update bevy 0.11 - fix compile errors

crates/rapier2d-f64/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name    = "rapier2d-f64"
-version = "0.17.2"
+version = "0.18.0"
 authors = [ "Sébastien Crozet <developer@crozet.re>" ]
 description = "2-dimensional physics engine in Rust."
 documentation = "https://docs.rs/rapier2d"

crates/rapier2d/Cargo.toml

@@ -1,9 +1,9 @@
 [package]
 name    = "rapier2d"
-version = "0.17.2"
+version = "0.18.0"
 authors = [ "Sébastien Crozet <developer@crozet.re>" ]
-description = "2-dimensional physics engine in Rust."
+description = "3-dimensional physics engine in Rust."
-documentation = "https://docs.rs/rapier2d"
+documentation = "https://docs.rs/rapier3d"
 homepage = "https://rapier.rs"
 repository = "https://github.com/dimforge/rapier"
 readme = "README.md"

crates/rapier3d-f64/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name    = "rapier3d-f64"
-version = "0.17.2"
+version = "0.18.0"
 authors = [ "Sébastien Crozet <developer@crozet.re>" ]
 description = "3-dimensional physics engine in Rust."
 documentation = "https://docs.rs/rapier3d"

crates/rapier3d/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name    = "rapier3d"
-version = "0.17.2"
+version = "0.18.0"
 authors = [ "Sébastien Crozet <developer@crozet.re>" ]
 description = "3-dimensional physics engine in Rust."
 documentation = "https://docs.rs/rapier3d"

crates/rapier_testbed2d-f64/Cargo.toml

@@ -40,21 +40,24 @@ bincode = "1"
 Inflector  = "0.11"
 md5 = "0.7"
 
-bevy_egui = "0.18"
+bevy_egui = "0.22"
-bevy_ecs = "0.9"
+bevy_ecs = "0.11"
+bevy_core_pipeline = "0.11"
+bevy_pbr = "0.11"
+bevy_sprite = "0.11"
 #bevy_prototype_debug_lines = "0.7"
 
 # Dependencies for native only.
 [target.'cfg(not(target_arch = "wasm32"))'.dependencies]
-bevy = {version = "0.9", default-features = false, features = ["bevy_winit", "render", "x11"]}
+bevy = {version = "0.11", default-features = false, features = ["bevy_winit", "x11"]}
 
 # Dependencies for WASM only.
 [target.'cfg(target_arch = "wasm32")'.dependencies]
-bevy = {version = "0.9", default-features = false, features = ["bevy_winit", "render"]}
+bevy = {version = "0.11", default-features = false, features = ["bevy_winit"]}
 #bevy_webgl2 = "0.5"
 
 [dependencies.rapier]
 package = "rapier2d-f64"
 path = "../rapier2d-f64"
-version = "0.17.0"
+version = "0.18.0"
 features = [ "serde-serialize", "debug-render", "profiler" ]

crates/rapier_testbed2d/Cargo.toml

@@ -40,21 +40,24 @@ bincode = "1"
 Inflector  = "0.11"
 md5 = "0.7"
 
-bevy_egui = "0.18"
+bevy_egui = "0.22"
-bevy_ecs = "0.9"
+bevy_ecs = "0.11"
+bevy_core_pipeline = "0.11"
+bevy_pbr = "0.11"
+bevy_sprite = "0.11"
 #bevy_prototype_debug_lines = "0.7"
 
 # Dependencies for native only.
 [target.'cfg(not(target_arch = "wasm32"))'.dependencies]
-bevy = {version = "0.9", default-features = false, features = ["bevy_winit", "render", "x11"]}
+bevy = {version = "0.11", default-features = false, features = ["bevy_winit",  "x11"]}
 
 # Dependencies for WASM only.
 [target.'cfg(target_arch = "wasm32")'.dependencies]
-bevy = {version = "0.9", default-features = false, features = ["bevy_winit", "render"]}
+bevy = {version = "0.11", default-features = false, features = ["bevy_winit",]}
 #bevy_webgl2 = "0.5"
 
 [dependencies.rapier]
 package = "rapier2d"
 path = "../rapier2d"
-version = "0.17.0"
+version = "0.18.0"
 features = [ "serde-serialize", "debug-render", "profiler" ]

crates/rapier_testbed3d-f64/Cargo.toml

@@ -39,21 +39,24 @@ md5 = "0.7"
 Inflector  = "0.11"
 serde = { version = "1", features = [ "derive" ] }
 
-bevy_egui = "0.18"
+bevy_egui = "0.22"
-bevy_ecs = "0.9"
+bevy_ecs = "0.11"
+bevy_core_pipeline = "0.11"
+bevy_pbr = "0.11"
+bevy_sprite = "0.11"
 #bevy_prototype_debug_lines = { version = "0.7", features = [ "3d" ] }
 
 # Dependencies for native only.
 [target.'cfg(not(target_arch = "wasm32"))'.dependencies]
-bevy = {version = "0.9", default-features = false, features = ["bevy_winit", "render", "x11"]}
+bevy = {version = "0.11", default-features = false, features = ["bevy_winit", "x11"]}
 
 # Dependencies for WASM only.
 [target.'cfg(target_arch = "wasm32")'.dependencies]
-bevy = {version = "0.9", default-features = false, features = ["bevy_winit", "render"]}
+bevy = {version = "0.11", default-features = false, features = ["bevy_winit"]}
 #bevy_webgl2 = "0.5"
 
 [dependencies.rapier]
 package = "rapier3d-f64"
 path = "../rapier3d-f64"
-version = "0.17.0"
+version = "0.18.0"
 features = [ "serde-serialize", "debug-render", "profiler" ]

crates/rapier_testbed3d/Cargo.toml

@@ -33,31 +33,34 @@ rand       = "0.8"
 rand_pcg   = "0.3"
 instant    = { version = "0.1", features = [ "web-sys", "now" ]}
 bitflags   = "1"
-glam       = { version = "0.20", optional = true } # For Physx
+glam       = { version = "0.24", optional = true } # For Physx
 num_cpus   = { version = "1", optional = true }
-physx      = { version = "0.16", features = [ "glam" ], optional = true }
+physx      = { version = "0.19", features = [ "glam" ], optional = true }
-physx-sys = { version = "0.8", optional = true }
+physx-sys = { version = "0.11", optional = true }
 crossbeam = "0.8"
 bincode = "1"
 md5 = "0.7"
 Inflector  = "0.11"
 serde = { version = "1", features = [ "derive" ] }
 
-bevy_egui = "0.18"
+bevy_egui = "0.22"
-bevy_ecs = "0.9"
+bevy_ecs = "0.11"
+bevy_core_pipeline = "0.11"
+bevy_pbr = "0.11"
+bevy_sprite = "0.11"
 #bevy_prototype_debug_lines = { version = "0.7", features = [ "3d" ] }
 
 # Dependencies for native only.
 [target.'cfg(not(target_arch = "wasm32"))'.dependencies]
-bevy = {version = "0.9", default-features = false, features = ["bevy_winit", "render", "x11"]}
+bevy = {version = "0.11", default-features = false, features = ["bevy_winit", "x11"]}
 
 # Dependencies for WASM only.
 [target.'cfg(target_arch = "wasm32")'.dependencies]
-bevy = {version = "0.9", default-features = false, features = ["bevy_winit", "render"]}
+bevy = {version = "0.11", default-features = false, features = ["bevy_winit"]}
 #bevy_webgl2 = "0.5"
 
 [dependencies.rapier]
 package = "rapier3d"
 path = "../rapier3d"
-version = "0.17.0"
+version = "0.18.0"
 features = [ "serde-serialize", "debug-render", "profiler" ]

examples3d-f64/Cargo.toml

@@ -16,7 +16,7 @@ rand = "0.8"
 getrandom = { version = "0.2", features = [ "js" ] } 
 Inflector  = "0.11"
 wasm-bindgen = "0.2"
-obj-rs = { version =  "0.6", default-features = false }
+obj-rs = { version =  "0.7", default-features = false }
 bincode = "1"
 serde = "1"
 

examples3d/Cargo.toml

@@ -17,7 +17,7 @@ rand = "0.8"
 getrandom = { version = "0.2", features = [ "js" ] } 
 Inflector  = "0.11"
 wasm-bindgen = "0.2"
-obj-rs = { version =  "0.6", default-features = false }
+obj-rs = { version =  "0.7", default-features = false }
 serde = "1"
 bincode = "1"
 

src_testbed/camera2d.rs

@@ -87,8 +87,8 @@ impl OrbitCameraPlugin {
 }
 impl Plugin for OrbitCameraPlugin {
     fn build(&self, app: &mut App) {
-        app.add_system(Self::mouse_motion_system)
+        app.add_systems(Update, Self::mouse_motion_system)
-            .add_system(Self::zoom_system)
+            .add_systems(Update, Self::zoom_system)
-            .add_system(Self::update_transform_system);
+            .add_systems(Update, Self::update_transform_system);
     }
 }

src_testbed/camera3d.rs

@@ -113,8 +113,8 @@ impl OrbitCameraPlugin {
 }
 impl Plugin for OrbitCameraPlugin {
     fn build(&self, app: &mut App) {
-        app.add_system(Self::mouse_motion_system)
+        app.add_systems(Update, Self::mouse_motion_system)
-            .add_system(Self::zoom_system)
+            .add_systems(Update, Self::zoom_system)
-            .add_system(Self::update_transform_system);
+            .add_systems(Update, Self::update_transform_system);
     }
 }

src_testbed/debug_render.rs

@@ -20,17 +20,16 @@ impl Default for RapierDebugRenderPlugin {
         }
     }
 }
-
 impl Plugin for RapierDebugRenderPlugin {
     fn build(&self, app: &mut App) {
-        app.add_plugin(crate::lines::DebugLinesPlugin::with_depth_test(
+        app.add_plugins(crate::lines::DebugLinesPlugin::with_depth_test(
             self.depth_test,
         ))
         .insert_resource(DebugRenderPipelineResource(DebugRenderPipeline::new(
             Default::default(),
             !DebugRenderMode::RIGID_BODY_AXES & !DebugRenderMode::COLLIDER_AABBS,
         )))
-        .add_system_to_stage(CoreStage::Update, debug_render_scene);
+        .add_systems(Update, debug_render_scene);
     }
 }
 

src_testbed/graphics.rs

@@ -13,6 +13,8 @@ use rapier::math::{Isometry, Real, Vector};
 //#[cfg(feature = "dim2")]
 //use crate::objects::polyline::Polyline;
 // use crate::objects::mesh::Mesh;
+use bevy_pbr::StandardMaterial;
+use bevy_sprite::ColorMaterial;
 use rand::{Rng, SeedableRng};
 use rand_pcg::Pcg32;
 use std::collections::HashMap;

src_testbed/lines/mod.rs

@@ -19,7 +19,6 @@ use bevy::render::MainWorld;
  */
 use bevy::{
     asset::{Assets, HandleUntyped},
-    pbr::{NotShadowCaster, NotShadowReceiver},
     prelude::*,
     reflect::TypeUuid,
     render::{
@@ -27,8 +26,10 @@ use bevy::{
         render_phase::AddRenderCommand,
         render_resource::PrimitiveTopology,
         render_resource::Shader,
+        RenderSet,
     },
 };
+use bevy_pbr::{NotShadowCaster, NotShadowReceiver};
 
 mod render_dim;
 
@@ -38,8 +39,8 @@ mod render_dim;
 #[cfg(feature = "dim3")]
 mod dim {
     pub(crate) use super::render_dim::r3d::{queue, DebugLinePipeline, DrawDebugLines};
-    pub(crate) use bevy::core_pipeline::core_3d::Opaque3d as Phase;
     use bevy::{asset::Handle, render::mesh::Mesh};
+    pub(crate) use bevy_core_pipeline::core_3d::Opaque3d as Phase;
 
     pub(crate) type MeshHandle = Handle<Mesh>;
     pub(crate) fn from_handle(from: &MeshHandle) -> &Handle<Mesh> {
@@ -54,8 +55,9 @@ mod dim {
 #[cfg(feature = "dim2")]
 mod dim {
     pub(crate) use super::render_dim::r2d::{queue, DebugLinePipeline, DrawDebugLines};
-    pub(crate) use bevy::core_pipeline::core_2d::Transparent2d as Phase;
+    use bevy::{asset::Handle, render::mesh::Mesh};
-    use bevy::{asset::Handle, render::mesh::Mesh, sprite::Mesh2dHandle};
+    pub(crate) use bevy_core_pipeline::core_2d::Transparent2d as Phase;
+    use bevy_sprite::Mesh2dHandle;
 
     pub(crate) type MeshHandle = Mesh2dHandle;
     pub(crate) fn from_handle(from: &MeshHandle) -> &Handle<Mesh> {
@@ -120,27 +122,33 @@ impl DebugLinesPlugin {
         Self { depth_test: val }
     }
 }
-
+use bevy::render::render_phase::DrawFunctions;
+use bevy::render::Render;
 impl Plugin for DebugLinesPlugin {
     fn build(&self, app: &mut App) {
-        use bevy::render::{render_resource::SpecializedMeshPipelines, RenderApp, RenderStage};
+        use bevy::render::{render_resource::SpecializedMeshPipelines, RenderApp};
         let mut shaders = app.world.get_resource_mut::<Assets<Shader>>().unwrap();
         shaders.set_untracked(
             DEBUG_LINES_SHADER_HANDLE,
-            Shader::from_wgsl(dim::SHADER_FILE),
+            Shader::from_wgsl(dim::SHADER_FILE, file!()),
         );
         app.init_resource::<DebugLines>();
-        app.add_startup_system(setup)
+
-            .add_system_to_stage(CoreStage::PostUpdate, update.label("draw_lines"));
+        app.init_resource::<DrawFunctions<dim::Phase>>();
+
+        app.add_systems(Startup, setup)
+            .add_systems(PostUpdate, update);
+
         app.sub_app_mut(RenderApp)
+            .init_resource::<DrawFunctions<dim::Phase>>()
             .add_render_command::<dim::Phase, dim::DrawDebugLines>()
             .insert_resource(DebugLinesConfig {
                 depth_test: self.depth_test,
             })
             .init_resource::<dim::DebugLinePipeline>()
             .init_resource::<SpecializedMeshPipelines<dim::DebugLinePipeline>>()
-            .add_system_to_stage(RenderStage::Extract, extract)
+            .add_systems(Render, extract.in_set(RenderSet::ExtractCommands))
-            .add_system_to_stage(RenderStage::Queue, dim::queue);
+            .add_systems(Render, dim::queue.in_set(RenderSet::Queue));
 
         info!("Loaded {} debug lines plugin.", dim::DIMMENSION);
     }
@@ -176,7 +184,7 @@ fn setup(mut cmds: Commands, mut meshes: ResMut<Assets<Mesh>>) {
         // https://github.com/Toqozz/bevy_debug_lines/issues/16
         //mesh.set_indices(Some(Indices::U16(Vec::with_capacity(MAX_POINTS_PER_MESH))));
 
-        cmds.spawn_bundle((
+        cmds.spawn((
             dim::into_handle(meshes.add(mesh)),
             NotShadowCaster,
             NotShadowReceiver,

src_testbed/lines/render_dim.rs

@@ -1,10 +1,11 @@
 pub mod r3d {
-    use bevy::{
+    use bevy_core_pipeline::core_3d::Opaque3d;
-        core_pipeline::core_3d::Opaque3d,
+    use bevy_pbr::{
-        pbr::{
         DrawMesh, MeshPipeline, MeshPipelineKey, MeshUniform, SetMeshBindGroup,
         SetMeshViewBindGroup,
-        },
+    };
+
+    use bevy::{
         prelude::*,
         render::{
             mesh::MeshVertexBufferLayout,
@@ -54,9 +55,9 @@ pub mod r3d {
             //use VertexFormat::{Float32x3, Float32x4};
 
             let mut shader_defs = Vec::new();
-            shader_defs.push("LINES_3D".to_string());
+            shader_defs.push("LINES_3D".to_string().into());
             if depth_test {
-                shader_defs.push("DEPTH_TEST_ENABLED".to_string());
+                shader_defs.push("DEPTH_TEST_ENABLED".to_string().into());
             }
 
             let vertex_buffer_layout = layout.get_layout(&[
@@ -64,7 +65,7 @@ pub mod r3d {
                 Mesh::ATTRIBUTE_COLOR.at_shader_location(1),
             ])?;
             let (label, blend, depth_write_enabled);
-            if key.contains(MeshPipelineKey::TRANSPARENT_MAIN_PASS) {
+            if key.contains(MeshPipelineKey::BLEND_ALPHA) {
                 label = "transparent_mesh_pipeline".into();
                 blend = Some(BlendState::ALPHA_BLENDING);
                 // For the transparent pass, fragments that are closer will be alpha
@@ -96,7 +97,7 @@ pub mod r3d {
                         write_mask: ColorWrites::ALL,
                     })],
                 }),
-                layout: Some(vec![self.mesh_pipeline.view_layout.clone()]),
+                layout: vec![self.mesh_pipeline.view_layout.clone()],
                 primitive: PrimitiveState {
                     front_face: FrontFace::Ccw,
                     cull_mode: None,
@@ -128,6 +129,7 @@ pub mod r3d {
                     alpha_to_coverage_enabled: false,
                 },
                 label: Some(label),
+                push_constant_ranges: vec![],
             })
         }
     }
@@ -147,7 +149,7 @@ pub mod r3d {
             .read()
             .get_id::<DrawDebugLines>()
             .unwrap();
-        let key = MeshPipelineKey::from_msaa_samples(msaa.samples);
+        let key = MeshPipelineKey::from_msaa_samples(msaa.samples());
         for (view, mut transparent_phase) in views.iter_mut() {
             let view_matrix = view.transform.compute_matrix();
             let view_row_2 = view_matrix.row(2);
@@ -183,7 +185,6 @@ pub mod r3d {
 pub mod r2d {
     use bevy::{
         asset::Handle,
-        core_pipeline::core_2d::Transparent2d,
         prelude::*,
         render::{
             mesh::MeshVertexBufferLayout,
@@ -200,11 +201,12 @@ pub mod r2d {
             texture::BevyDefault,
             view::{Msaa, VisibleEntities},
         },
-        sprite::{
+        utils::FloatOrd,
+    };
+    use bevy_core_pipeline::core_2d::Transparent2d;
+    use bevy_sprite::{
         DrawMesh2d, Mesh2dHandle, Mesh2dPipeline, Mesh2dPipelineKey, Mesh2dUniform,
         SetMesh2dBindGroup, SetMesh2dViewBindGroup,
-        },
-        utils::FloatOrd,
     };
 
     use crate::lines::{RenderDebugLinesMesh, DEBUG_LINES_SHADER_HANDLE};
@@ -264,7 +266,7 @@ pub mod r2d {
                         write_mask: ColorWrites::ALL,
                     })],
                 }),
-                layout: Some(vec![self.mesh_pipeline.view_layout.clone()]),
+                layout: vec![self.mesh_pipeline.view_layout.clone()],
                 primitive: PrimitiveState {
                     front_face: FrontFace::Ccw,
                     cull_mode: None,
@@ -281,6 +283,7 @@ pub mod r2d {
                     alpha_to_coverage_enabled: false,
                 },
                 label: None,
+                push_constant_ranges: vec![],
             })
         }
     }
@@ -297,7 +300,7 @@ pub mod r2d {
     ) {
         for (view, mut phase) in views.iter_mut() {
             let draw_mesh2d = draw2d_functions.read().get_id::<DrawDebugLines>().unwrap();
-            let msaa_key = Mesh2dPipelineKey::from_msaa_samples(msaa.samples);
+            let msaa_key = Mesh2dPipelineKey::from_msaa_samples(msaa.samples());
 
             for visible_entity in &view.entities {
                 if let Ok((uniform, mesh_handle)) = material_meshes.get(*visible_entity) {

src_testbed/objects/node.rs

@@ -5,9 +5,13 @@ use bevy::render::mesh::{Indices, VertexAttributeValues};
 use na::{point, Point3, Vector3};
 use std::collections::HashMap;
 
-use bevy::pbr::wireframe::Wireframe;
 use bevy::render::render_resource::PrimitiveTopology;
+use bevy_pbr::wireframe::Wireframe;
+use bevy_pbr::PbrBundle;
+use bevy_pbr::StandardMaterial;
+use bevy_sprite::ColorMaterial;
 use rapier::geometry::{ColliderHandle, ColliderSet, Shape, ShapeType};
+
 #[cfg(feature = "dim3")]
 use rapier::geometry::{Cone, Cylinder};
 use rapier::math::{Isometry, Real, Vector};
@@ -15,7 +19,7 @@ use rapier::math::{Isometry, Real, Vector};
 use crate::graphics::BevyMaterial;
 #[cfg(feature = "dim2")]
 use {
-    bevy::sprite::MaterialMesh2dBundle,
+    bevy_sprite::MaterialMesh2dBundle,
     na::{Point2, Vector2},
     rapier::geometry::{Ball, Cuboid},
 };
@@ -235,10 +239,11 @@ impl EntityWithGraphics {
         //
         // Ball mesh
         //
-        let ball = Mesh::from(shape::Icosphere {
+        let ball = Mesh::try_from(shape::Icosphere {
             subdivisions: 2,
             radius: 1.0,
-        });
+        })
+        .unwrap();
         out.insert(ShapeType::Ball, meshes.add(ball));
 
         //

src_testbed/plugin.rs

@@ -4,7 +4,7 @@ use crate::physics::PhysicsState;
 use crate::GraphicsManager;
 use bevy::prelude::*;
 // use bevy::render::render_resource::RenderPipelineDescriptor;
-use bevy_egui::EguiContext;
+use bevy_egui::EguiContexts;
 
 pub trait TestbedPlugin {
     fn init_plugin(&mut self);
@@ -31,7 +31,7 @@ pub trait TestbedPlugin {
     );
     fn update_ui(
         &mut self,
-        ui_context: &EguiContext,
+        ui_context: &EguiContexts,
         harness: &mut Harness,
         graphics: &mut GraphicsManager,
         commands: &mut Commands,

src_testbed/testbed.rs

@@ -27,9 +27,15 @@ use crate::box2d_backend::Box2dWorld;
 use crate::harness::Harness;
 #[cfg(all(feature = "dim3", feature = "other-backends"))]
 use crate::physx_backend::PhysxWorld;
-use bevy::pbr::wireframe::WireframePlugin;
 use bevy::render::camera::Camera;
-use bevy_egui::EguiContext;
+use bevy_core_pipeline::prelude::Camera2dBundle;
+use bevy_core_pipeline::prelude::Camera3dBundle;
+use bevy_core_pipeline::prelude::ClearColor;
+use bevy_egui::EguiContexts;
+use bevy_pbr::wireframe::WireframePlugin;
+use bevy_pbr::AmbientLight;
+use bevy_pbr::DirectionalLight;
+use bevy_pbr::DirectionalLightBundle;
 
 #[cfg(feature = "dim2")]
 use crate::camera2d::{OrbitCamera, OrbitCameraPlugin};
@@ -372,25 +378,25 @@ impl TestbedApp {
             };
 
             let window_plugin = WindowPlugin {
-                window: WindowDescriptor {
+                primary_window: Some(Window {
                     title,
                     ..Default::default()
-                },
+                }),
                 ..Default::default()
             };
 
             let mut app = App::new();
             app.insert_resource(ClearColor(Color::rgb(0.15, 0.15, 0.15)))
-                .insert_resource(Msaa { samples: 4 })
+                .insert_resource(Msaa::Sample4)
                 .insert_resource(AmbientLight {
                     brightness: 0.3,
                     ..Default::default()
                 })
                 .add_plugins(DefaultPlugins.set(window_plugin))
-                .add_plugin(OrbitCameraPlugin)
+                .add_plugins(OrbitCameraPlugin)
-                .add_plugin(WireframePlugin)
+                .add_plugins(WireframePlugin)
-                .add_plugin(bevy_egui::EguiPlugin)
+                .add_plugins(bevy_egui::EguiPlugin);
-                .add_plugin(debug_render::RapierDebugRenderPlugin::default());
+            // .add_plugins(debug_render::RapierDebugRenderPlugin::default());
 
             #[cfg(target_arch = "wasm32")]
             app.add_plugin(bevy_webgl2::WebGL2Plugin);
@@ -398,15 +404,16 @@ impl TestbedApp {
             #[cfg(feature = "other-backends")]
             app.insert_non_send_resource(self.other_backends);
 
-            app.add_startup_system(setup_graphics_environment)
+            app.add_systems(Startup, setup_graphics_environment)
                 .insert_non_send_resource(self.graphics)
                 .insert_resource(self.state)
                 .insert_non_send_resource(self.harness)
                 .insert_resource(self.builders)
                 .insert_non_send_resource(self.plugins)
-                .add_stage_before(CoreStage::Update, "physics", SystemStage::single_threaded())
+                // .add_stage_before(CoreStage::Update, "physics", SystemStage::single_threaded())
-                .add_system_to_stage("physics", update_testbed)
+                // .add_system_to_stage("physics", update_testbed)
-                .add_system(egui_focus);
+                .add_systems(PreUpdate, update_testbed)
+                .add_systems(Update, egui_focus);
             init(&mut app);
             app.run();
         }
@@ -709,10 +716,10 @@ impl<'a, 'b, 'c, 'd, 'e, 'f> Testbed<'a, 'b, 'c, 'd, 'e, 'f> {
                     KeyCode::Space => {
                         desired_movement += Vector::y() * 2.0;
                     }
-                    KeyCode::RControl => {
+                    KeyCode::ControlRight => {
                         desired_movement -= Vector::y();
                     }
-                    KeyCode::RShift => {
+                    KeyCode::ShiftRight => {
                         speed /= 10.0;
                     }
                     _ => {}
@@ -750,10 +757,10 @@ impl<'a, 'b, 'c, 'd, 'e, 'f> Testbed<'a, 'b, 'c, 'd, 'e, 'f> {
                         KeyCode::Space => {
                             desired_movement += Vector::y() * 2.0;
                         }
-                        KeyCode::RControl => {
+                        KeyCode::ControlRight => {
                             desired_movement -= Vector::y();
                         }
-                        KeyCode::RShift => {
+                        KeyCode::ShiftLeft => {
                             speed /= 10.0;
                         }
                         _ => {}
@@ -1004,15 +1011,17 @@ fn setup_graphics_environment(mut commands: Commands) {
         directional_light: DirectionalLight {
             illuminance: 10000.0,
             // Configure the projection to better fit the scene
-            shadow_projection: OrthographicProjection {
+            // shadow_projection: OrthographicProjection {
-                left: -HALF_SIZE,
+            //     area: Rect::new(
-                right: HALF_SIZE,
+            //          -HALF_SIZE,
-                bottom: -HALF_SIZE,
+            //          HALF_SIZE,
-                top: HALF_SIZE,
+            //          -HALF_SIZE,
-                near: -10.0 * HALF_SIZE,
+            //          HALF_SIZE,
-                far: 100.0 * HALF_SIZE,
+            //     ),
-                ..Default::default()
+            //     near: -10.0 * HALF_SIZE,
-            },
+            //     far: 100.0 * HALF_SIZE,
+            //     ..Default::default()
+            // },
             shadows_enabled: true,
             ..Default::default()
         },
@@ -1073,7 +1082,7 @@ fn setup_graphics_environment(mut commands: Commands) {
         });
 }
 
-fn egui_focus(mut ui_context: ResMut<EguiContext>, mut cameras: Query<&mut OrbitCamera>) {
+fn egui_focus(mut ui_context: EguiContexts, mut cameras: Query<&mut OrbitCamera>) {
     let mut camera_enabled = true;
     if ui_context.ctx_mut().wants_pointer_input() {
         camera_enabled = false;
@@ -1083,9 +1092,11 @@ fn egui_focus(mut ui_context: ResMut<EguiContext>, mut cameras: Query<&mut Orbit
     }
 }
 
+use bevy::window::PrimaryWindow;
+
 fn update_testbed(
     mut commands: Commands,
-    windows: Res<Windows>,
+    windows: Query<&Window, With<PrimaryWindow>>,
     // mut pipelines: ResMut<Assets<RenderPipelineDescriptor>>,
     mut meshes: ResMut<Assets<Mesh>>,
     mut materials: ResMut<Assets<BevyMaterial>>,
@@ -1095,7 +1106,7 @@ fn update_testbed(
     mut harness: NonSendMut<Harness>,
     #[cfg(feature = "other-backends")] mut other_backends: NonSendMut<OtherBackends>,
     mut plugins: NonSendMut<Plugins>,
-    mut ui_context: ResMut<EguiContext>,
+    mut ui_context: EguiContexts,
     mut gfx_components: Query<(&mut Transform,)>,
     mut cameras: Query<(&Camera, &GlobalTransform, &mut OrbitCamera)>,
     keys: Res<Input<KeyCode>>,
@@ -1407,7 +1418,7 @@ fn update_testbed(
         }
     }
 
-    if let Some(window) = windows.get_primary() {
+    if let Ok(window) = windows.get_single() {
         for (camera, camera_pos, _) in cameras.iter_mut() {
             highlight_hovered_body(
                 &mut *materials,
@@ -1419,7 +1430,7 @@ fn update_testbed(
                 camera_pos,
             );
         }
-    }
+    };
 
     graphics.draw(
         &harness.physics.bodies,

src_testbed/ui.rs

@@ -9,9 +9,9 @@ use crate::testbed::{
 
 use crate::PhysicsState;
 use bevy_egui::egui::Slider;
-use bevy_egui::{egui, EguiContext};
+use bevy_egui::{egui, EguiContexts};
 
-pub fn update_ui(ui_context: &mut EguiContext, state: &mut TestbedState, harness: &mut Harness) {
+pub fn update_ui(ui_context: &mut EguiContexts, state: &mut TestbedState, harness: &mut Harness) {
     egui::Window::new("Parameters").show(ui_context.ctx_mut(), |ui| {
         if state.backend_names.len() > 1 && !state.example_names.is_empty() {
             let mut changed = false;