic,
         AngularVelocity(Vec3::new(2.5, 3.4, 1.6)),
         Collider::cuboid(1.0, 1.0, 1.0),
         PbrBundle {
-            mesh: meshes.add(Mesh::from(shape::Cube { size: 1.0 })),
-            material: materials.add(Color::rgb(0.8, 0.7, 0.6).into()),
+            mesh: meshes.add(Cuboid::default()),
+            material: materials.add(Color::rgb(0.8, 0.7, 0.6)),
             transform: Transform::from_xyz(0.0, 4.0, 0.0),
             ..default()
         },
     ));
+
     // Light
     commands.spawn(PointLightBundle {
         point_light: PointLight {
@@ -131,6 +133,7 @@ fn setup(
         transform: Transform::from_xyz(4.0, 8.0, 4.0),
         ..default()
     });
+
     // Camera
     commands.spawn(Camera3dBundle {
         transform: Transform::from_xyz(-4.0, 6.5, 8.0).looking_at(Vec3::ZERO, Vec3::Y),

crates/benches_common_3d/Cargo.toml

@@ -4,6 +4,6 @@ version = "0.1.0"
 edition = "2021"
 
 [dependencies]
-bevy = { version = "0.12", default-features = false }
+bevy = { version = "0.13", default-features = false }
 bevy_xpbd_3d = { path = "../bevy_xpbd_3d", default-features = false }
 criterion = "0.5"

crates/bevy_xpbd_2d/Cargo.toml

@@ -23,7 +23,7 @@ parallel = ["parry2d?/parallel", "parry2d-f64?/parallel"]
 enhanced-determinism = [
     "parry2d?/enhanced-determinism",
     "parry2d-f64?/enhanced-determinism",
-    "glam/libm",
+    "bevy_math/libm",
 ]
 
 default-collider = ["dep:nalgebra"]
@@ -46,19 +46,20 @@ required-features = ["2d"]
 
 [dependencies]
 bevy_xpbd_derive = { path = "../bevy_xpbd_derive", version = "0.1" }
-bevy = { version = "0.12", default-features = false }
+bevy = { version = "0.13", default-features = false }
+bevy_math = "0.13"
 parry2d = { version = "0.13", optional = true }
 parry2d-f64 = { version = "0.13", optional = true }
-nalgebra = { version = "0.32", features = ["convert-glam024"], optional = true }
-glam = { version = "0.24", features = ["approx"] }
+nalgebra = { version = "0.32", features = ["convert-glam025"], optional = true }
 serde = { version = "1", features = ["derive"], optional = true }
 derive_more = "0.99"
 indexmap = "2.0.0"
 fxhash = "0.2.1"
-itertools = "0.11"
+itertools = "0.12"
 
 [dev-dependencies]
 examples_common_2d = { path = "../examples_common_2d" }
+bevy_math = { version = "0.13", features = ["approx"] }
 approx = "0.5"
 insta = "1.0"
 

crates/bevy_xpbd_2d/examples/chain_2d.rs

@@ -31,10 +31,8 @@ fn setup(
 
     let particle_count = 100;
     let particle_radius = 1.2;
-    let particle_mesh: Mesh2dHandle = meshes
-        .add(shape::Circle::new(particle_radius as f32).into())
-        .into();
-    let particle_material = materials.add(ColorMaterial::from(Color::rgb(0.2, 0.7, 0.9)));
+    let particle_mesh: Mesh2dHandle = meshes.add(Circle::new(particle_radius as f32)).into();
+    let particle_material = materials.add(Color::rgb(0.2, 0.7, 0.9));
 
     // Spawn kinematic particle that can follow the mouse
     let mut previous_particle = commands
@@ -54,7 +52,7 @@ fn setup(
         let current_particle = commands
             .spawn((
                 RigidBody::Dynamic,
-                MassPropertiesBundle::new_computed(&Collider::ball(particle_radius), 1.0),
+                MassPropertiesBundle::new_computed(&Collider::circle(particle_radius), 1.0),
                 MaterialMesh2dBundle {
                     mesh: particle_mesh.clone(),
                     material: particle_material.clone(),
@@ -79,7 +77,7 @@ fn setup(
 }
 
 fn follow_mouse(
-    buttons: Res<Input<MouseButton>>,
+    buttons: Res<ButtonInput<MouseButton>>,
     windows: Query<&Window, With<PrimaryWindow>>,
     camera: Query<(&Camera, &GlobalTransform)>,
     mut follower: Query<&mut Transform, With<FollowMouse>>,

crates/bevy_xpbd_2d/examples/collision_layers.rs

@@ -39,7 +39,7 @@ fn setup(
             ..default()
         },
         RigidBody::Static,
-        Collider::cuboid(500.0, 25.0),
+        Collider::rectangle(500.0, 25.0),
         CollisionLayers::new([Layer::Blue], [Layer::Blue]),
     ));
 
@@ -55,15 +55,15 @@ fn setup(
             ..default()
         },
         RigidBody::Static,
-        Collider::cuboid(500.0, 25.0),
+        Collider::rectangle(500.0, 25.0),
         CollisionLayers::new([Layer::Red], [Layer::Red]),
     ));
 
     let marble_radius = 7.5;
-    let marble_mesh = meshes.add(shape::Circle::new(marble_radius).into());
+    let marble_mesh = meshes.add(Circle::new(marble_radius));
 
     // Spawn blue marbles that belong on the blue layer and collide with blue
-    let blue_material = materials.add(ColorMaterial::from(Color::rgb(0.2, 0.7, 0.9)));
+    let blue_material = materials.add(Color::rgb(0.2, 0.7, 0.9));
     for x in -6..6 {
         for y in 0..4 {
             commands.spawn((
@@ -78,14 +78,14 @@ fn setup(
                     ..default()
                 },
                 RigidBody::Dynamic,
-                Collider::ball(marble_radius as Scalar),
+                Collider::circle(marble_radius as Scalar),
                 CollisionLayers::new([Layer::Blue], [Layer::Blue]),
             ));
         }
     }
 
     // Spawn red marbles that belong on the red layer and collide with red
-    let red_material = materials.add(ColorMaterial::from(Color::rgb(0.9, 0.3, 0.3)));
+    let red_material = materials.add(Color::rgb(0.9, 0.3, 0.3));
     for x in -6..6 {
         for y in -4..0 {
             commands.spawn((
@@ -100,7 +100,7 @@ fn setup(
                     ..default()
                 },
                 RigidBody::Dynamic,
-                Collider::ball(marble_radius as Scalar),
+                Collider::circle(marble_radius as Scalar),
                 CollisionLayers::new([Layer::Red], [Layer::Red]),
             ));
         }

crates/bevy_xpbd_2d/examples/custom_collider.rs

@@ -147,16 +147,16 @@ fn setup(
     let center_radius = 200.0;
     let particle_radius = 5.0;
 
-    let red = materials.add(Color::rgb(0.9, 0.3, 0.3).into());
-    let blue = materials.add(Color::rgb(0.1, 0.6, 1.0).into());
-    let particle_mesh = meshes.add(shape::Circle::new(particle_radius).into());
+    let red = materials.add(Color::rgb(0.9, 0.3, 0.3));
+    let blue = materials.add(Color::rgb(0.1, 0.6, 1.0));
+    let particle_mesh = meshes.add(Circle::new(particle_radius));
 
     // Spawn rotating body at the center.
     commands
         .spawn((
             MaterialMesh2dBundle {
-                mesh: meshes.add(shape::Circle::new(center_radius).into()).into(),
-                material: materials.add(Color::rgb(0.7, 0.7, 0.8).into()).clone(),
+                mesh: meshes.add(Circle::new(center_radius)).into(),
+                material: materials.add(Color::rgb(0.7, 0.7, 0.8)).clone(),
                 ..default()
             },
             RigidBody::Kinematic,

crates/bevy_xpbd_2d/examples/distance_joint_2d.rs

@@ -39,7 +39,7 @@ fn setup(mut commands: Commands) {
                 ..default()
             },
             RigidBody::Dynamic,
-            MassPropertiesBundle::new_computed(&Collider::cuboid(50.0, 50.0), 1.0),
+            MassPropertiesBundle::new_computed(&Collider::rectangle(50.0, 50.0), 1.0),
         ))
         .id();
 

crates/bevy_xpbd_2d/examples/dynamic_character_2d/main.rs

@@ -12,7 +12,11 @@
 
 mod plugin;
 
-use bevy::{prelude::*, render::render_resource::PrimitiveTopology, sprite::MaterialMesh2dBundle};
+use bevy::{
+    prelude::*,
+    render::{render_asset::RenderAssetUsages, render_resource::PrimitiveTopology},
+    sprite::MaterialMesh2dBundle,
+};
 use bevy_xpbd_2d::{math::*, prelude::*};
 use plugin::*;
 
@@ -37,17 +41,8 @@ fn setup(
     // Player
     commands.spawn((
         MaterialMesh2dBundle {
-            mesh: meshes
-                .add(
-                    shape::Capsule {
-                        radius: 12.5,
-                        depth: 20.0,
-                        ..default()
-                    }
-                    .into(),
-                )
-                .into(),
-            material: materials.add(ColorMaterial::from(Color::rgb(0.2, 0.7, 0.9))),
+            mesh: meshes.add(Capsule2d::new(12.5, 20.0)).into(),
+            material: materials.add(Color::rgb(0.2, 0.7, 0.9)),
             transform: Transform::from_xyz(0.0, -100.0, 0.0),
             ..default()
         },
@@ -75,7 +70,7 @@ fn setup(
             ..default()
         },
         RigidBody::Dynamic,
-        Collider::cuboid(30.0, 30.0),
+        Collider::rectangle(30.0, 30.0),
     ));
 
     // Platforms
@@ -90,7 +85,7 @@ fn setup(
             ..default()
         },
         RigidBody::Static,
-        Collider::cuboid(1100.0, 50.0),
+        Collider::rectangle(1100.0, 50.0),
     ));
     commands.spawn((
         SpriteBundle {
@@ -103,7 +98,7 @@ fn setup(
             ..default()
         },
         RigidBody::Static,
-        Collider::cuboid(300.0, 25.0),
+        Collider::rectangle(300.0, 25.0),
     ));
     commands.spawn((
         SpriteBundle {
@@ -116,7 +111,7 @@ fn setup(
             ..default()
         },
         RigidBody::Static,
-        Collider::cuboid(300.0, 25.0),
+        Collider::rectangle(300.0, 25.0),
     ));
     commands.spawn((
         SpriteBundle {
@@ -129,7 +124,7 @@ fn setup(
             ..default()
         },
         RigidBody::Static,
-        Collider::cuboid(150.0, 80.0),
+        Collider::rectangle(150.0, 80.0),
     ));
     commands.spawn((
         SpriteBundle {
@@ -142,44 +137,58 @@ fn setup(
             ..default()
         },
         RigidBody::Static,
-        Collider::cuboid(150.0, 80.0),
+        Collider::rectangle(150.0, 80.0),
     ));
 
     // Ramps
-    let mut ramp_mesh = Mesh::new(PrimitiveTopology::TriangleList);
+
+    let mut ramp_mesh = Mesh::new(
+        PrimitiveTopology::TriangleList,
+        RenderAssetUsages::default(),
+    );
+
     ramp_mesh.insert_attribute(
         Mesh::ATTRIBUTE_POSITION,
         vec![[-125.0, 80.0, 0.0], [-125.0, 0.0, 0.0], [125.0, 0.0, 0.0]],
     );
+
     let ramp_collider = Collider::triangle(
         Vector::new(-125.0, 80.0),
         Vector::NEG_X * 125.0,
         Vector::X * 125.0,
     );
+
     commands.spawn((
         MaterialMesh2dBundle {
             mesh: meshes.add(ramp_mesh).into(),
-            material: materials.add(ColorMaterial::from(Color::rgb(0.4, 0.4, 0.5))),
+            material: materials.add(Color::rgb(0.4, 0.4, 0.5)),
             transform: Transform::from_xyz(-275.0, -150.0, 0.0),
             ..default()
         },
         RigidBody::Static,
         ramp_collider,
     ));
-    let mut ramp_mesh = Mesh::new(PrimitiveTopology::TriangleList);
+
+    let mut ramp_mesh = Mesh::new(
+        PrimitiveTopology::TriangleList,
+        RenderAssetUsages::default(),
+    );
+
     ramp_mesh.insert_attribute(
         Mesh::ATTRIBUTE_POSITION,
         vec![[20.0, -40.0, 0.0], [20.0, 40.0, 0.0], [-20.0, -40.0, 0.0]],
     );
+
     let ramp_collider = Collider::triangle(
         Vector::new(20.0, -40.0),
         Vector::new(20.0, 40.0),
         Vector::new(-20.0, -40.0),
     );
+
     commands.spawn((
         MaterialMesh2dBundle {
             mesh: meshes.add(ramp_mesh).into(),
-            material: materials.add(ColorMaterial::from(Color::rgb(0.4, 0.4, 0.5))),
+            material: materials.add(Color::rgb(0.4, 0.4, 0.5)),
             transform: Transform::from_xyz(380.0, -110.0, 0.0),
             ..default()
         },

crates/bevy_xpbd_2d/examples/dynamic_character_2d/plugin.rs

@@ -11,7 +11,6 @@ impl Plugin for CharacterControllerPlugin {
                 keyboard_input,
                 gamepad_input,
                 update_grounded,
-                apply_deferred,
                 movement,
                 apply_movement_damping,
             )
@@ -106,7 +105,7 @@ impl CharacterControllerBundle {
             character_controller: CharacterController,
             rigid_body: RigidBody::Dynamic,
             collider,
-            ground_caster: ShapeCaster::new(caster_shape, Vector::ZERO, 0.0, Vector::NEG_Y)
+            ground_caster: ShapeCaster::new(caster_shape, Vector::ZERO, 0.0, Direction2d::NEG_Y)
                 .with_max_time_of_impact(10.0),
             locked_axes: LockedAxes::ROTATION_LOCKED,
             movement: MovementBundle::default(),
@@ -128,10 +127,10 @@ impl CharacterControllerBundle {
 /// Sends [`MovementAction`] events based on keyboard input.
 fn keyboard_input(
     mut movement_event_writer: EventWriter<MovementAction>,
-    keyboard_input: Res<Input<KeyCode>>,
+    keyboard_input: Res<ButtonInput<KeyCode>>,
 ) {
-    let left = keyboard_input.any_pressed([KeyCode::A, KeyCode::Left]);
-    let right = keyboard_input.any_pressed([KeyCode::D, KeyCode::Right]);
+    let left = keyboard_input.any_pressed([KeyCode::KeyA, KeyCode::ArrowLeft]);
+    let right = keyboard_input.any_pressed([KeyCode::KeyD, KeyCode::ArrowRight]);
 
     let horizontal = right as i8 - left as i8;
     let direction = horizontal as Scalar;
@@ -150,7 +149,7 @@ fn gamepad_input(
     mut movement_event_writer: EventWriter<MovementAction>,
     gamepads: Res<Gamepads>,
     axes: Res<Axis<GamepadAxis>>,
-    buttons: Res<Input<GamepadButton>>,
+    buttons: Res<ButtonInput<GamepadButton>>,
 ) {
     for gamepad in gamepads.iter() {
         let axis_lx = GamepadAxis {