.rustfmt.toml

@@ -1,4 +0,0 @@
-imports_granularity = "Crate"
-group_imports = "StdExternalCrate"
-wrap_comments = true
-edition = "2021"

Cargo.toml

@@ -6,7 +6,7 @@ edition = "2021"
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 
 [dependencies]
-argh = "0.1"
-bevy = "0.15.0-rc.3"
-bevy_spatial = { git = "https://github.com/laundmo/bevy-spatial.git", rev = "9ac313ac6173b440f50954b696dc2063513b4f37" } #"0.10.0"
-rand = "0.8"
+argh = "0.1.12"
+bevy = "0.12.0"
+rand = "0.8.5"
+rstar = "0.11.0"

src/lib.rs

@@ -1,39 +1,31 @@
 use argh::FromArgs;
-use bevy::{
-    prelude::*,
-    tasks::ParallelIterator,
-    utils::{HashMap, HashSet},
-};
-use bevy_spatial::{kdtree::KDTree3, SpatialAccess};
+use bevy::prelude::*;
 
-pub type NNTree = KDTree3<Toid>;
-
-// toid stuff
-const SPEED: f32 = 15.0;
-const SPEED_DIFF_RANGE: f32 = 0.1; // +/- 10%
-const MAX_DELTA_V: f32 = std::f32::consts::PI * 2.0; // basically 360 degrees/sec
+// toid
+const SPEED: f32 = 1.0;
+const SPEED_DIFF_RANGE: f32 = 0.08; // +/- 8%
 
 // how far from origin before really wanting to come back
-const RADIUS: f32 = 50.0;
+const RADIUS: f32 = 100.0;
 
-// how close to try to stay to your buddies
-const BUDDY_RADIUS: f32 = SPEED;
+const MIN_ALTITUDE: f32 = 1.5;
 
-const MIN_ALTITUDE: f32 = 13.5;
+pub type Point = [f32; 3];
+pub type Toint = rstar::primitives::GeomWithData<Point, Entity>;
 
 #[derive(Debug, FromArgs, Resource)]
 /// Toid Watching
 pub struct Config {
     /// how many Toids to spawn
-    #[argh(option, short = 't', default = "5_000")]
+    #[argh(option, short = 't', default = "100")]
     pub toids: usize,
 }
 
-#[derive(Clone, Debug, Default, Deref, DerefMut, Resource)]
-pub struct Positions(pub HashMap<Entity, Vec3>);
+#[derive(Resource, Deref, DerefMut, Default)]
+pub struct Index(pub rstar::RTree<Toint>);
 
-#[derive(Component, Debug, Deref, DerefMut, Clone, Default)]
-pub struct Buddies(HashSet<Entity>);
+#[derive(Component, Debug, Clone, Deref, DerefMut, Default)]
+pub struct Buddies(Vec<Toint>);
 
 #[derive(Component, Debug, Clone, Deref, DerefMut, Default)]
 pub struct Velocity(Vec3);
@@ -44,12 +36,6 @@ pub struct Toid {
     pub buddies: usize,
 }
 
-#[derive(Resource, Debug, Deref, DerefMut, Clone, Default)]
-pub struct Paused(bool);
-
-#[derive(Debug, Default, Clone, Copy, Deref, DerefMut, Resource)]
-pub struct LookAt(Vec3);
-
 pub fn turkey_time(
     commands: &mut Commands,
     scene: &Handle<Scene>,
@@ -59,207 +45,79 @@ pub fn turkey_time(
     let speed = SPEED + (SPEED * speed_diff);
     let vel = unit_vec(r) * speed;
     let buddies = r.gen_range(6..=8);
-    let x = r.gen_range(-10.0..=10.0);
-    let z = r.gen_range(-10.0..=10.0);
-    let y = r.gen_range(0.1..=5.5);
-    let pos = Vec3::new(x, MIN_ALTITUDE + y, z);
-    let xform = Transform::from_translation(pos);
-    let spatial_bundle = (xform, Visibility::Visible);
     commands
-        .spawn(spatial_bundle)
+        .spawn(SpatialBundle::default())
         .insert((Velocity(vel), Buddies::default(), Toid { speed, buddies }))
         .with_children(|t| {
-            t.spawn(SceneRoot(scene.to_owned()))
-                .insert(Transform::default());
+            t.spawn(SceneBundle {
+                scene: scene.to_owned(),
+                ..Default::default()
+            })
+            .insert(Transform::from_rotation(Quat::from_axis_angle(
+                Vec3::Y,
+                -std::f32::consts::FRAC_PI_2,
+            )));
         })
         .id()
 }
 
-pub fn update_vel(
-    mut toids: Query<(&Transform, &mut Velocity, &Toid, &Buddies, Entity)>,
-    time: Res<Time>,
-    positions: Res<Positions>,
-    index: Res<NNTree>,
-    paused: Res<Paused>,
-) {
-    if **paused {
-        return;
+pub fn add_gizmos(mut gizmos: Gizmos, toids: Query<(&Transform, Entity), With<Toid>>) {
+    let gizmos = &mut gizmos;
+    for (pos, _entity) in toids.iter() {
+        let nudge = pos.up() * 0.15;
+        let rpos = pos.translation + nudge;
+        gizmos.ray(rpos, pos.forward(), Color::RED);
     }
-
-    let dt = time.delta_secs();
-    let max_delta = MAX_DELTA_V * dt;
-    toids
-        .par_iter_mut()
-        .for_each(|(xform, mut vel, toid, buddies, entity)| {
-            let speed = toid.speed;
-            let mut dir = vel.normalize();
-            let pos = xform.translation;
-            let original_dir = dir;
-
-            // find buddies and orient; point more towards further-away buddies
-            for buddy in buddies.iter() {
-                let bp = positions.get(buddy).unwrap();
-                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();
-            }
-
-            // avoid flying into neighbors
-            let min_dist = speed * 20.0;
-            for neighbor in index
-                .within_distance(pos, min_dist)
-                .iter()
-                .filter(|n| n.1.is_some() && n.1.unwrap() != entity)
-            {
-                let bp = neighbor.0;
-                let bdir = pos - bp;
-                let dist = bdir.length();
-                let s = 1.0 - (dist / min_dist).min(1.0);
-                let rot = Quat::from_rotation_arc(dir, bdir.normalize());
-                let rot = Quat::IDENTITY.slerp(rot, s);
-                dir = rot.mul_vec3(dir).normalize();
-            }
-
-            // nudge toward origin if too far
-            {
-                let dist = pos.length();
-                let toward_origin = -pos.normalize();
-                let s = (dist / RADIUS).min(1.0);
-                let rot = Quat::from_rotation_arc(dir, toward_origin);
-                let rot = Quat::IDENTITY.slerp(rot, s);
-                dir = rot.mul_vec3(dir).normalize();
-            }
-
-            // nudge up if too low
-            if pos.y < MIN_ALTITUDE {
-                let dh = MIN_ALTITUDE - pos.y;
-                let s = (dh / MIN_ALTITUDE).min(1.0);
-                let rot = Quat::from_rotation_arc(dir, Vec3::Y);
-                let rot = Quat::IDENTITY.slerp(rot, s);
-                dir = rot.mul_vec3(dir).normalize();
-            }
-
-            // make sure velocity doesn't change too suddenly
-            let delta = dir.dot(original_dir).acos();
-            if delta > max_delta {
-                let s = max_delta / delta;
-                let rot = Quat::from_rotation_arc(original_dir, dir);
-                let rot = Quat::IDENTITY.slerp(rot, s);
-                dir = rot.mul_vec3(original_dir).normalize();
-            }
-
-            **vel = dir * speed;
-        });
 }
 
 pub fn update_pos(
-    mut toids: Query<(&mut Transform, &Velocity, Entity), With<Toid>>,
-    mut positions: ResMut<Positions>,
-    mut lookat: ResMut<LookAt>,
+    mut toids: Query<(&mut Transform, &Velocity, Entity)>,
     time: Res<Time>,
-    paused: Res<Paused>,
+    mut index: ResMut<Index>,
 ) {
-    if **paused {
-        return;
-    }
+    let mut positions = Vec::with_capacity(toids.iter().len());
 
-    let mut new_look = Vec3::ZERO;
-    let dt = time.delta_secs();
+    let dt = time.delta_seconds();
     for (mut xform, vel, entity) in toids.iter_mut() {
-        xform.translation += **vel * dt;
-        let look_at = vel.normalize();
-        xform.look_to(look_at, Vec3::Y);
-        *positions.entry(entity).or_insert(Vec3::ZERO) = xform.translation;
-        new_look += xform.translation;
+        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);
     }
-    **lookat = new_look / positions.len() as f32;
+    let tree = rstar::RTree::bulk_load(positions);
+    **index = tree;
 }
 
-pub fn update_buddies(
-    mut toids: Query<(&Transform, Entity, &Toid, &mut Buddies)>,
-    index: Res<NNTree>,
-    positions: Res<Positions>,
+pub fn update_vel(
+    mut toids: Query<(&Transform, &mut Velocity, &Toid), With<Toid>>,
+    time: Res<Time>,
 ) {
-    let d2 = (BUDDY_RADIUS * 1.5).powi(2);
-    for (xform, entity, toid, mut buddies) in toids.iter_mut() {
+    let dt = time.delta_seconds();
+    for (xform, mut vel, toid) in toids.iter_mut() {
+        let speed = toid.speed;
+        let mut dir = xform.forward();
         let pos = xform.translation;
-        for buddy in buddies.clone().iter() {
-            let bp = positions.get(buddy).unwrap();
-            let bd2 = (*bp - pos).length_squared();
-            if bd2 > d2 {
-                buddies.remove(buddy);
-            }
+
+        // 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);
         }
 
-        if buddies.len() < toid.buddies {
-            let diff = toid.buddies - buddies.len();
-            for (_, neighbor) in index
-                .k_nearest_neighbour(pos, diff + 1)
-                .into_iter()
-                .filter(|n| n.1.is_some() && n.1.unwrap() != entity)
-            {
-                buddies.insert(neighbor.unwrap());
-            }
-        }
+        // nudge toward origin if too far
+        let dist = pos.length();
+
+        // find buddies and orient: point more towards further-away buddies
+
+        **vel = dir * speed;
     }
 }
 
-pub fn update_gizmos(toids: Query<&Transform, With<Toid>>, mut gizmos: Gizmos) {
-    for toid in toids.iter() {
-        let pos = toid.translation;
-        //dbg!(toid);
-        let up = toid.up().as_vec3();
-        let forward = toid.forward().as_vec3();
-        let right = toid.right().as_vec3();
-        gizmos.ray(pos, pos + forward, Color::srgb_u8(255, 0, 0));
-        gizmos.ray(pos, pos + up, Color::srgb_u8(0, 0, 255));
-        gizmos.ray(pos, pos + right, Color::srgb_u8(0, 255, 0));
-    }
-}
-
-pub fn rotate_camera(
-    mut query: Query<&mut Transform, With<Camera>>,
-    mut paused: ResMut<Paused>,
-    keys: Res<ButtonInput<KeyCode>>,
-    lookat: Res<LookAt>,
-) {
-    let mut xform = query.single_mut();
-
-    let forward = xform.forward() * 0.7;
-    let right = xform.right().as_vec3();
-
-    if keys.just_pressed(KeyCode::Space) {
-        let pause = **paused;
-        **paused = !pause;
-    }
-
-    if keys.pressed(KeyCode::ArrowRight) {
-        xform.translation += right;
-    }
-    if keys.pressed(KeyCode::ArrowLeft) {
-        xform.translation -= right;
-    }
-
-    if keys.pressed(KeyCode::ArrowUp) {
-        if keys.pressed(KeyCode::ShiftLeft) || keys.pressed(KeyCode::ShiftRight) {
-            xform.translation += Vec3::Y;
-        } else {
-            xform.translation += forward;
-        }
-    }
-    if keys.pressed(KeyCode::ArrowDown) {
-        if keys.pressed(KeyCode::ShiftLeft) || keys.pressed(KeyCode::ShiftRight) {
-            xform.translation -= Vec3::Y;
-        } else {
-            xform.translation -= forward;
-        }
-    }
-
-    xform.look_at(**lookat, Vec3::Y);
-}
+pub fn update_buddies(mut toids: Query<(&Transform, Entity, &mut Buddies)>, index: Res<Index>) {}
 
 //-************************************************************************
 // util
@@ -268,7 +126,7 @@ pub fn rotate_camera(
 pub fn unit_vec(r: &mut impl rand::Rng) -> Vec3 {
     let mut x1: f32 = 0.0;
     let mut x2: f32 = 0.0;
-    let mut ssum = f32::MAX;
+    let mut ssum = std::f32::MAX;
     while ssum >= 1.0 {
         x1 = r.gen_range(-1.0..=1.0);
         x2 = r.gen_range(-1.0..=1.0);

src/main.rs

@@ -1,36 +1,29 @@
-use std::time::Duration;
+//use std::f32::consts::PI;
+
+use bevy::prelude::*;
 
 use audubon::*;
-use bevy::{
-    diagnostic::{FrameTimeDiagnosticsPlugin, LogDiagnosticsPlugin},
-    prelude::*,
-};
-use bevy_spatial::{AutomaticUpdate, TransformMode};
 
 fn main() {
     let config: audubon::Config = argh::from_env();
     App::new()
         .add_plugins(DefaultPlugins)
-        .add_plugins((
-            AutomaticUpdate::<Toid>::new()
-                .with_transform(TransformMode::GlobalTransform)
-                .with_frequency(Duration::from_millis(150)),
-            FrameTimeDiagnosticsPlugin,
-            LogDiagnosticsPlugin::default(),
-        ))
+        .insert_resource(Index(rstar::RTree::new()))
         .insert_resource(config)
-        .insert_resource(Positions::default())
-        .insert_resource(ClearColor(Color::srgb(0.64, 0.745, 0.937))) // a nice light blue
-        .insert_resource(AmbientLight {
-            color: Color::WHITE,
-            brightness: 1.0,
-        })
-        .insert_resource(LookAt::default())
-        .insert_resource(Paused::default())
-        .add_systems(Startup, (setup, setup_ambient_light))
-        //.add_systems(Update, update_gizmos)
-        .add_systems(Update, (update_pos, update_buddies, update_vel))
-        .add_systems(Update, (rotate_camera, close_on_esc))
+        .add_systems(Startup, setup)
+        .add_systems(
+            Update,
+            (
+                update_vel,
+                add_gizmos,
+                update_pos,
+                update_buddies,
+                rotate_camera,
+                update_config,
+                bevy::window::close_on_esc,
+            )
+                .chain(),
+        )
         .run();
 }
 
@@ -42,61 +35,76 @@ fn setup(
     models: Res<AssetServer>,
 ) {
     let rand = &mut rand::thread_rng();
-    let cam = Camera3d::default();
 
-    let camera = commands
-        .spawn((
-            Transform::from_xyz(0., 5.0, 25.).looking_at(Vec3::new(0.0, 5.0, 0.0), Vec3::Y),
-            cam,
-            Visibility::Hidden,
-        ))
-        .id();
+    commands.spawn(Camera3dBundle {
+        transform: Transform::from_xyz(0., 3.5, 10.).looking_at(Vec3::ZERO, Vec3::Y),
+        ..default()
+    });
     // plane
-    commands
-        .spawn(Mesh3d(
-            meshes.add(Mesh::from(Plane3d::default().mesh().size(500.0, 500.0))),
-        ))
-        .insert(MeshMaterial3d(materials.add(Color::srgb(0.3, 1.0, 0.3))));
+    commands.spawn(PbrBundle {
+        mesh: meshes.add(Mesh::from(shape::Plane::from_size(50.0))),
+        material: materials.add(Color::rgb(0.3, 0.5, 0.3).into()),
+        ..default()
+    });
 
-    let toid_model = models.load("models/toid3.glb#Scene0");
+    let toid_model = models.load("models/boid.glb#Scene0");
 
     for _ in 0..config.toids {
         let _ = turkey_time(&mut commands, &toid_model, rand);
     }
 
-    // instructions
-    commands.spawn((
-        Text::new(
-            "Up and down for camera forward and back; hold shift to change height.\nLeft or right to move left or right.\nPress 'ESC' to quit."), TextFont {
-        font_size: 20.0,
-        ..Default::default()
+    // light
+    commands.spawn(PointLightBundle {
+        point_light: PointLight {
+            intensity: 1500.0,
+            shadows_enabled: true,
+            ..default()
         },
-        Node {
-            position_type: PositionType::Absolute,
-                top: Val::Px(12.0),
-                left: Val::Px(12.0),
+        transform: Transform::from_xyz(4.0, 8.0, 4.0),
+        ..default()
+    });
+
+    // example instructions
+    commands.spawn(
+        TextBundle::from_section(
+            "Press 'D' to toggle drawing gizmos on top of everything else in the scene\n\
+            Press 'P' to toggle perspective for line gizmos\n\
+            Hold 'Left' or 'Right' to change the line width",
+            TextStyle {
+                font_size: 20.,
                 ..default()
-        },
-        TargetCamera(camera),
-        TextColor::WHITE));
+            },
+        )
+        .with_style(Style {
+            position_type: PositionType::Absolute,
+            top: Val::Px(12.0),
+            left: Val::Px(12.0),
+            ..default()
+        }),
+    );
 }
 
-fn close_on_esc(
-    mut commands: Commands,
-    focused_windows: Query<(Entity, &Window)>,
-    input: Res<ButtonInput<KeyCode>>,
-) {
-    for (window, focus) in focused_windows.iter() {
-        if !focus.focused {
-            continue;
-        }
+fn rotate_camera(mut query: Query<&mut Transform, With<Camera>>, time: Res<Time>) {
+    let mut transform = query.single_mut();
 
-        if input.just_pressed(KeyCode::Escape) {
-            commands.entity(window).despawn();
-        }
+    transform.rotate_around(Vec3::ZERO, Quat::from_rotation_y(time.delta_seconds() / 2.));
+}
+
+fn update_config(mut config: ResMut<GizmoConfig>, keyboard: Res<Input<KeyCode>>, time: Res<Time>) {
+    if keyboard.just_pressed(KeyCode::D) {
+        config.depth_bias = if config.depth_bias == 0. { -1. } else { 0. };
+    }
+    if keyboard.just_pressed(KeyCode::P) {
+        // Toggle line_perspective
+        config.line_perspective ^= true;
+        // Increase the line width when line_perspective is on
+        config.line_width *= if config.line_perspective { 5. } else { 1. / 5. };
+    }
+
+    if keyboard.pressed(KeyCode::Right) {
+        config.line_width += 5. * time.delta_seconds();
+    }
+    if keyboard.pressed(KeyCode::Left) {
+        config.line_width -= 5. * time.delta_seconds();
     }
 }
-
-fn setup_ambient_light(mut ambient_light: ResMut<AmbientLight>) {
-    ambient_light.brightness = 100.0;
-}