feat: introduce RigidBodyDominance component

core/src/lib.rs

@@ -71,6 +71,7 @@ impl Plugin for CorePlugin {
             .init_resource::<PhysicsSteps>()
             .register_type::<CollisionShape>()
             .register_type::<RigidBody>()
+            .register_type::<RigidBodyDominance>()
             .register_type::<PhysicMaterial>()
             .register_type::<Velocity>()
             .register_type::<Acceleration>()
@@ -328,6 +329,32 @@ impl RigidBody {
     }
 }
 
+/// Component that defines the dominance of the rigid body
+///
+/// When two dynamic rigid bodies collide, the body with the higher dominance will be treated with infinite mass (i.e. will not be pushed).
+/// This is particularly useful in player controller scenarios
+///
+/// It must be inserted on the same entity of a [`RigidBody`]
+///
+/// # Example
+///
+/// ```
+/// # use bevy::prelude::*;
+/// # use heron_core::*;
+/// fn spawn(mut commands: Commands) {
+///     commands.spawn_bundle(todo!("Spawn your sprite/mesh, incl. at least a GlobalTransform"))
+///         .insert(CollisionShape::Sphere { radius: 1.0 }) // Make a body (is dynamic by default)
+///         .insert(RigidBodyDominance {
+///             dominance: i8::MAX, // Define the dominance of the dynamic rigid body. Higher will dominate
+///         });
+/// }
+/// ```
+#[derive(Debug, Component, Copy, Clone, Default, Reflect)]
+pub struct RigidBodyDominance {
+    /// The dominance of the rigid body. The higher value in a collision will dominate
+    pub dominance: i8,
+}
+
 /// Mark the [`CollisionShape`] of the same entity as being a *sensor*.
 ///
 /// This is especially useful to add sensor to an existing (non-sensor) rigid body without the need to create a [`RigidBody::Sensor`] in between.

rapier/src/body.rs

@@ -2,7 +2,9 @@ use bevy::ecs::prelude::*;
 use bevy::transform::prelude::*;
 use fnv::FnvHashMap;
 
-use heron_core::{Damping, PhysicMaterial, RigidBody, RotationConstraints, Velocity};
+use heron_core::{
+    Damping, PhysicMaterial, RigidBody, RigidBodyDominance, RotationConstraints, Velocity,
+};
 
 use crate::convert::{IntoBevy, IntoRapier};
 use crate::rapier::dynamics::{
@@ -27,11 +29,14 @@ pub(crate) fn create(
             Option<&Velocity>,
             Option<&Damping>,
             Option<&RotationConstraints>,
+            Option<&RigidBodyDominance>,
         ),
         Without<super::RigidBodyHandle>,
     >,
 ) {
-    for (entity, transform, body, velocity, damping, rotation_constraints) in query.iter() {
+    for (entity, transform, body, velocity, damping, rotation_constraints, dominance) in
+        query.iter()
+    {
         let mut builder = RigidBodyBuilder::new(body_status(*body))
             .user_data(entity.to_bits().into())
             .position((transform.translation, transform.rotation).into_rapier());
@@ -63,6 +68,10 @@ pub(crate) fn create(
             builder = builder.linear_damping(d.linear).angular_damping(d.angular);
         }
 
+        if let Some(d) = dominance {
+            builder = builder.dominance_group(d.dominance);
+        }
+
         let rigid_body_handle = bodies.insert(builder.build());
 
         handles.insert(entity, rigid_body_handle);