Manually enforce hit order in Avian ray/shape casts

avian2d/Cargo.toml

@@ -15,6 +15,7 @@ readme = "../README.md"
 bevy = { version = "^0.18", default-features = false }
 avian2d = { version = "^0.6", default-features = false, features = ["2d", "debug-plugin", "parallel"]}
 bevy-tnua-physics-integration-layer = { version = "^0.12", path = "../physics-integration-layer" }
+ordered-float = "5.3.0"
 
 [package.metadata.docs.rs]
 all-features = true

avian2d/src/lib.rs

@@ -17,6 +17,7 @@ use bevy_tnua_physics_integration_layer::data_for_backends::{
     TnuaProximitySensor, TnuaProximitySensorOutput, TnuaRigidBodyTracker, TnuaSensorOf, TnuaToggle,
 };
 use bevy_tnua_physics_integration_layer::math::*;
+use ordered_float::OrderedFloat;
 pub use spatial_ext::TnuaSpatialExtAvian2d;
 
 use bevy_tnua_physics_integration_layer::*;
@@ -193,7 +194,7 @@ fn update_proximity_sensors_system(
 
             let collision_layers = collision_layers_query.get(owner_entity).ok();
 
-            let mut final_sensor_output = None;
+            let mut final_sensor_output: Option<TnuaProximitySensorOutput> = None;
             if let Some(ghost_sensor) = ghost_sensor.as_mut() {
                 ghost_sensor.0.clear();
             }
@@ -303,7 +304,13 @@ fn update_proximity_sensors_system(
                 } else if entity_is_sensor || excluded_by_collision_layers() {
                     true
                 } else {
-                    final_sensor_output = Some(sensor_output);
+                    if final_sensor_output.as_ref().is_none_or(|current_output| {
+                        sensor_output.proximity < current_output.proximity
+                    }) {
+                        // Hits are not guaranteed to be ordered, so we need to make them ordered.
+                        // See https://github.com/idanarye/bevy-tnua/issues/123
+                        final_sensor_output = Some(sensor_output);
+                    }
                     false
                 }
             };
@@ -356,6 +363,18 @@ fn update_proximity_sensors_system(
                     },
                 );
             }
+            if let Some(ghost_sensor) = ghost_sensor.as_mut() {
+                // Hits are not guaranteed to be ordered, so we need to make them ordered.
+                // See https://github.com/idanarye/bevy-tnua/issues/123
+                if let Some(final_sensor_output) = final_sensor_output.as_ref() {
+                    ghost_sensor
+                        .0
+                        .retain(|ghost_hit| ghost_hit.proximity < final_sensor_output.proximity);
+                }
+                ghost_sensor
+                    .0
+                    .sort_by_key(|ghost_hit| OrderedFloat(ghost_hit.proximity));
+            }
             sensor.output = final_sensor_output;
         },
     );

avian3d/Cargo.toml

@@ -15,6 +15,7 @@ readme = "../README.md"
 bevy = { version = "^0.18", default-features = false }
 avian3d = { version = "^0.6", default-features = false, features = ["3d", "debug-plugin", "parallel"] }
 bevy-tnua-physics-integration-layer = { version = "^0.12", path = "../physics-integration-layer" }
+ordered-float = "5.3.0"
 
 [package.metadata.docs.rs]
 all-features = true

avian3d/src/lib.rs

@@ -15,6 +15,7 @@ use bevy_tnua_physics_integration_layer::math::AsF32;
 use bevy_tnua_physics_integration_layer::math::Float;
 use bevy_tnua_physics_integration_layer::math::Vector3;
 use bevy_tnua_physics_integration_layer::math::{AdjustPrecision, Quaternion};
+use ordered_float::OrderedFloat;
 pub use spatial_ext::TnuaSpatialExtAvian3d;
 
 use bevy_tnua_physics_integration_layer::TnuaPipelineSystems;
@@ -200,7 +201,7 @@ fn update_proximity_sensors_system(
 
             let collision_layers = collision_layers_query.get(owner_entity).ok();
 
-            let mut final_sensor_output = None;
+            let mut final_sensor_output: Option<TnuaProximitySensorOutput> = None;
             if let Some(ghost_sensor) = ghost_sensor.as_mut() {
                 ghost_sensor.0.clear();
             }
@@ -310,7 +311,13 @@ fn update_proximity_sensors_system(
                 } else if entity_is_sensor || excluded_by_collision_layers() {
                     true
                 } else {
-                    final_sensor_output = Some(sensor_output);
+                    if final_sensor_output.as_ref().is_none_or(|current_output| {
+                        sensor_output.proximity < current_output.proximity
+                    }) {
+                        // Hits are not guaranteed to be ordered, so we need to make them ordered.
+                        // See https://github.com/idanarye/bevy-tnua/issues/123
+                        final_sensor_output = Some(sensor_output);
+                    }
                     false
                 }
             };
@@ -365,6 +372,18 @@ fn update_proximity_sensors_system(
                     },
                 );
             }
+            if let Some(ghost_sensor) = ghost_sensor.as_mut() {
+                // Hits are not guaranteed to be ordered, so we need to make them ordered.
+                // See https://github.com/idanarye/bevy-tnua/issues/123
+                if let Some(final_sensor_output) = final_sensor_output.as_ref() {
+                    ghost_sensor
+                        .0
+                        .retain(|ghost_hit| ghost_hit.proximity < final_sensor_output.proximity);
+                }
+                ghost_sensor
+                    .0
+                    .sort_by_key(|ghost_hit| OrderedFloat(ghost_hit.proximity));
+            }
             sensor.output = final_sensor_output;
         },
     );

demos/src/levels_setup/close_platforms_2d.rs

@@ -0,0 +1,47 @@
+use bevy::{color::palettes::css, prelude::*};
+use bevy_tnua::TnuaGhostPlatform;
+use bevy_tnua::math::Vector2;
+
+#[cfg(feature = "avian2d")]
+use avian2d::prelude::*;
+#[cfg(feature = "rapier2d")]
+use bevy_rapier2d::prelude::*;
+
+use super::PositionPlayer;
+use super::helper::LevelSetupHelper2d;
+
+pub fn setup_level(mut helper: LevelSetupHelper2d) {
+    helper.spawn(PositionPlayer::from(Vec3::new(0.0, 2.0, 0.0)));
+
+    for i in 0..4 {
+        helper.spawn_rectangle(
+            format!("Floor {i}"),
+            css::BROWN,
+            Transform::from_xyz(0.0, i as f32 * 0.4, 0.0),
+            Vector2::new(8.0, 0.1),
+        );
+    }
+
+    for i in 0..4 {
+        helper
+            .spawn_rectangle(
+                format!("Ghost {i}"),
+                css::ORANGE,
+                Transform::from_xyz(6.0, 0.2 + i as f32 * 0.4, 0.0),
+                Vector2::new(8.0, 0.1),
+            )
+            .insert((
+                #[cfg(feature = "rapier2d")]
+                SolverGroups {
+                    memberships: Group::empty(),
+                    filters: Group::empty(),
+                },
+                #[cfg(feature = "avian2d")]
+                CollisionLayers::new(
+                    [super::for_2d_platformer::LayerNames::FallThrough],
+                    [super::for_2d_platformer::LayerNames::FallThrough],
+                ),
+                TnuaGhostPlatform,
+            ));
+    }
+}

demos/src/levels_setup/close_platforms_3d.rs

@@ -0,0 +1,47 @@
+use bevy::{color::palettes::css, prelude::*};
+use bevy_tnua::TnuaGhostPlatform;
+use bevy_tnua::math::Vector3;
+
+#[cfg(feature = "avian3d")]
+use avian3d::prelude::*;
+#[cfg(feature = "rapier3d")]
+use bevy_rapier3d::prelude::*;
+
+use super::PositionPlayer;
+use super::helper::LevelSetupHelper3d;
+
+pub fn setup_level(mut helper: LevelSetupHelper3d) {
+    helper.spawn(PositionPlayer::from(Vec3::new(0.0, 2.0, 0.0)));
+
+    let mut platforms_helper = helper.with_color(css::BROWN);
+    for i in 0..4 {
+        platforms_helper.spawn_cuboid(
+            format!("Floor {i}"),
+            Transform::from_xyz(0.0, i as f32 * 0.4, 0.0),
+            Vector3::new(8.0, 0.1, 2.0),
+        );
+    }
+
+    let mut ghost_platforms_helper = helper.with_color(css::ORANGE);
+    for i in 0..4 {
+        ghost_platforms_helper
+            .spawn_cuboid(
+                format!("Ghost {i}"),
+                Transform::from_xyz(6.0, 0.2 + i as f32 * 0.4, 0.0),
+                Vector3::new(8.0, 0.1, 2.0),
+            )
+            .insert((
+                #[cfg(feature = "rapier3d")]
+                SolverGroups {
+                    memberships: Group::empty(),
+                    filters: Group::empty(),
+                },
+                #[cfg(feature = "avian3d")]
+                CollisionLayers::new(
+                    [super::for_3d_platformer::LayerNames::FallThrough],
+                    [super::for_3d_platformer::LayerNames::FallThrough],
+                ),
+                TnuaGhostPlatform,
+            ));
+    }
+}

demos/src/levels_setup/mod.rs

@@ -1,3 +1,5 @@
+pub mod close_platforms_2d;
+pub mod close_platforms_3d;
 pub mod compound_colliders_2d;
 pub mod compound_colliders_3d;
 pub mod dynamic_bodies_2d;
@@ -22,6 +24,7 @@ pub fn levels_for_2d(plugin: &mut LevelSwitchingPlugin) {
     plugin.add("DynamicBodies", dynamic_bodies_2d::setup_level);
     plugin.add("JungleGym", jungle_gym_2d::setup_level);
     plugin.add("Planet", planet_2d::setup_level);
+    plugin.add("ClosePlatforms", close_platforms_2d::setup_level);
 }
 
 pub fn levels_for_3d(plugin: &mut LevelSwitchingPlugin) {
@@ -31,4 +34,5 @@ pub fn levels_for_3d(plugin: &mut LevelSwitchingPlugin) {
     plugin.add("DynamicBodies", dynamic_bodies_3d::setup_level);
     plugin.add("JungleGym", jungle_gym::setup_level);
     plugin.add("Planet", planet_3d::setup_level);
+    plugin.add("ClosePlatforms", close_platforms_3d::setup_level);
 }