From 2df7258570ce59aedd7fb4c0dea3d3290eb02a47 Mon Sep 17 00:00:00 2001
From: Sébastien Crozet <sebcrozet@dimforge.com>
Date: Sun, 24 Mar 2024 17:25:42 +0100
Subject: feat: update testbeds to bevy 0.13

---
 crates/rapier_testbed2d-f64/Cargo.toml | 50 ++++++++++----------
 crates/rapier_testbed2d/Cargo.toml     | 50 ++++++++++----------
 crates/rapier_testbed3d-f64/Cargo.toml | 50 ++++++++++----------
 crates/rapier_testbed3d/Cargo.toml     | 54 +++++++++++-----------
 examples3d/vehicle_joints3.rs          |  8 ++--
 src_testbed/camera2d.rs                |  2 +-
 src_testbed/camera3d.rs                |  2 +-
 src_testbed/debug_render.rs            |  6 +--
 src_testbed/graphics.rs                | 26 ++++++++---
 src_testbed/objects/node.rs            | 84 ++++++++++++++++++----------------
 src_testbed/plugin.rs                  |  6 +--
 src_testbed/testbed.rs                 | 80 ++++++++++++++++++--------------
 12 files changed, 223 insertions(+), 195 deletions(-)

diff --git a/crates/rapier_testbed2d-f64/Cargo.toml b/crates/rapier_testbed2d-f64/Cargo.toml
index 2212a03..933ddfe 100644
--- a/crates/rapier_testbed2d-f64/Cargo.toml
+++ b/crates/rapier_testbed2d-f64/Cargo.toml
@@ -1,12 +1,12 @@
 [package]
-name    = "rapier_testbed2d-f64"
+name = "rapier_testbed2d-f64"
 version = "0.18.0"
-authors = [ "Sébastien Crozet <developer@crozet.re>" ]
+authors = ["Sébastien Crozet <developer@crozet.re>"]
 description = "Testbed for the Rapier 2-dimensional physics engine in Rust."
 homepage = "http://rapier.org"
 repository = "https://github.com/dimforge/rapier"
-categories = [ "science", "game-development", "mathematics", "simulation", "wasm"]
-keywords = [ "physics", "dynamics", "rigid", "real-time", "impulse_joints" ]
+categories = ["science", "game-development", "mathematics", "simulation", "wasm"]
+keywords = ["physics", "dynamics", "rigid", "real-time", "impulse_joints"]
 license = "Apache-2.0"
 edition = "2021"
 
@@ -16,48 +16,48 @@ maintenance = { status = "actively-developed" }
 [lib]
 name = "rapier_testbed2d"
 path = "../../src_testbed/lib.rs"
-required-features = [ "dim2" ]
+required-features = ["dim2"]
 
 [features]
-default = [ "dim2" ]
-dim2 = [ ]
-parallel = [ "rapier/parallel", "num_cpus" ]
-other-backends = [ "wrapped2d" ]
+default = ["dim2"]
+dim2 = []
+parallel = ["rapier/parallel", "num_cpus"]
+other-backends = ["wrapped2d"]
 
 [package.metadata.docs.rs]
 features = ["parallel", "other-backends"]
 
 [dependencies]
-nalgebra   = { version = "0.32", features = [ "rand" ] }
-rand       = "0.8"
-rand_pcg   = "0.3"
-instant    = { version = "0.1", features = [ "web-sys", "now" ]}
-bitflags   = "1"
-num_cpus   = { version = "1", optional = true }
-wrapped2d  = { version = "0.4", optional = true }
+nalgebra = { version = "0.32", features = ["rand"] }
+rand = "0.8"
+rand_pcg = "0.3"
+instant = { version = "0.1", features = ["web-sys", "now"] }
+bitflags = "1"
+num_cpus = { version = "1", optional = true }
+wrapped2d = { version = "0.4", optional = true }
 crossbeam = "0.8"
 bincode = "1"
-Inflector  = "0.11"
+Inflector = "0.11"
 md5 = "0.7"
 
-bevy_egui = "0.23"
-bevy_ecs = "0.12"
-bevy_core_pipeline = "0.12"
-bevy_pbr = "0.12"
-bevy_sprite = "0.12"
+bevy_egui = "0.26"
+bevy_ecs = "0.13"
+bevy_core_pipeline = "0.13"
+bevy_pbr = "0.13"
+bevy_sprite = "0.13"
 #bevy_prototype_debug_lines = "0.7"
 
 # Dependencies for native only.
 [target.'cfg(not(target_arch = "wasm32"))'.dependencies]
-bevy = {version = "0.12", default-features = false, features = ["bevy_asset", "bevy_winit", "x11", "tonemapping_luts", "ktx2", "zstd", "bevy_render", "bevy_pbr", "bevy_gizmos"]}
+bevy = { version = "0.13", default-features = false, features = ["bevy_asset", "bevy_winit", "x11", "tonemapping_luts", "ktx2", "zstd", "bevy_render", "bevy_pbr", "bevy_gizmos"] }
 
 # Dependencies for WASM only.
 [target.'cfg(target_arch = "wasm32")'.dependencies]
-bevy = {version = "0.12", default-features = false, features = ["bevy_asset", "bevy_winit", "tonemapping_luts", "ktx2", "zstd", "bevy_render", "bevy_pbr", "bevy_gizmos"]}
+bevy = { version = "0.13", default-features = false, features = ["bevy_asset", "bevy_winit", "tonemapping_luts", "ktx2", "zstd", "bevy_render", "bevy_pbr", "bevy_gizmos"] }
 #bevy_webgl2 = "0.5"
 
 [dependencies.rapier]
 package = "rapier2d-f64"
 path = "../rapier2d-f64"
 version = "0.18.0"
-features = [ "serde-serialize", "debug-render", "profiler" ]
+features = ["serde-serialize", "debug-render", "profiler"]
diff --git a/crates/rapier_testbed2d/Cargo.toml b/crates/rapier_testbed2d/Cargo.toml
index 06c32e3..9cbbe4a 100644
--- a/crates/rapier_testbed2d/Cargo.toml
+++ b/crates/rapier_testbed2d/Cargo.toml
@@ -1,12 +1,12 @@
 [package]
-name    = "rapier_testbed2d"
+name = "rapier_testbed2d"
 version = "0.18.0"
-authors = [ "Sébastien Crozet <developer@crozet.re>" ]
+authors = ["Sébastien Crozet <developer@crozet.re>"]
 description = "Testbed for the Rapier 2-dimensional physics engine in Rust."
 homepage = "http://rapier.org"
 repository = "https://github.com/dimforge/rapier"
-categories = [ "science", "game-development", "mathematics", "simulation", "wasm"]
-keywords = [ "physics", "dynamics", "rigid", "real-time", "impulse_joints" ]
+categories = ["science", "game-development", "mathematics", "simulation", "wasm"]
+keywords = ["physics", "dynamics", "rigid", "real-time", "impulse_joints"]
 license = "Apache-2.0"
 edition = "2021"
 
@@ -16,48 +16,48 @@ maintenance = { status = "actively-developed" }
 [lib]
 name = "rapier_testbed2d"
 path = "../../src_testbed/lib.rs"
-required-features = [ "dim2" ]
+required-features = ["dim2"]
 
 [features]
-default = [ "dim2" ]
-dim2 = [ ]
-parallel = [ "rapier/parallel", "num_cpus" ]
-other-backends = [ "wrapped2d" ]
+default = ["dim2"]
+dim2 = []
+parallel = ["rapier/parallel", "num_cpus"]
+other-backends = ["wrapped2d"]
 
 [package.metadata.docs.rs]
 features = ["parallel", "other-backends"]
 
 [dependencies]
-nalgebra   = { version = "0.32", features = [ "rand" ] }
-rand       = "0.8"
-rand_pcg   = "0.3"
-instant    = { version = "0.1", features = [ "web-sys", "now" ]}
-bitflags   = "1"
-num_cpus   = { version = "1", optional = true }
-wrapped2d  = { version = "0.4", optional = true }
+nalgebra = { version = "0.32", features = ["rand"] }
+rand = "0.8"
+rand_pcg = "0.3"
+instant = { version = "0.1", features = ["web-sys", "now"] }
+bitflags = "1"
+num_cpus = { version = "1", optional = true }
+wrapped2d = { version = "0.4", optional = true }
 crossbeam = "0.8"
 bincode = "1"
-Inflector  = "0.11"
+Inflector = "0.11"
 md5 = "0.7"
 
-bevy_egui = "0.23"
-bevy_ecs = "0.12"
-bevy_core_pipeline = "0.12"
-bevy_pbr = "0.12"
-bevy_sprite = "0.12"
+bevy_egui = "0.26"
+bevy_ecs = "0.13"
+bevy_core_pipeline = "0.13"
+bevy_pbr = "0.13"
+bevy_sprite = "0.13"
 #bevy_prototype_debug_lines = "0.7"
 
 # Dependencies for native only.
 [target.'cfg(not(target_arch = "wasm32"))'.dependencies]
-bevy = {version = "0.12", default-features = false, features = ["bevy_sprite", "bevy_winit", "x11", "tonemapping_luts", "ktx2", "zstd", "bevy_render", "bevy_pbr", "bevy_gizmos"]}
+bevy = { version = "0.13", default-features = false, features = ["bevy_sprite", "bevy_winit", "x11", "tonemapping_luts", "ktx2", "zstd", "bevy_render", "bevy_pbr", "bevy_gizmos"] }
 
 # Dependencies for WASM only.
 [target.'cfg(target_arch = "wasm32")'.dependencies]
-bevy = {version = "0.12", default-features = false, features = ["bevy_sprite", "bevy_winit", "tonemapping_luts", "ktx2", "zstd", "bevy_render", "bevy_pbr", "bevy_gizmos"]}
+bevy = { version = "0.13", default-features = false, features = ["bevy_sprite", "bevy_winit", "tonemapping_luts", "ktx2", "zstd", "bevy_render", "bevy_pbr", "bevy_gizmos"] }
 #bevy_webgl2 = "0.5"
 
 [dependencies.rapier]
 package = "rapier2d"
 path = "../rapier2d"
 version = "0.18.0"
-features = [ "serde-serialize", "debug-render", "profiler" ]
+features = ["serde-serialize", "debug-render", "profiler"]
diff --git a/crates/rapier_testbed3d-f64/Cargo.toml b/crates/rapier_testbed3d-f64/Cargo.toml
index ca3c95c..1ceaa44 100644
--- a/crates/rapier_testbed3d-f64/Cargo.toml
+++ b/crates/rapier_testbed3d-f64/Cargo.toml
@@ -1,12 +1,12 @@
 [package]
-name    = "rapier_testbed3d-f64"
+name = "rapier_testbed3d-f64"
 version = "0.18.0"
-authors = [ "Sébastien Crozet <developer@crozet.re>" ]
+authors = ["Sébastien Crozet <developer@crozet.re>"]
 description = "Testbed for the Rapier 3-dimensional physics engine in Rust."
 homepage = "http://rapier.org"
 repository = "https://github.com/dimforge/rapier"
-categories = [ "science", "game-development", "mathematics", "simulation", "wasm"]
-keywords = [ "physics", "dynamics", "rigid", "real-time", "impulse_joints" ]
+categories = ["science", "game-development", "mathematics", "simulation", "wasm"]
+keywords = ["physics", "dynamics", "rigid", "real-time", "impulse_joints"]
 license = "Apache-2.0"
 edition = "2021"
 
@@ -16,47 +16,47 @@ maintenance = { status = "actively-developed" }
 [lib]
 name = "rapier_testbed3d"
 path = "../../src_testbed/lib.rs"
-required-features = [ "dim3" ]
+required-features = ["dim3"]
 
 [features]
-default = [ "dim3" ]
-dim3 = [ ]
-parallel = [ "rapier/parallel", "num_cpus" ]
+default = ["dim3"]
+dim3 = []
+parallel = ["rapier/parallel", "num_cpus"]
 
 [package.metadata.docs.rs]
 features = ["parallel"]
 
 [dependencies]
-nalgebra   = { version = "0.32", features = [ "rand" ] }
-rand       = "0.8"
-rand_pcg   = "0.3"
-instant    = { version = "0.1", features = [ "web-sys", "now" ]}
-bitflags   = "1"
-num_cpus   = { version = "1", optional = true }
+nalgebra = { version = "0.32", features = ["rand"] }
+rand = "0.8"
+rand_pcg = "0.3"
+instant = { version = "0.1", features = ["web-sys", "now"] }
+bitflags = "1"
+num_cpus = { version = "1", optional = true }
 crossbeam = "0.8"
 bincode = "1"
 md5 = "0.7"
-Inflector  = "0.11"
-serde = { version = "1", features = [ "derive" ] }
-
-bevy_egui = "0.23"
-bevy_ecs = "0.12"
-bevy_core_pipeline = "0.12"
-bevy_pbr = "0.12"
-bevy_sprite = "0.12"
+Inflector = "0.11"
+serde = { version = "1", features = ["derive"] }
+
+bevy_egui = "0.26"
+bevy_ecs = "0.13"
+bevy_core_pipeline = "0.13"
+bevy_pbr = "0.13"
+bevy_sprite = "0.13"
 #bevy_prototype_debug_lines = { version = "0.7", features = [ "3d" ] }
 
 # Dependencies for native only.
 [target.'cfg(not(target_arch = "wasm32"))'.dependencies]
-bevy = {version = "0.12", default-features = false, features = ["bevy_winit", "x11", "tonemapping_luts", "ktx2", "zstd", "bevy_render", "bevy_pbr", "bevy_gizmos"]}
+bevy = { version = "0.13", default-features = false, features = ["bevy_winit", "x11", "tonemapping_luts", "ktx2", "zstd", "bevy_render", "bevy_pbr", "bevy_gizmos"] }
 
 # Dependencies for WASM only.
 [target.'cfg(target_arch = "wasm32")'.dependencies]
-bevy = {version = "0.12", default-features = false, features = ["bevy_winit", "tonemapping_luts", "ktx2", "zstd", "bevy_render", "bevy_pbr", "bevy_gizmos"]}
+bevy = { version = "0.13", default-features = false, features = ["bevy_winit", "tonemapping_luts", "ktx2", "zstd", "bevy_render", "bevy_pbr", "bevy_gizmos"] }
 #bevy_webgl2 = "0.5"
 
 [dependencies.rapier]
 package = "rapier3d-f64"
 path = "../rapier3d-f64"
 version = "0.18.0"
-features = [ "serde-serialize", "debug-render", "profiler" ]
+features = ["serde-serialize", "debug-render", "profiler"]
diff --git a/crates/rapier_testbed3d/Cargo.toml b/crates/rapier_testbed3d/Cargo.toml
index 3b3bdeb..dd2a637 100644
--- a/crates/rapier_testbed3d/Cargo.toml
+++ b/crates/rapier_testbed3d/Cargo.toml
@@ -1,12 +1,12 @@
 [package]
-name    = "rapier_testbed3d"
+name = "rapier_testbed3d"
 version = "0.18.0"
-authors = [ "Sébastien Crozet <developer@crozet.re>" ]
+authors = ["Sébastien Crozet <developer@crozet.re>"]
 description = "Testbed for the Rapier 3-dimensional physics engine in Rust."
 homepage = "http://rapier.org"
 repository = "https://github.com/dimforge/rapier"
-categories = [ "science", "game-development", "mathematics", "simulation", "wasm"]
-keywords = [ "physics", "dynamics", "rigid", "real-time", "impulse_joints" ]
+categories = ["science", "game-development", "mathematics", "simulation", "wasm"]
+keywords = ["physics", "dynamics", "rigid", "real-time", "impulse_joints"]
 license = "Apache-2.0"
 edition = "2021"
 
@@ -16,51 +16,51 @@ maintenance = { status = "actively-developed" }
 [lib]
 name = "rapier_testbed3d"
 path = "../../src_testbed/lib.rs"
-required-features = [ "dim3" ]
+required-features = ["dim3"]
 
 [features]
-default = [ "dim3" ]
-dim3 = [ ]
-parallel = [ "rapier/parallel", "num_cpus" ]
-other-backends = [ "physx", "physx-sys", "glam" ]
+default = ["dim3"]
+dim3 = []
+parallel = ["rapier/parallel", "num_cpus"]
+other-backends = ["physx", "physx-sys", "glam"]
 
 [package.metadata.docs.rs]
 features = ["parallel", "other-backends"]
 
 [dependencies]
-nalgebra   = { version = "0.32", features = [ "rand" ] }
-rand       = "0.8"
-rand_pcg   = "0.3"
-instant    = { version = "0.1", features = [ "web-sys", "now" ]}
-bitflags   = "1"
-glam       = { version = "0.24", optional = true } # For Physx
-num_cpus   = { version = "1", optional = true }
-physx      = { version = "0.19", features = [ "glam" ], optional = true }
+nalgebra = { version = "0.32", features = ["rand"] }
+rand = "0.8"
+rand_pcg = "0.3"
+instant = { version = "0.1", features = ["web-sys", "now"] }
+bitflags = "1"
+glam = { version = "0.24", optional = true } # For Physx
+num_cpus = { version = "1", optional = true }
+physx = { version = "0.19", features = ["glam"], 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" ] }
+Inflector = "0.11"
+serde = { version = "1", features = ["derive"] }
 
-bevy_egui = "0.23"
-bevy_ecs = "0.12"
-bevy_core_pipeline = "0.12"
-bevy_pbr = "0.12"
-bevy_sprite = "0.12"
+bevy_egui = "0.26"
+bevy_ecs = "0.13"
+bevy_core_pipeline = "0.13"
+bevy_pbr = "0.13"
+bevy_sprite = "0.13"
 #bevy_prototype_debug_lines = { version = "0.7", features = [ "3d" ] }
 
 # Dependencies for native only.
 [target.'cfg(not(target_arch = "wasm32"))'.dependencies]
-bevy = {version = "0.12", default-features = false, features = ["bevy_winit", "x11", "tonemapping_luts", "ktx2", "zstd", "bevy_render", "bevy_pbr", "bevy_gizmos"]}
+bevy = { version = "0.13", default-features = false, features = ["bevy_winit", "x11", "tonemapping_luts", "ktx2", "zstd", "bevy_render", "bevy_pbr", "bevy_gizmos"] }
 
 # Dependencies for WASM only.
 [target.'cfg(target_arch = "wasm32")'.dependencies]
-bevy = {version = "0.12", default-features = false, features = ["bevy_winit", "tonemapping_luts", "ktx2", "zstd", "bevy_render", "bevy_pbr", "bevy_gizmos"]}
+bevy = { version = "0.13", default-features = false, features = ["bevy_winit", "tonemapping_luts", "ktx2", "zstd", "bevy_render", "bevy_pbr", "bevy_gizmos"] }
 #bevy_webgl2 = "0.5"
 
 [dependencies.rapier]
 package = "rapier3d"
 path = "../rapier3d"
 version = "0.18.0"
-features = [ "serde-serialize", "debug-render", "profiler" ]
+features = ["serde-serialize", "debug-render", "profiler"]
diff --git a/examples3d/vehicle_joints3.rs b/examples3d/vehicle_joints3.rs
index ddd672c..5eba608 100644
--- a/examples3d/vehicle_joints3.rs
+++ b/examples3d/vehicle_joints3.rs
@@ -138,16 +138,16 @@ pub fn init_world(testbed: &mut Testbed) {
 
         for key in gfx.keys().get_pressed() {
             match *key {
-                KeyCode::Right => {
+                KeyCode::ArrowRight => {
                     steering = -1.0;
                 }
-                KeyCode::Left => {
+                KeyCode::ArrowLeft => {
                     steering = 1.0;
                 }
-                KeyCode::Up => {
+                KeyCode::ArrowUp => {
                     thrust = -drive_strength;
                 }
-                KeyCode::Down => {
+                KeyCode::ArrowDown => {
                     thrust = drive_strength;
                 }
                 KeyCode::ShiftRight => {
diff --git a/src_testbed/camera2d.rs b/src_testbed/camera2d.rs
index 6ba17a1..ae5c163 100644
--- a/src_testbed/camera2d.rs
+++ b/src_testbed/camera2d.rs
@@ -48,7 +48,7 @@ impl OrbitCameraPlugin {
     fn mouse_motion_system(
         _time: Res<Time>,
         mut mouse_motion_events: EventReader<MouseMotion>,
-        mouse_button_input: Res<Input<MouseButton>>,
+        mouse_button_input: Res<ButtonInput<MouseButton>>,
         mut query: Query<(&mut OrbitCamera, &mut Transform, &mut Camera)>,
     ) {
         let mut delta = Vec2::ZERO;
diff --git a/src_testbed/camera3d.rs b/src_testbed/camera3d.rs
index 9c3764e..b2313b7 100644
--- a/src_testbed/camera3d.rs
+++ b/src_testbed/camera3d.rs
@@ -61,7 +61,7 @@ impl OrbitCameraPlugin {
     fn mouse_motion_system(
         time: Res<Time>,
         mut mouse_motion_events: EventReader<MouseMotion>,
-        mouse_button_input: Res<Input<MouseButton>>,
+        mouse_button_input: Res<ButtonInput<MouseButton>>,
         mut query: Query<(&mut OrbitCamera, &mut Transform, &mut Camera)>,
     ) {
         let mut delta = Vec2::ZERO;
diff --git a/src_testbed/debug_render.rs b/src_testbed/debug_render.rs
index 0e0b8b8..3138546 100644
--- a/src_testbed/debug_render.rs
+++ b/src_testbed/debug_render.rs
@@ -30,11 +30,11 @@ impl Plugin for RapierDebugRenderPlugin {
     }
 }
 
-struct BevyLinesRenderBackend<'a> {
-    gizmos: Gizmos<'a>,
+struct BevyLinesRenderBackend<'w, 's> {
+    gizmos: Gizmos<'w, 's>,
 }
 
-impl<'a> DebugRenderBackend for BevyLinesRenderBackend<'a> {
+impl<'w, 's> DebugRenderBackend for BevyLinesRenderBackend<'w, 's> {
     #[cfg(feature = "dim2")]
     fn draw_line(&mut self, _: DebugRenderObject, a: Point<Real>, b: Point<Real>, color: [f32; 4]) {
         self.gizmos.line(
diff --git a/src_testbed/graphics.rs b/src_testbed/graphics.rs
index 552d4c7..226be4d 100644
--- a/src_testbed/graphics.rs
+++ b/src_testbed/graphics.rs
@@ -22,6 +22,9 @@ pub type BevyMaterial = ColorMaterial;
 #[cfg(feature = "dim3")]
 pub type BevyMaterial = StandardMaterial;
 
+pub type InstancedMaterials = HashMap<Point3<usize>, Handle<BevyMaterial>>;
+pub const SELECTED_OBJECT_MATERIAL_KEY: Point3<usize> = point![42, 42, 42];
+
 pub struct GraphicsManager {
     rand: Pcg32,
     b2sn: HashMap<RigidBodyHandle, Vec<EntityWithGraphics>>,
@@ -30,6 +33,7 @@ pub struct GraphicsManager {
     b2wireframe: HashMap<RigidBodyHandle, bool>,
     ground_color: Point3<f32>,
     prefab_meshes: HashMap<ShapeType, Handle<Mesh>>,
+    instanced_materials: InstancedMaterials,
     pub gfx_shift: Vector<Real>,
 }
 
@@ -43,10 +47,15 @@ impl GraphicsManager {
             ground_color: point![0.5, 0.5, 0.5],
             b2wireframe: HashMap::new(),
             prefab_meshes: HashMap::new(),
+            instanced_materials: HashMap::new(),
             gfx_shift: Vector::zeros(),
         }
     }
 
+    pub fn selection_material(&self) -> Handle<BevyMaterial> {
+        self.instanced_materials[&SELECTED_OBJECT_MATERIAL_KEY].clone_weak()
+    }
+
     pub fn clear(&mut self, commands: &mut Commands) {
         for sns in self.b2sn.values_mut() {
             for sn in sns.iter_mut() {
@@ -54,6 +63,7 @@ impl GraphicsManager {
             }
         }
 
+        self.instanced_materials.clear();
         self.b2sn.clear();
         self.c2color.clear();
         self.b2color.clear();
@@ -159,10 +169,11 @@ impl GraphicsManager {
 
     fn gen_color(rng: &mut Pcg32) -> Point3<f32> {
         let mut color: Point3<f32> = rng.gen();
-        color *= 1.5;
-        color.x = color.x.min(1.0);
-        color.y = color.y.min(1.0);
-        color.z = color.z.min(1.0);
+
+        // Quantize the colors a bit to get some amount of auto-instancing from bevy.
+        color.x = (color.x * 5.0).round() / 5.0;
+        color.y = (color.y * 5.0).round() / 5.0;
+        color.z = (color.z * 5.0).round() / 5.0;
         color
     }
 
@@ -191,7 +202,7 @@ impl GraphicsManager {
         commands: &mut Commands,
         meshes: &mut Assets<Mesh>,
         materials: &mut Assets<BevyMaterial>,
-        components: &mut Query<(&mut Transform,)>,
+        components: &mut Query<&mut Transform>,
         handle: RigidBodyHandle,
         bodies: &RigidBodySet,
         colliders: &ColliderSet,
@@ -214,7 +225,7 @@ impl GraphicsManager {
         commands: &mut Commands,
         meshes: &mut Assets<Mesh>,
         materials: &mut Assets<BevyMaterial>,
-        components: &mut Query<(&mut Transform,)>,
+        components: &mut Query<&mut Transform>,
         handle: RigidBodyHandle,
         bodies: &RigidBodySet,
         colliders: &ColliderSet,
@@ -330,6 +341,7 @@ impl GraphicsManager {
                 meshes,
                 materials,
                 &self.prefab_meshes,
+                &mut self.instanced_materials,
                 shape,
                 handle,
                 *pos,
@@ -345,7 +357,7 @@ impl GraphicsManager {
         &mut self,
         _bodies: &RigidBodySet,
         colliders: &ColliderSet,
-        components: &mut Query<(&mut Transform,)>,
+        components: &mut Query<&mut Transform>,
         _materials: &mut Assets<BevyMaterial>,
     ) {
         for (_, ns) in self.b2sn.iter_mut() {
diff --git a/src_testbed/objects/node.rs b/src_testbed/objects/node.rs
index cdc042b..478fead 100644
--- a/src_testbed/objects/node.rs
+++ b/src_testbed/objects/node.rs
@@ -14,7 +14,7 @@ use rapier::geometry::{ColliderHandle, ColliderSet, Shape, ShapeType};
 use rapier::geometry::{Cone, Cylinder};
 use rapier::math::{Isometry, Real, Vector};
 
-use crate::graphics::BevyMaterial;
+use crate::graphics::{BevyMaterial, InstancedMaterials, SELECTED_OBJECT_MATERIAL_KEY};
 #[cfg(feature = "dim2")]
 use {
     bevy_sprite::MaterialMesh2dBundle,
@@ -30,15 +30,43 @@ pub struct EntityWithGraphics {
     pub collider: Option<ColliderHandle>,
     pub delta: Isometry<Real>,
     pub opacity: f32,
-    material: Handle<BevyMaterial>,
+    pub material: Handle<BevyMaterial>,
 }
 
 impl EntityWithGraphics {
+    pub fn register_selected_object_material(
+        materials: &mut Assets<BevyMaterial>,
+        instanced_materials: &mut InstancedMaterials,
+    ) {
+        if instanced_materials.contains_key(&SELECTED_OBJECT_MATERIAL_KEY) {
+            return; // Already added.
+        }
+
+        #[cfg(feature = "dim2")]
+        let selection_material = ColorMaterial {
+            color: Color::rgb(1.0, 0.0, 0.0),
+            texture: None,
+        };
+        #[cfg(feature = "dim3")]
+        let selection_material = StandardMaterial {
+            metallic: 0.5,
+            perceptual_roughness: 0.5,
+            double_sided: true, // TODO: this doesn't do anything?
+            ..StandardMaterial::from(Color::rgb(1.0, 0.0, 0.0))
+        };
+
+        instanced_materials.insert(
+            SELECTED_OBJECT_MATERIAL_KEY,
+            materials.add(selection_material),
+        );
+    }
+
     pub fn spawn(
         commands: &mut Commands,
         meshes: &mut Assets<Mesh>,
         materials: &mut Assets<BevyMaterial>,
         prefab_meshs: &HashMap<ShapeType, Handle<Mesh>>,
+        instanced_materials: &mut InstancedMaterials,
         shape: &dyn Shape,
         collider: Option<ColliderHandle>,
         collider_pos: Isometry<Real>,
@@ -46,6 +74,8 @@ impl EntityWithGraphics {
         color: Point3<f32>,
         sensor: bool,
     ) -> Self {
+        Self::register_selected_object_material(materials, instanced_materials);
+
         let entity = commands.spawn_empty().id();
 
         let scale = collider_mesh_scale(shape);
@@ -90,21 +120,23 @@ impl EntityWithGraphics {
             double_sided: true, // TODO: this doesn't do anything?
             ..StandardMaterial::from(bevy_color)
         };
-        let material_handle = materials.add(material);
+        let material_handle = instanced_materials
+            .entry(color.coords.map(|c| (c * 255.0) as usize).into())
+            .or_insert_with(|| materials.add(material));
         let material_weak_handle = material_handle.clone_weak();
 
         if let Some(mesh) = mesh {
             #[cfg(feature = "dim2")]
             let bundle = MaterialMesh2dBundle {
                 mesh: mesh.into(),
-                material: material_handle,
+                material: material_handle.clone_weak(),
                 transform,
                 ..Default::default()
             };
             #[cfg(feature = "dim3")]
             let bundle = PbrBundle {
                 mesh,
-                material: material_handle,
+                material: material_handle.clone_weak(),
                 transform,
                 ..Default::default()
             };
@@ -133,28 +165,6 @@ impl EntityWithGraphics {
         commands.entity(self.entity).despawn();
     }
 
-    pub fn select(&mut self, materials: &mut Assets<BevyMaterial>) {
-        // NOTE: we don't just call `self.set_color` because that would
-        //       overwrite self.base_color too.
-        self.color = point![1.0, 0.0, 0.0];
-        if let Some(material) = materials.get_mut(&self.material) {
-            #[cfg(feature = "dim2")]
-            {
-                material.color =
-                    Color::rgba(self.color.x, self.color.y, self.color.z, self.opacity);
-            }
-            #[cfg(feature = "dim3")]
-            {
-                material.base_color =
-                    Color::rgba(self.color.x, self.color.y, self.color.z, self.opacity);
-            }
-        }
-    }
-
-    pub fn unselect(&mut self, materials: &mut Assets<BevyMaterial>) {
-        self.set_color(materials, self.base_color);
-    }
-
     pub fn set_color(&mut self, materials: &mut Assets<BevyMaterial>, color: Point3<f32>) {
         if let Some(material) = materials.get_mut(&self.material) {
             #[cfg(feature = "dim2")]
@@ -173,11 +183,11 @@ impl EntityWithGraphics {
     pub fn update(
         &mut self,
         colliders: &ColliderSet,
-        components: &mut Query<(&mut Transform,)>,
+        components: &mut Query<&mut Transform>,
         gfx_shift: &Vector<Real>,
     ) {
         if let Some(Some(co)) = self.collider.map(|c| colliders.get(c)) {
-            if let Ok(mut pos) = components.get_component_mut::<Transform>(self.entity) {
+            if let Ok(mut pos) = components.get_mut(self.entity) {
                 let co_pos = co.position() * self.delta;
                 pos.translation.x = (co_pos.translation.vector.x + gfx_shift.x) as f32;
                 pos.translation.y = (co_pos.translation.vector.y + gfx_shift.y) as f32;
@@ -230,18 +240,14 @@ impl EntityWithGraphics {
         //
         // Cuboid mesh
         //
-        let cuboid = Mesh::from(shape::Cube { size: 2.0 });
+        let cuboid = Mesh::from(bevy::math::primitives::Cuboid::new(2.0, 2.0, 2.0));
         out.insert(ShapeType::Cuboid, meshes.add(cuboid.clone()));
         out.insert(ShapeType::RoundCuboid, meshes.add(cuboid));
 
         //
         // Ball mesh
         //
-        let ball = Mesh::try_from(shape::Icosphere {
-            subdivisions: 2,
-            radius: 1.0,
-        })
-        .unwrap();
+        let ball = Mesh::try_from(bevy::math::primitives::Sphere::new(1.0)).unwrap();
         out.insert(ShapeType::Ball, meshes.add(ball));
 
         //
@@ -309,14 +315,14 @@ fn bevy_polyline(buffers: (Vec<Point2<Real>>, Option<Vec<[u32; 2]>>)) -> Mesh {
     let normals: Vec<_> = (0..vertices.len()).map(|_| [0.0, 0.0, 1.0]).collect();
 
     // Generate the mesh
-    let mut mesh = Mesh::new(PrimitiveTopology::LineStrip);
+    let mut mesh = Mesh::new(PrimitiveTopology::LineStrip, Default::default());
     mesh.insert_attribute(
         Mesh::ATTRIBUTE_POSITION,
         VertexAttributeValues::from(vertices),
     );
     mesh.insert_attribute(Mesh::ATTRIBUTE_NORMAL, VertexAttributeValues::from(normals));
     mesh.insert_attribute(Mesh::ATTRIBUTE_UV_0, VertexAttributeValues::from(uvs));
-    mesh.set_indices(Some(Indices::U32(indices)));
+    mesh.insert_indices(Indices::U32(indices));
     mesh
 }
 
@@ -352,14 +358,14 @@ fn bevy_mesh(buffers: (Vec<Point3<Real>>, Vec<[u32; 3]>)) -> Mesh {
     let uvs: Vec<_> = (0..vertices.len()).map(|_| [0.0, 0.0]).collect();
 
     // Generate the mesh
-    let mut mesh = Mesh::new(PrimitiveTopology::TriangleList);
+    let mut mesh = Mesh::new(PrimitiveTopology::TriangleList, Default::default());
     mesh.insert_attribute(
         Mesh::ATTRIBUTE_POSITION,
         VertexAttributeValues::from(vertices),
     );
     mesh.insert_attribute(Mesh::ATTRIBUTE_NORMAL, VertexAttributeValues::from(normals));
     mesh.insert_attribute(Mesh::ATTRIBUTE_UV_0, VertexAttributeValues::from(uvs));
-    mesh.set_indices(Some(Indices::U32(indices)));
+    mesh.insert_indices(Indices::U32(indices));
     mesh
 }
 
diff --git a/src_testbed/plugin.rs b/src_testbed/plugin.rs
index 7f19aa9..42fdd17 100644
--- a/src_testbed/plugin.rs
+++ b/src_testbed/plugin.rs
@@ -14,7 +14,7 @@ pub trait TestbedPlugin {
         commands: &mut Commands,
         meshes: &mut Assets<Mesh>,
         materials: &mut Assets<BevyMaterial>,
-        components: &mut Query<(&mut Transform,)>,
+        components: &mut Query<&mut Transform>,
         harness: &mut Harness,
     );
     fn clear_graphics(&mut self, graphics: &mut GraphicsManager, commands: &mut Commands);
@@ -26,7 +26,7 @@ pub trait TestbedPlugin {
         commands: &mut Commands,
         meshes: &mut Assets<Mesh>,
         materials: &mut Assets<BevyMaterial>,
-        components: &mut Query<(&mut Transform,)>,
+        components: &mut Query<&mut Transform>,
         harness: &mut Harness,
     );
     fn update_ui(
@@ -37,7 +37,7 @@ pub trait TestbedPlugin {
         commands: &mut Commands,
         meshes: &mut Assets<Mesh>,
         materials: &mut Assets<BevyMaterial>,
-        components: &mut Query<(&mut Transform,)>,
+        components: &mut Query<&mut Transform>,
     );
     fn profiling_string(&self) -> String;
 }
diff --git a/src_testbed/testbed.rs b/src_testbed/testbed.rs
index 780e23e..7be4594 100644
--- a/src_testbed/testbed.rs
+++ b/src_testbed/testbed.rs
@@ -31,8 +31,7 @@ use crate::box2d_backend::Box2dWorld;
 use crate::harness::Harness;
 #[cfg(all(feature = "dim3", feature = "other-backends"))]
 use crate::physx_backend::PhysxWorld;
-use bevy::render::camera::Camera;
-use bevy_core_pipeline::prelude::ClearColor;
+use bevy::render::camera::{Camera, ClearColor};
 use bevy_egui::EguiContexts;
 use bevy_pbr::wireframe::WireframePlugin;
 use bevy_pbr::AmbientLight;
@@ -155,11 +154,11 @@ pub struct TestbedGraphics<'a, 'b, 'c, 'd, 'e, 'f> {
     commands: &'a mut Commands<'d, 'e>,
     meshes: &'a mut Assets<Mesh>,
     materials: &'a mut Assets<BevyMaterial>,
-    components: &'a mut Query<'b, 'f, (&'c mut Transform,)>,
+    components: &'a mut Query<'b, 'f, &'c mut Transform>,
     #[allow(dead_code)] // Dead in 2D but not in 3D.
     camera_transform: GlobalTransform,
     camera: &'a mut OrbitCamera,
-    keys: &'a Input<KeyCode>,
+    keys: &'a ButtonInput<KeyCode>,
 }
 
 pub struct Testbed<'a, 'b, 'c, 'd, 'e, 'f> {
@@ -468,7 +467,7 @@ impl<'a, 'b, 'c, 'd, 'e, 'f> TestbedGraphics<'a, 'b, 'c, 'd, 'e, 'f> {
         )
     }
 
-    pub fn keys(&self) -> &Input<KeyCode> {
+    pub fn keys(&self) -> &ButtonInput<KeyCode> {
         self.keys
     }
 }
@@ -660,7 +659,7 @@ impl<'a, 'b, 'c, 'd, 'e, 'f> Testbed<'a, 'b, 'c, 'd, 'e, 'f> {
     }
 
     #[cfg(feature = "dim3")]
-    fn update_vehicle_controller(&mut self, events: &Input<KeyCode>) {
+    fn update_vehicle_controller(&mut self, events: &ButtonInput<KeyCode>) {
         if self.state.running == RunMode::Stop {
             return;
         }
@@ -671,16 +670,16 @@ impl<'a, 'b, 'c, 'd, 'e, 'f> Testbed<'a, 'b, 'c, 'd, 'e, 'f> {
 
             for key in events.get_pressed() {
                 match *key {
-                    KeyCode::Right => {
+                    KeyCode::ArrowRight => {
                         steering_angle += -0.7;
                     }
-                    KeyCode::Left => {
+                    KeyCode::ArrowLeft => {
                         steering_angle += 0.7;
                     }
-                    KeyCode::Up => {
+                    KeyCode::ArrowUp => {
                         engine_force += 30.0;
                     }
-                    KeyCode::Down => {
+                    KeyCode::ArrowDown => {
                         engine_force += -30.0;
                     }
                     _ => {}
@@ -703,7 +702,7 @@ impl<'a, 'b, 'c, 'd, 'e, 'f> Testbed<'a, 'b, 'c, 'd, 'e, 'f> {
         }
     }
 
-    fn update_character_controller(&mut self, events: &Input<KeyCode>) {
+    fn update_character_controller(&mut self, events: &ButtonInput<KeyCode>) {
         if self.state.running == RunMode::Stop {
             return;
         }
@@ -715,10 +714,10 @@ impl<'a, 'b, 'c, 'd, 'e, 'f> Testbed<'a, 'b, 'c, 'd, 'e, 'f> {
             #[cfg(feature = "dim2")]
             for key in events.get_pressed() {
                 match *key {
-                    KeyCode::Right => {
+                    KeyCode::ArrowRight => {
                         desired_movement += Vector::x();
                     }
-                    KeyCode::Left => {
+                    KeyCode::ArrowLeft => {
                         desired_movement -= Vector::x();
                     }
                     KeyCode::Space => {
@@ -750,16 +749,16 @@ impl<'a, 'b, 'c, 'd, 'e, 'f> Testbed<'a, 'b, 'c, 'd, 'e, 'f> {
 
                 for key in events.get_pressed() {
                     match *key {
-                        KeyCode::Right => {
+                        KeyCode::ArrowRight => {
                             desired_movement += rot_x;
                         }
-                        KeyCode::Left => {
+                        KeyCode::ArrowLeft => {
                             desired_movement -= rot_x;
                         }
-                        KeyCode::Up => {
+                        KeyCode::ArrowUp => {
                             desired_movement -= rot_z;
                         }
-                        KeyCode::Down => {
+                        KeyCode::ArrowDown => {
                             desired_movement += rot_z;
                         }
                         KeyCode::Space => {
@@ -818,22 +817,22 @@ impl<'a, 'b, 'c, 'd, 'e, 'f> Testbed<'a, 'b, 'c, 'd, 'e, 'f> {
         }
     }
 
-    fn handle_common_events(&mut self, events: &Input<KeyCode>) {
+    fn handle_common_events(&mut self, events: &ButtonInput<KeyCode>) {
         for key in events.get_just_released() {
             match *key {
-                KeyCode::T => {
+                KeyCode::KeyT => {
                     if self.state.running == RunMode::Stop {
                         self.state.running = RunMode::Running;
                     } else {
                         self.state.running = RunMode::Stop;
                     }
                 }
-                KeyCode::S => self.state.running = RunMode::Step,
-                KeyCode::R => self
+                KeyCode::KeyS => self.state.running = RunMode::Step,
+                KeyCode::KeyR => self
                     .state
                     .action_flags
                     .set(TestbedActionFlags::EXAMPLE_CHANGED, true),
-                KeyCode::C => {
+                KeyCode::KeyC => {
                     // Delete 1 collider of 10% of the remaining dynamic bodies.
                     let mut colliders: Vec<_> = self
                         .harness
@@ -859,7 +858,7 @@ impl<'a, 'b, 'c, 'd, 'e, 'f> Testbed<'a, 'b, 'c, 'd, 'e, 'f> {
                         );
                     }
                 }
-                KeyCode::D => {
+                KeyCode::KeyD => {
                     // Delete 10% of the remaining dynamic bodies.
                     let dynamic_bodies: Vec<_> = self
                         .harness
@@ -884,7 +883,7 @@ impl<'a, 'b, 'c, 'd, 'e, 'f> Testbed<'a, 'b, 'c, 'd, 'e, 'f> {
                         );
                     }
                 }
-                KeyCode::J => {
+                KeyCode::KeyJ => {
                     // Delete 10% of the remaining impulse_joints.
                     let impulse_joints: Vec<_> = self
                         .harness
@@ -898,7 +897,7 @@ impl<'a, 'b, 'c, 'd, 'e, 'f> Testbed<'a, 'b, 'c, 'd, 'e, 'f> {
                         self.harness.physics.impulse_joints.remove(*to_delete, true);
                     }
                 }
-                KeyCode::A => {
+                KeyCode::KeyA => {
                     // Delete 10% of the remaining multibody_joints.
                     let multibody_joints: Vec<_> = self
                         .harness
@@ -915,7 +914,7 @@ impl<'a, 'b, 'c, 'd, 'e, 'f> Testbed<'a, 'b, 'c, 'd, 'e, 'f> {
                             .remove(*to_delete, true);
                     }
                 }
-                KeyCode::M => {
+                KeyCode::KeyM => {
                     // Delete one remaining multibody.
                     let to_delete = self
                         .harness
@@ -1013,10 +1012,14 @@ fn draw_contacts(_nf: &NarrowPhase, _colliders: &ColliderSet) {
 
 #[cfg(feature = "dim3")]
 fn setup_graphics_environment(mut commands: Commands) {
+    commands.insert_resource(AmbientLight {
+        brightness: 100.0,
+        ..Default::default()
+    });
+
     commands.spawn(DirectionalLightBundle {
         directional_light: DirectionalLight {
-            illuminance: 10000.0,
-            shadows_enabled: true,
+            shadows_enabled: false,
             ..Default::default()
         },
         transform: Transform {
@@ -1102,9 +1105,10 @@ fn update_testbed(
     #[cfg(feature = "other-backends")] mut other_backends: NonSendMut<OtherBackends>,
     mut plugins: NonSendMut<Plugins>,
     mut ui_context: EguiContexts,
-    mut gfx_components: Query<(&mut Transform,)>,
+    mut gfx_components: Query<&mut Transform>,
     mut cameras: Query<(&Camera, &GlobalTransform, &mut OrbitCamera)>,
-    keys: Res<Input<KeyCode>>,
+    mut material_handles: Query<&mut Handle<BevyMaterial>>,
+    keys: Res<ButtonInput<KeyCode>>,
 ) {
     let meshes = &mut *meshes;
     let materials = &mut *materials;
@@ -1448,7 +1452,7 @@ fn update_testbed(
     if let Ok(window) = windows.get_single() {
         for (camera, camera_pos, _) in cameras.iter_mut() {
             highlight_hovered_body(
-                &mut *materials,
+                &mut material_handles,
                 &mut graphics,
                 &mut state,
                 &harness.physics,
@@ -1502,7 +1506,7 @@ fn clear(
 
 #[cfg(feature = "dim2")]
 fn highlight_hovered_body(
-    _materials: &mut Assets<BevyMaterial>,
+    _material_handles: &mut Query<&mut Handle<BevyMaterial>>,
     _graphics_manager: &mut GraphicsManager,
     _testbed_state: &mut TestbedState,
     _physics: &PhysicsState,
@@ -1515,7 +1519,7 @@ fn highlight_hovered_body(
 
 #[cfg(feature = "dim3")]
 fn highlight_hovered_body(
-    materials: &mut Assets<BevyMaterial>,
+    material_handles: &mut Query<&mut Handle<BevyMaterial>>,
     graphics_manager: &mut GraphicsManager,
     testbed_state: &mut TestbedState,
     physics: &PhysicsState,
@@ -1526,7 +1530,9 @@ fn highlight_hovered_body(
     if let Some(highlighted_body) = testbed_state.highlighted_body {
         if let Some(nodes) = graphics_manager.body_nodes_mut(highlighted_body) {
             for node in nodes {
-                node.unselect(materials)
+                if let Ok(mut handle) = material_handles.get_mut(node.entity) {
+                    *handle = node.material.clone_weak()
+                };
             }
         }
     }
@@ -1558,8 +1564,12 @@ fn highlight_hovered_body(
 
             if let Some(parent_handle) = collider.parent() {
                 testbed_state.highlighted_body = Some(parent_handle);
+                let selection_material = graphics_manager.selection_material();
+
                 for node in graphics_manager.body_nodes_mut(parent_handle).unwrap() {
-                    node.select(materials)
+                    if let Ok(mut handle) = material_handles.get_mut(node.entity) {
+                        *handle = selection_material.clone_weak();
+                    }
                 }
             }
         }
-- 
cgit