use bevy_spatial for nearest neighbor searches
This commit is contained in:
Joe Ardent
parent
b51c75ddb8
commit
c6abd2fd8e
4 changed files with 191 additions and 143 deletions
193
Cargo.lock
generated
193
Cargo.lock
generated
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@ -322,15 +322,6 @@ version = "4.5.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "b4eb2cdb97421e01129ccb49169d8279ed21e829929144f4a22a6e54ac549ca1"
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[[package]]
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name = "atomic-polyfill"
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version = "0.1.11"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "e3ff7eb3f316534d83a8a2c3d1674ace8a5a71198eba31e2e2b597833f699b28"
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dependencies = [
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"critical-section",
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]
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[[package]]
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name = "atomic-waker"
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version = "1.1.2"
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@ -343,8 +334,8 @@ version = "0.1.0"
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dependencies = [
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"argh",
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"bevy",
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"bevy_spatial",
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"rand",
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"rstar",
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]
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[[package]]
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@ -929,6 +920,18 @@ dependencies = [
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"uuid",
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]
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[[package]]
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name = "bevy_spatial"
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version = "0.7.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "56e846c2c81c0f82e098b5b3b0b25e74b6f110e87930008ed7359a20c47d832a"
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dependencies = [
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"bevy",
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"kd-tree",
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"num-traits",
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"typenum",
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]
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[[package]]
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name = "bevy_sprite"
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version = "0.12.0"
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@ -1481,12 +1484,6 @@ dependencies = [
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"cfg-if",
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]
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[[package]]
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name = "critical-section"
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version = "1.1.2"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "7059fff8937831a9ae6f0fe4d658ffabf58f2ca96aa9dec1c889f936f705f216"
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[[package]]
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name = "crossbeam-channel"
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version = "0.5.8"
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@ -1497,6 +1494,30 @@ dependencies = [
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"crossbeam-utils",
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]
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[[package]]
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name = "crossbeam-deque"
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version = "0.8.3"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "ce6fd6f855243022dcecf8702fef0c297d4338e226845fe067f6341ad9fa0cef"
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dependencies = [
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"cfg-if",
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"crossbeam-epoch",
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"crossbeam-utils",
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]
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[[package]]
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name = "crossbeam-epoch"
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version = "0.9.15"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "ae211234986c545741a7dc064309f67ee1e5ad243d0e48335adc0484d960bcc7"
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dependencies = [
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"autocfg",
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"cfg-if",
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"crossbeam-utils",
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"memoffset",
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"scopeguard",
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]
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[[package]]
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name = "crossbeam-utils"
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version = "0.8.16"
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@ -1541,6 +1562,12 @@ version = "1.2.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "9ea835d29036a4087793836fa931b08837ad5e957da9e23886b29586fb9b6650"
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[[package]]
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name = "either"
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version = "1.9.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "a26ae43d7bcc3b814de94796a5e736d4029efb0ee900c12e2d54c993ad1a1e07"
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[[package]]
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name = "encase"
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version = "0.6.1"
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@ -1948,15 +1975,6 @@ dependencies = [
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"svg_fmt",
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]
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[[package]]
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name = "hash32"
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version = "0.2.1"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "b0c35f58762feb77d74ebe43bdbc3210f09be9fe6742234d573bacc26ed92b67"
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dependencies = [
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"byteorder",
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]
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[[package]]
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name = "hashbrown"
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version = "0.12.3"
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@ -1989,19 +2007,6 @@ dependencies = [
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"winapi",
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]
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[[package]]
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name = "heapless"
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version = "0.7.16"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "db04bc24a18b9ea980628ecf00e6c0264f3c1426dac36c00cb49b6fbad8b0743"
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dependencies = [
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"atomic-polyfill",
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"hash32",
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"rustc_version",
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"spin",
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"stable_deref_trait",
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]
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[[package]]
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name = "hexasphere"
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version = "9.1.0"
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@ -2158,6 +2163,20 @@ dependencies = [
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"wasm-bindgen",
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]
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[[package]]
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name = "kd-tree"
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version = "0.5.1"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "f54287107c30b23cf7a32e394c68b9472220a090c897d916dfdf467caef88864"
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dependencies = [
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"num-traits",
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"ordered-float",
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"paste",
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"pdqselect",
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"rayon",
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"typenum",
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]
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[[package]]
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name = "khronos-egl"
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version = "4.1.0"
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@ -2227,12 +2246,6 @@ dependencies = [
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"windows-sys 0.48.0",
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]
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[[package]]
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name = "libm"
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version = "0.2.8"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "4ec2a862134d2a7d32d7983ddcdd1c4923530833c9f2ea1a44fc5fa473989058"
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[[package]]
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name = "libredox"
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version = "0.0.2"
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@ -2303,6 +2316,15 @@ version = "2.6.4"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "f665ee40bc4a3c5590afb1e9677db74a508659dfd71e126420da8274909a0167"
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[[package]]
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name = "memoffset"
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version = "0.9.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "5a634b1c61a95585bd15607c6ab0c4e5b226e695ff2800ba0cdccddf208c406c"
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dependencies = [
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"autocfg",
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]
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[[package]]
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name = "metal"
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version = "0.26.0"
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@ -2512,7 +2534,6 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "39e3200413f237f41ab11ad6d161bc7239c84dcb631773ccd7de3dfe4b5c267c"
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dependencies = [
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"autocfg",
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"libm",
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]
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[[package]]
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@ -2658,6 +2679,15 @@ dependencies = [
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"libredox",
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]
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[[package]]
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name = "ordered-float"
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version = "3.9.2"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "f1e1c390732d15f1d48471625cd92d154e66db2c56645e29a9cd26f4699f72dc"
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dependencies = [
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"num-traits",
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]
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[[package]]
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name = "overload"
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version = "0.1.1"
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@ -2708,6 +2738,12 @@ version = "1.0.14"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "de3145af08024dea9fa9914f381a17b8fc6034dfb00f3a84013f7ff43f29ed4c"
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[[package]]
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name = "pdqselect"
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version = "0.1.1"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "7778906d9321dd56cde1d1ffa69a73e59dcf5fda6d366f62727adf2bd4193aee"
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[[package]]
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name = "peeking_take_while"
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version = "0.1.2"
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@ -2863,6 +2899,26 @@ version = "0.5.2"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "f2ff9a1f06a88b01621b7ae906ef0211290d1c8a168a15542486a8f61c0833b9"
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[[package]]
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name = "rayon"
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version = "1.8.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "9c27db03db7734835b3f53954b534c91069375ce6ccaa2e065441e07d9b6cdb1"
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dependencies = [
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"either",
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"rayon-core",
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]
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[[package]]
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name = "rayon-core"
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version = "1.12.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "5ce3fb6ad83f861aac485e76e1985cd109d9a3713802152be56c3b1f0e0658ed"
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dependencies = [
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"crossbeam-deque",
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"crossbeam-utils",
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]
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[[package]]
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name = "rectangle-pack"
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version = "0.4.2"
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@ -2965,17 +3021,6 @@ dependencies = [
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"serde_derive",
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]
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[[package]]
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name = "rstar"
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version = "0.11.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "73111312eb7a2287d229f06c00ff35b51ddee180f017ab6dec1f69d62ac098d6"
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dependencies = [
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"heapless",
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"num-traits",
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"smallvec",
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]
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[[package]]
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name = "rustc-demangle"
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version = "0.1.23"
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@ -2988,15 +3033,6 @@ version = "1.1.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "08d43f7aa6b08d49f382cde6a7982047c3426db949b1424bc4b7ec9ae12c6ce2"
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[[package]]
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name = "rustc_version"
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version = "0.4.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "bfa0f585226d2e68097d4f95d113b15b83a82e819ab25717ec0590d9584ef366"
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dependencies = [
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"semver",
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]
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[[package]]
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name = "ruzstd"
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version = "0.4.0"
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@ -3029,12 +3065,6 @@ version = "1.2.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "94143f37725109f92c262ed2cf5e59bce7498c01bcc1502d7b9afe439a4e9f49"
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[[package]]
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name = "semver"
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version = "1.0.20"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "836fa6a3e1e547f9a2c4040802ec865b5d85f4014efe00555d7090a3dcaa1090"
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[[package]]
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name = "serde"
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version = "1.0.193"
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@ -3123,15 +3153,6 @@ dependencies = [
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"serde",
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]
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[[package]]
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name = "spin"
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version = "0.9.8"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "6980e8d7511241f8acf4aebddbb1ff938df5eebe98691418c4468d0b72a96a67"
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dependencies = [
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"lock_api",
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]
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[[package]]
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name = "spirv"
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version = "0.2.0+1.5.4"
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@ -3142,12 +3163,6 @@ dependencies = [
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"num-traits",
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]
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[[package]]
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name = "stable_deref_trait"
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version = "1.2.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "a8f112729512f8e442d81f95a8a7ddf2b7c6b8a1a6f509a95864142b30cab2d3"
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[[package]]
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name = "static_assertions"
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version = "1.1.0"
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@ -3409,6 +3424,12 @@ dependencies = [
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"static_assertions",
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]
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[[package]]
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name = "typenum"
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version = "1.17.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "42ff0bf0c66b8238c6f3b578df37d0b7848e55df8577b3f74f92a69acceeb825"
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[[package]]
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name = "unicode-ident"
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version = "1.0.12"
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@ -8,5 +8,5 @@ edition = "2021"
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[dependencies]
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argh = "0.1.12"
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bevy = "0.12.0"
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bevy_spatial = "0.7.0"
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rand = "0.8.5"
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rstar = "0.11.0"
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132
src/lib.rs
132
src/lib.rs
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@ -1,8 +1,11 @@
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use argh::FromArgs;
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use bevy::prelude::*;
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use bevy::{prelude::*, utils::HashMap, utils::HashSet};
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use bevy_spatial::{kdtree::KDTree3, SpatialAccess};
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pub type NNTree = KDTree3<Toid>;
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// toid
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const SPEED: f32 = 10.0;
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const SPEED: f32 = 1.0;
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const SPEED_DIFF_RANGE: f32 = 0.08; // +/- 8%
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// how far from origin before really wanting to come back
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@ -11,10 +14,10 @@ const RADIUS: f32 = 800.0;
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// how close to try to stay to your buddies
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const BUDDY_RADIUS: f32 = 15.0;
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const MIN_ALTITUDE: f32 = 1.5;
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// how much room to try to maintain between toids
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const PERSONAL_SPACE: f32 = 1.5;
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pub type Point = [f32; 3];
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pub type Toint = rstar::primitives::GeomWithData<Point, Entity>;
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const MIN_ALTITUDE: f32 = 1.5;
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#[derive(Debug, FromArgs, Resource)]
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/// Toid Watching
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@ -24,11 +27,11 @@ pub struct Config {
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pub toids: usize,
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}
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#[derive(Resource, Deref, DerefMut, Default)]
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pub struct Index(pub rstar::RTree<Toint>);
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#[derive(Clone, Debug, Default, Deref, DerefMut, Resource)]
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pub struct Positions(pub HashMap<Entity, Vec3>);
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#[derive(Component, Debug, Clone, Deref, DerefMut, Default)]
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pub struct Buddies(Vec<Toint>);
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#[derive(Component, Debug, Clone, Default)]
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pub struct Buddies(HashSet<Entity>);
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#[derive(Component, Debug, Clone, Deref, DerefMut, Default)]
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pub struct Velocity(Vec3);
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@ -48,8 +51,11 @@ pub fn turkey_time(
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let speed = SPEED + (SPEED * speed_diff);
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let vel = unit_vec(r) * speed;
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let buddies = r.gen_range(6..=8);
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let x = r.gen_range(-5.0..=5.0);
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let z = r.gen_range(-5.0..=5.0);
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let y = r.gen_range(0.1..=2.5);
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let spatial_bundle = SpatialBundle {
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transform: Transform::from_xyz(0.0, MIN_ALTITUDE + 0.1, 0.0),
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transform: Transform::from_xyz(x, MIN_ALTITUDE + y, z),
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..Default::default()
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};
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commands
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@ -68,40 +74,11 @@ pub fn turkey_time(
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.id()
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}
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pub fn add_gizmos(mut gizmos: Gizmos, toids: Query<(&Transform, Entity), With<Toid>>) {
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let gizmos = &mut gizmos;
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for (pos, _entity) in toids.iter() {
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let nudge = pos.up() * 0.15;
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let rpos = pos.translation + nudge;
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gizmos.ray(rpos, pos.forward(), Color::RED);
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}
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}
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pub fn update_pos(
|
||||
mut toids: Query<(&mut Transform, &Velocity, Entity)>,
|
||||
time: Res<Time>,
|
||||
mut index: ResMut<Index>,
|
||||
) {
|
||||
let mut positions = Vec::with_capacity(toids.iter().len());
|
||||
|
||||
let dt = time.delta_seconds();
|
||||
for (mut xform, vel, entity) in toids.iter_mut() {
|
||||
let look_at = xform.translation + vel.0;
|
||||
xform.translation += vel.0 * dt;
|
||||
xform.look_at(look_at, Vec3::Y);
|
||||
let toint = Toint::new(xform.translation.to_array(), entity);
|
||||
positions.push(toint);
|
||||
}
|
||||
let tree = rstar::RTree::bulk_load(positions);
|
||||
**index = tree;
|
||||
}
|
||||
|
||||
pub fn update_vel(
|
||||
mut toids: Query<(&Transform, &mut Velocity, &Toid), With<Toid>>,
|
||||
time: Res<Time>,
|
||||
mut toids: Query<(&Transform, &mut Velocity, &Toid, &Buddies)>,
|
||||
positions: Res<Positions>,
|
||||
) {
|
||||
let dt = time.delta_seconds();
|
||||
for (xform, mut vel, toid) in toids.iter_mut() {
|
||||
for (xform, mut vel, toid, buddies) in toids.iter_mut() {
|
||||
let speed = toid.speed;
|
||||
let mut dir = vel.normalize();
|
||||
let pos = xform.translation;
|
||||
|
|
@ -111,29 +88,80 @@ pub fn update_vel(
|
|||
let dh = MIN_ALTITUDE - pos.y;
|
||||
let pct = (dh / MIN_ALTITUDE).min(1.0).powi(2);
|
||||
let rot = Quat::from_rotation_arc(dir, Vec3::Y);
|
||||
let (axis, ang) = rot.to_axis_angle();
|
||||
let rot = Quat::from_axis_angle(axis, ang * pct).normalize();
|
||||
dir = rot.mul_vec3(dir);
|
||||
let rot = Quat::IDENTITY.slerp(rot, pct);
|
||||
dir = rot.mul_vec3(dir).normalize();
|
||||
}
|
||||
|
||||
// nudge toward origin if too far
|
||||
{
|
||||
let dist = pos.length();
|
||||
let toward_origin = -pos.normalize();
|
||||
let forward = dir.normalize();
|
||||
let rot = Quat::from_rotation_arc(forward, toward_origin);
|
||||
let rot = Quat::from_rotation_arc(dir, toward_origin);
|
||||
let pct = (dist / RADIUS).min(1.0);
|
||||
let (axis, ang) = rot.to_axis_angle();
|
||||
let rot = Quat::from_axis_angle(axis, ang * pct).normalize();
|
||||
dir = rot.mul_vec3(dir);
|
||||
let rot = Quat::IDENTITY.slerp(rot, pct);
|
||||
dir = rot.mul_vec3(dir).normalize();
|
||||
}
|
||||
|
||||
// find buddies and orient; point more towards further-away buddies
|
||||
for buddy in buddies.0.iter() {
|
||||
let bp = positions.get(buddy).unwrap_or(&pos);
|
||||
let bdir = *bp - pos;
|
||||
let dist = bdir.length();
|
||||
let rot = Quat::from_rotation_arc(dir, bdir.normalize());
|
||||
let s = (dist / (BUDDY_RADIUS * 1.2)).min(1.0);
|
||||
let rot = Quat::IDENTITY.slerp(rot, s);
|
||||
dir = rot.mul_vec3(dir).normalize();
|
||||
}
|
||||
// find buddies and orient: point more towards further-away buddies
|
||||
|
||||
**vel = dir * speed;
|
||||
}
|
||||
}
|
||||
|
||||
pub fn update_buddies(mut toids: Query<(&Transform, Entity, &mut Buddies)>, index: Res<Index>) {}
|
||||
pub fn update_pos(
|
||||
mut toids: Query<(&mut Transform, &Velocity, Entity), With<Toid>>,
|
||||
mut positions: ResMut<Positions>,
|
||||
time: Res<Time>,
|
||||
) {
|
||||
let dt = time.delta_seconds();
|
||||
for (mut xform, vel, entity) in toids.iter_mut() {
|
||||
let look_at = xform.translation + vel.0;
|
||||
xform.translation += vel.0 * dt;
|
||||
xform.look_at(look_at, Vec3::Y);
|
||||
let _ = positions.insert(entity, xform.translation);
|
||||
}
|
||||
}
|
||||
|
||||
pub fn update_buddies(
|
||||
mut toids: Query<(&Transform, Entity, &Toid, &mut Buddies)>,
|
||||
index: Res<NNTree>,
|
||||
positions: Res<Positions>,
|
||||
) {
|
||||
let d2 = (BUDDY_RADIUS * 1.5).powi(2);
|
||||
for (xform, entity, toid, mut buddies) in toids.iter_mut() {
|
||||
let pos = xform.translation;
|
||||
|
||||
for buddy in buddies.0.clone().iter() {
|
||||
let bp = positions.get(buddy).unwrap_or(&pos);
|
||||
let bd2 = (*bp - pos).length_squared();
|
||||
if bd2 > d2 {
|
||||
buddies.0.remove(buddy);
|
||||
}
|
||||
}
|
||||
|
||||
if buddies.0.len() < toid.buddies {
|
||||
let mut neighbors = index
|
||||
.within_distance(pos, BUDDY_RADIUS)
|
||||
.into_iter()
|
||||
.filter(|n| n.1.is_some() && n.1.unwrap() != entity);
|
||||
let diff = toid.buddies - buddies.0.len();
|
||||
for _ in 0..diff {
|
||||
if let Some(neighbor) = neighbors.next() {
|
||||
buddies.0.insert(neighbor.1.unwrap());
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
//-************************************************************************
|
||||
// util
|
||||
|
|
|
|||
|
|
@ -1,6 +1,5 @@
|
|||
//use std::f32::consts::PI;
|
||||
|
||||
use bevy::prelude::*;
|
||||
use bevy_spatial::{AutomaticUpdate, TransformMode};
|
||||
|
||||
use audubon::*;
|
||||
|
||||
|
|
@ -8,14 +7,14 @@ fn main() {
|
|||
let config: audubon::Config = argh::from_env();
|
||||
App::new()
|
||||
.add_plugins(DefaultPlugins)
|
||||
.insert_resource(Index(rstar::RTree::new()))
|
||||
.add_plugins(AutomaticUpdate::<Toid>::new().with_transform(TransformMode::GlobalTransform))
|
||||
.insert_resource(config)
|
||||
.insert_resource(Positions::default())
|
||||
.add_systems(Startup, setup)
|
||||
.add_systems(
|
||||
Update,
|
||||
(
|
||||
update_vel,
|
||||
//add_gizmos,
|
||||
update_pos,
|
||||
update_buddies,
|
||||
rotate_camera,
|
||||
|
|
|
|||
Loading…
Reference in a new issue