Improve scheduling and system sets #68
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- `PhysicsSet` now has high level system sets that are useful for users, while `PhysicsStepSet` has the actual physics steps like the broad phase and substepping loop - Moved `SubstepSet` configuration from `SolverPlugin` to `PhysicsSetupPlugin` - Moved AABB updates from prepare to broad phase - Changed some queries to be less prone to conflicts
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Depends on #66.
This PR simplifies and improves the user-facing API for schedules and system sets, and fixes a couple scheduling problems.
The biggest change is that
PhysicsSetnow only has three sets,Prepare,StepSimulationandSync, and the others are inPhysicsStepSet.PhysicsSetreplacesFixedUpdateSetand runs in the schedule provided by the user (defaults toPostUpdate). This hides the implementation details of the actual simulation loop and makes it easier to schedule systems before/after physics.I also removed most of the physics schedules and system sets (and the math module) from the prelude to make it clearer that they usually don't need to be used directly.