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avoid the ground

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This commit is contained in:
Joe Ardent 2023-11-25 13:41:58 -08:00
parent 5e64325eb6
commit ed7b947f12
1 changed files with 26 additions and 8 deletions
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34
src/lib.rs
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@ -1,10 +1,14 @@
use argh::FromArgs; use argh::FromArgs;
use bevy::prelude::*; use bevy::prelude::*;
// toid
const SPEED: f32 = 1.0; const SPEED: f32 = 1.0;
const SPEED_DIFF_RANGE: f32 = 0.08; // +/- 8% const SPEED_DIFF_RANGE: f32 = 0.08; // +/- 8%
const RADIUS: f32 = 1_000.0; // how far from origin before really wanting to come back
const RADIUS: f32 = 100.0;
const MIN_ALTITUDE: f32 = 1.5;
pub type Point = [f32; 3]; pub type Point = [f32; 3];
pub type Toint = rstar::primitives::GeomWithData<Point, Entity>; pub type Toint = rstar::primitives::GeomWithData<Point, Entity>;
@ -20,11 +24,8 @@ pub struct Config {
#[derive(Resource, Deref, DerefMut, Default)] #[derive(Resource, Deref, DerefMut, Default)]
pub struct Index(pub rstar::RTree<Toint>); pub struct Index(pub rstar::RTree<Toint>);
#[derive(Resource, Deref, DerefMut, Default)]
pub struct Positions(pub std::collections::HashMap<Entity, Vec3>);
#[derive(Component, Debug, Clone, Deref, DerefMut, Default)] #[derive(Component, Debug, Clone, Deref, DerefMut, Default)]
pub struct Buddies(Vec<Entity>); pub struct Buddies(Vec<Toint>);
#[derive(Component, Debug, Clone, Deref, DerefMut, Default)] #[derive(Component, Debug, Clone, Deref, DerefMut, Default)]
pub struct Velocity(Vec3); pub struct Velocity(Vec3);
@ -72,14 +73,20 @@ pub fn add_gizmos(mut gizmos: Gizmos, toids: Query<(&Transform, Entity), With<To
pub fn update_pos( pub fn update_pos(
mut toids: Query<(&mut Transform, &Velocity, Entity)>, mut toids: Query<(&mut Transform, &Velocity, Entity)>,
time: Res<Time>, time: Res<Time>,
mut index: Res<Index>, mut index: ResMut<Index>,
) { ) {
let mut positions = Vec::with_capacity(toids.iter().len());
let dt = time.delta_seconds(); let dt = time.delta_seconds();
for (mut xform, vel, _entity) in toids.iter_mut() { for (mut xform, vel, entity) in toids.iter_mut() {
xform.translation += vel.0 * dt;
let look_at = xform.translation + vel.0; let look_at = xform.translation + vel.0;
xform.translation += vel.0 * dt;
xform.look_at(look_at, Vec3::Y); 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( pub fn update_vel(
@ -90,12 +97,23 @@ pub fn update_vel(
for (xform, mut vel, toid) in toids.iter_mut() { for (xform, mut vel, toid) in toids.iter_mut() {
let speed = toid.speed; let speed = toid.speed;
let mut dir = xform.forward(); let mut dir = xform.forward();
let pos = xform.translation;
// nudge up if too low // nudge up if too low
if pos.y < MIN_ALTITUDE {
let dh = MIN_ALTITUDE - pos.y;
let pct = (dh / MIN_ALTITUDE).min(1.0);
let up = Quat::from_rotation_arc(dir, Vec3::Y);
let rot = xform.rotation.slerp(up, pct);
dir = rot.mul_vec3(dir);
}
// nudge toward origin if too far // nudge toward origin if too far
let dist = pos.length();
// find buddies and orient: point more towards further-away buddies // find buddies and orient: point more towards further-away buddies
**vel = dir * speed;
} }
} }