Adding joints on first pass.

pcwalton · Apr 20, 2021 · c51478f · c51478f
1 parent e0543b3
commit c51478f
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Showing 2 changed files with 17 additions and 7 deletions.
diff --git a/src/physics/plugins.rs b/src/physics/plugins.rs
@@ -25,6 +25,10 @@ pub struct RapierPhysicsPlugin;
 /// This stage is added right before the `POST_UPDATE` stage.
 pub const TRANSFORM_SYNC_STAGE: &'static str = "rapier::transform_sync_stage";
 
+#[derive(SystemLabel, Clone, Debug, Eq, Hash, PartialEq)]
+/// Label for create_joints_system
+pub struct CreateJointsSystem;
+
 impl Plugin for RapierPhysicsPlugin {
     fn build(&self, app: &mut AppBuilder) {
         app.insert_resource(PhysicsPipeline::new())
@@ -46,13 +50,20 @@ impl Plugin for RapierPhysicsPlugin {
             // are needed.
             .add_system_to_stage(
                 CoreStage::PreUpdate,
-                physics::create_body_and_collider_system.system(),
+                physics::create_body_and_collider_system
+                    .system()
+                    .before(CreateJointsSystem),
             )
             .add_system_to_stage(
                 CoreStage::PreUpdate,
                 physics::update_collider_system.system(),
             )
-            .add_system_to_stage(CoreStage::PreUpdate, physics::create_joints_system.system())
+            .add_system_to_stage(
+                CoreStage::PreUpdate,
+                physics::create_joints_system
+                    .system()
+                    .label(CreateJointsSystem),
+            )
             .add_system_to_stage(CoreStage::Update, physics::step_world_system.system())
             .add_stage_before(
                 CoreStage::PostUpdate,

diff --git a/src/physics/systems.rs b/src/physics/systems.rs
@@ -264,13 +264,12 @@ pub fn create_joints_system(
     mut joints: ResMut<JointSet>,
     mut entity_maps: ResMut<EntityMaps>,
     query: Query<(Entity, &JointBuilderComponent)>,
-    query_bodyhandle: Query<&RigidBodyHandleComponent>,
 ) {
     for (entity, joint) in &mut query.iter() {
-        let body1 = query_bodyhandle.get_component::<RigidBodyHandleComponent>(joint.entity1);
-        let body2 = query_bodyhandle.get_component::<RigidBodyHandleComponent>(joint.entity2);
-        if let (Ok(body1), Ok(body2)) = (body1, body2) {
-            let handle = joints.insert(&mut bodies, body1.handle(), body2.handle(), joint.params);
+        let body1 = entity_maps.bodies.get(&joint.entity1);
+        let body2 = entity_maps.bodies.get(&joint.entity2);
+        if let (Some(body1), Some(body2)) = (body1, body2) {
+            let handle = joints.insert(&mut bodies, *body1, *body2, joint.params);
             commands
                 .entity(entity)
                 .insert(JointHandleComponent::new(