switch to rapier character controller

it already supports custom gravity and custom up direction

Cargo.lock

@@ -379,38 +379,6 @@ dependencies = [
  "v_frame",
 ]
 
-[[package]]
-name = "avian3d"
-version = "0.3.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e8ba10c23fee3d432f3c6cf8d036e269d952b8840c1ca4fa6a021ab926786dc4"
-dependencies = [
- "avian_derive",
- "bevy",
- "bevy_heavy",
- "bevy_math",
- "bevy_transform_interpolation",
- "bitflags 2.9.0",
- "derive_more",
- "itertools 0.13.0",
- "nalgebra",
- "parry3d",
- "parry3d-f64",
- "thread_local",
-]
-
-[[package]]
-name = "avian_derive"
-version = "0.2.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "12b257f601a1535e0d4a7a7796f535e3a13de62fd422b16dff7c14d27f0d4048"
-dependencies = [
- "proc-macro-error2",
- "proc-macro2",
- "quote",
- "syn",
-]
-
 [[package]]
 name = "avif-serialize"
 version = "0.8.3"
@@ -900,16 +868,6 @@ dependencies = [
  "tracing",
 ]
 
-[[package]]
-name = "bevy_heavy"
-version = "0.2.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "34ccc861fea2ff58c67f4df119512e204050bd7631a3a9c65e1a5e9d162cce28"
-dependencies = [
- "bevy_math",
- "bevy_reflect",
-]
-
 [[package]]
 name = "bevy_image"
 version = "0.16.1"
@@ -1183,6 +1141,19 @@ version = "0.16.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "df7370d0e46b60e071917711d0860721f5347bc958bf325975ae6913a5dfcf01"
 
+[[package]]
+name = "bevy_rapier3d"
+version = "0.30.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "cdf74109573c2c82b05b217cb6101f7e71e6c53ad622aed6c370cc5783c59eb8"
+dependencies = [
+ "bevy",
+ "bitflags 2.9.0",
+ "log",
+ "nalgebra",
+ "rapier3d",
+]
+
 [[package]]
 name = "bevy_reflect"
 version = "0.16.1"
@@ -1451,15 +1422,6 @@ dependencies = [
  "thiserror 2.0.12",
 ]
 
-[[package]]
-name = "bevy_transform_interpolation"
-version = "0.2.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "72c7c6c4e6a3d5415b3a29a17bd20c17cd0e2f068b96b24e263316d58d5346ea"
-dependencies = [
- "bevy",
-]
-
 [[package]]
 name = "bevy_ui"
 version = "0.16.1"
@@ -2032,6 +1994,19 @@ version = "1.2.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "790eea4361631c5e7d22598ecd5723ff611904e3344ce8720784c93e3d83d40b"
 
+[[package]]
+name = "crossbeam"
+version = "0.8.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1137cd7e7fc0fb5d3c5a8678be38ec56e819125d8d7907411fe24ccb943faca8"
+dependencies = [
+ "crossbeam-channel",
+ "crossbeam-deque",
+ "crossbeam-epoch",
+ "crossbeam-queue",
+ "crossbeam-utils",
+]
+
 [[package]]
 name = "crossbeam-channel"
 version = "0.5.15"
@@ -3950,6 +3925,15 @@ dependencies = [
  "num-traits",
 ]
 
+[[package]]
+name = "ordered-float"
+version = "5.0.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e2c1f9f56e534ac6a9b8a4600bdf0f530fb393b5f393e7b4d03489c3cf0c3f01"
+dependencies = [
+ "num-traits",
+]
+
 [[package]]
 name = "overload"
 version = "0.1.1"
@@ -3996,56 +3980,27 @@ dependencies = [
 
 [[package]]
 name = "parry3d"
-version = "0.17.6"
+version = "0.20.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6aeb9659a05b1783fb2e9bc94f48225ae5b40817eb45b62569c0e4dd767a6e51"
+checksum = "bec55ce6f725367f8149f750575e79a8879d71b7257c02273259f9375822821f"
 dependencies = [
  "approx",
  "arrayvec",
  "bitflags 2.9.0",
- "downcast-rs 1.2.1",
+ "downcast-rs 2.0.1",
  "either",
  "ena",
+ "hashbrown",
  "log",
  "nalgebra",
  "num-derive",
  "num-traits",
- "ordered-float",
+ "ordered-float 5.0.0",
- "rayon",
  "rstar",
- "rustc-hash 2.1.1",
  "simba",
  "slab",
- "smallvec",
  "spade",
- "thiserror 1.0.69",
+ "thiserror 2.0.12",
-]
-
-[[package]]
-name = "parry3d-f64"
-version = "0.17.6"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c4484c8ad93ff03c0e57aa1a4f3ff5406ab6301a1eb838ef6dea90e94f00a6c7"
-dependencies = [
- "approx",
- "arrayvec",
- "bitflags 2.9.0",
- "downcast-rs 1.2.1",
- "either",
- "ena",
- "log",
- "nalgebra",
- "num-derive",
- "num-traits",
- "ordered-float",
- "rayon",
- "rstar",
- "rustc-hash 2.1.1",
- "simba",
- "slab",
- "smallvec",
- "spade",
- "thiserror 1.0.69",
 ]
 
 [[package]]
@@ -4201,28 +4156,6 @@ dependencies = [
  "toml_edit",
 ]
 
-[[package]]
-name = "proc-macro-error-attr2"
-version = "2.0.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "96de42df36bb9bba5542fe9f1a054b8cc87e172759a1868aa05c1f3acc89dfc5"
-dependencies = [
- "proc-macro2",
- "quote",
-]
-
-[[package]]
-name = "proc-macro-error2"
-version = "2.0.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "11ec05c52be0a07b08061f7dd003e7d7092e0472bc731b4af7bb1ef876109802"
-dependencies = [
- "proc-macro-error-attr2",
- "proc-macro2",
- "quote",
- "syn",
-]
-
 [[package]]
 name = "proc-macro2"
 version = "1.0.95"
@@ -4348,6 +4281,30 @@ version = "1.5.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "f60fcc7d6849342eff22c4350c8b9a989ee8ceabc4b481253e8946b9fe83d684"
 
+[[package]]
+name = "rapier3d"
+version = "0.25.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a35ec3d01c4f918675411442024a1fbfb7eafdd878a6e82479ff6e461a9092fc"
+dependencies = [
+ "approx",
+ "arrayvec",
+ "bit-vec 0.8.0",
+ "bitflags 2.9.0",
+ "crossbeam",
+ "downcast-rs 2.0.1",
+ "log",
+ "nalgebra",
+ "num-derive",
+ "num-traits",
+ "ordered-float 5.0.0",
+ "parry3d",
+ "profiling",
+ "rustc-hash 2.1.1",
+ "simba",
+ "thiserror 2.0.12",
+]
+
 [[package]]
 name = "rav1e"
 version = "0.7.1"
@@ -4839,9 +4796,9 @@ dependencies = [
 name = "space-game"
 version = "0.1.0"
 dependencies = [
- "avian3d",
  "bevy",
  "bevy-inspector-egui",
+ "bevy_rapier3d",
 ]
 
 [[package]]
@@ -5698,7 +5655,7 @@ dependencies = [
  "ndk-sys 0.5.0+25.2.9519653",
  "objc",
  "once_cell",
- "ordered-float",
+ "ordered-float 4.6.0",
  "parking_lot",
  "profiling",
  "range-alloc",

Cargo.toml

@@ -4,15 +4,15 @@ version = "0.1.0"
 edition = "2024"
 
 [dependencies]
-avian3d = { version = "0.3.0", features = [] }
+# avian3d = { version = "0.3.0", features = [] }
 bevy = { version = "0.16.1", features = [] }
 # bevy_rapier3d = { version = "0.29.0", features = ["simd-stable", "parallel"] }
 bevy-inspector-egui = "0.31.0"
+bevy_rapier3d = "0.30.0"
 
 [features]
 default = ["dev"]
 dev = [
-	"avian3d/debug-plugin",
 	"bevy/bevy_dev_tools",
 	"bevy/bevy_ui_debug",
 	"bevy/track_location",

src/components/character_controller.rs

@@ -1,5 +1,5 @@
-use avian3d::prelude::*;
 use bevy::prelude::*;
+use bevy_rapier3d::prelude::*;
 
 #[derive(Component, Reflect, Clone, Copy)]
 #[require(

src/components/mod.rs

@@ -1,3 +1,3 @@
 pub mod camera;
-pub mod character_controller;
+// pub mod character_controller;
 pub mod tags;

src/plugins/character_controller.rs

@@ -1,7 +1,5 @@
-use avian3d::prelude::{
-	Collider, ExternalForce, GravityScale, LinearVelocity, LockedAxes, Mass, RayCaster, RayHits, RigidBody,
-};
 use bevy::prelude::*;
+use bevy_rapier3d::prelude::*;
 
 use crate::components::character_controller::{
 	CharacterController, CharacterMotion, CharacterRotation, GravityDirection,
@@ -28,10 +26,9 @@ fn setup_hooks(world: &mut World) {
 			let mut commands = world.commands();
 			let mut entity_commands = commands.entity(ctx.entity);
 			entity_commands.insert((
-				RigidBody::Kinematic,
+				RigidBody::KinematicPositionBased,
-				Collider::capsule(radius, height),
+				Collider::capsule_y(radius, height),
-				ExternalForce::ZERO.with_persistence(false),
+				ExternalForce::default(),
-				RayCaster::new(Vec3::ZERO, Dir3::NEG_Y).with_max_distance(1.0),
 			));
 		});
 }

src/plugins/game.rs

@@ -1,18 +1,15 @@
-use avian3d::{PhysicsPlugins, prelude::*};
-use bevy::{
-	prelude::*,
-	window::{CursorGrabMode, PrimaryWindow},
-};
-
 use crate::{
 	components::{
 		camera::{CameraPitch, CameraRoot, FollowCam, MainCamera, Unfocused},
-		character_controller::CharacterController,
 		tags::{Player, Ship},
 	},
 	plugins::*,
 };
-// use bevy_rapier3d::prelude::*;
+use bevy::{
+	prelude::*,
+	window::{CursorGrabMode, PrimaryWindow},
+};
+use bevy_rapier3d::prelude::*;
 
 #[derive(Default)]
 pub struct GamePlugin;
@@ -24,14 +21,13 @@ impl Plugin for GamePlugin {
 			// ShipPlugin,
 			TypesPlugin,
 			PlayerPlugin,
-			CharacterControllerPlugin,
+			// CharacterControllerPlugin,
 		));
 		app.add_plugins((
-			PhysicsPlugins::default(),
+			RapierPhysicsPlugin::<NoUserData>::default(),
 			#[cfg(feature = "dev-phys")]
-			PhysicsDebugPlugin::default(),
+			RapierDebugRenderPlugin::default(),
 		));
-		app.insert_resource(Gravity::ZERO);
 		app.add_systems(Startup, (setup_scene).chain());
 
 		app.add_systems(Update, camera_toggle);
@@ -43,18 +39,17 @@ fn setup_scene(
 	mut meshes: ResMut<Assets<Mesh>>,
 	mut materials: ResMut<Assets<StandardMaterial>>,
 	mut window: Single<&mut Window, With<PrimaryWindow>>,
-	mut gravity: ResMut<Gravity>,
 ) {
-	gravity.0 = Vec3::ZERO;
-
 	// window.cursor_options.visible = false;
 	// window.cursor_options.grab_mode = CursorGrabMode::Locked;
 
 	let player = commands
 		.spawn((
 			Name::new("Player"),
-			CharacterController::default(),
 			Player,
+			Collider::capsule_y(0.5, 0.5),
+			RigidBody::KinematicPositionBased,
+			KinematicCharacterController::default(),
 			Mesh3d(meshes.add(Capsule3d::new(0.5, 1.0))),
 			MeshMaterial3d(materials.add(Color::linear_rgb(1.0, 0.0, 0.2))),
 			Transform::from_translation(Vec3::new(0.0, 10.0, 10.0)),
@@ -96,7 +91,7 @@ fn setup_scene(
 		Mesh3d(cube),
 		MeshMaterial3d(material),
 		Transform::default(),
-		RigidBody::Static,
+		RigidBody::Fixed,
 		Collider::cuboid(100.0, 0.1, 100.0),
 	));
 }
@@ -117,8 +112,8 @@ fn spawn_ship(
 			MeshMaterial3d(material.clone()),
 			Name::new("Ship"),
 			Ship,
-			LinearDamping::default(),
+			Velocity::zero(),
-			AngularDamping::default(),
+			Damping::default(),
 			Transform::from_xyz(0.0, 1.0, 0.0),
 			RigidBody::Dynamic,
 			children![

src/plugins/mod.rs

@@ -1,4 +1,4 @@
-mod character_controller;
+// mod character_controller;
 mod follow_cam;
 mod free_cam;
 mod game;
@@ -7,7 +7,7 @@ mod ship;
 mod ship_cam;
 mod types;
 
-pub use character_controller::*;
+// pub use character_controller::*;
 pub use follow_cam::*;
 pub use free_cam::*;
 pub use game::*;

src/plugins/player.rs

@@ -1,6 +1,7 @@
 use bevy::prelude::*;
+use bevy_rapier3d::prelude::*;
 
-use crate::components::{character_controller::CharacterMotion, tags::Player};
+use crate::components::tags::Player;
 
 pub struct PlayerPlugin;
 
@@ -10,7 +11,12 @@ impl Plugin for PlayerPlugin {
 	}
 }
 
-fn keyboard_input(key: Res<ButtonInput<KeyCode>>, mut player: Single<&mut CharacterMotion, With<Player>>) {
+fn keyboard_input(
+	key: Res<ButtonInput<KeyCode>>,
+	mut player: Single<(&mut KinematicCharacterController, &mut Transform), With<Player>>,
+	time: Res<Time>,
+) {
+	let (mut controller, mut transform) = player.into_inner();
 	let mut move_vec = Vec3::ZERO;
 
 	if key.pressed(KeyCode::KeyW) {
@@ -25,5 +31,15 @@ fn keyboard_input(key: Res<ButtonInput<KeyCode>>, mut player: Single<&mut Charac
 		move_vec.x = 1.0;
 	}
 
-	player.0 = move_vec;
+	let angle = if key.pressed(KeyCode::KeyQ) {
+		-0.1
+	} else if key.pressed(KeyCode::KeyE) {
+		0.1
+	} else {
+		0.0
+	};
+	transform.rotate_z(angle * time.delta_secs());
+	controller.up = transform.up().as_vec3();
+	move_vec += transform.down().as_vec3();
+	controller.translation = Some(move_vec * time.delta_secs());
 }

src/plugins/ship.rs

@@ -1,5 +1,5 @@
-use avian3d::prelude::*;
 use bevy::{input::mouse::MouseMotion, prelude::*};
+use bevy_rapier3d::prelude::*;
 
 use crate::{components::tags::Ship, utils::input::get_mouse_delta};
 
@@ -14,21 +14,12 @@ impl Plugin for ShipPlugin {
 }
 
 fn ship_controls(
-	ship_query: Single<
+	ship_query: Single<(&Transform, &mut Velocity, &mut Damping), With<Ship>>,
-		(
-			&Transform,
-			&mut LinearVelocity,
-			&mut AngularVelocity,
-			&mut LinearDamping,
-			&mut AngularDamping,
-		),
-		With<Ship>,
-	>,
 	key: Res<ButtonInput<KeyCode>>,
 	time: Res<Time>,
 	mouse_motion: EventReader<MouseMotion>,
 ) {
-	let (transform, mut vel, mut ang, mut ldamp, mut adamp) = ship_query.into_inner();
+	let (transform, mut vel, mut damp) = ship_query.into_inner();
 
 	let mut move_vec = Vec3::ZERO;
 
@@ -51,11 +42,11 @@ fn ship_controls(
 	}
 
 	if key.pressed(KeyCode::ControlLeft) {
-		ldamp.0 = 0.8;
+		damp.linear_damping = 0.8;
-		adamp.0 = 0.8;
+		damp.angular_damping = 0.8;
 	} else {
-		ldamp.0 = 0.0;
+		damp.linear_damping = 0.0;
-		adamp.0 = 0.0;
+		damp.angular_damping = 0.0;
 	}
 
 	const ROLL_SPEED: f32 = 1.0;
@@ -79,11 +70,11 @@ fn ship_controls(
 	let roll = Vec3::NEG_Z * mouse_input.x;
 	let pitch = Vec3::X * mouse_input.y;
 
-	ang.0 += (transform.rotation * (roll + yaw + pitch)) * time.delta_secs();
+	vel.angvel += (transform.rotation * (roll + yaw + pitch)) * time.delta_secs();
 
 	move_vec = transform.rotation * move_vec.normalize_or_zero();
 
-	vel.0 += move_vec * time.delta_secs();
+	vel.linvel += move_vec * time.delta_secs();
 }
 
 #[cfg(feature = "dev-viz")]