replace spart with rstar, much better

Cargo.lock

@@ -103,6 +103,15 @@ dependencies = [
  "memchr",
 ]
 
+[[package]]
+name = "alloca"
+version = "0.4.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e5a7d05ea6aea7e9e64d25b9156ba2fee3fdd659e34e41063cd2fc7cd020d7f4"
+dependencies = [
+ "cc",
+]
+
 [[package]]
 name = "allocator-api2"
 version = "0.2.21"
@@ -173,6 +182,18 @@ dependencies = [
  "libc",
 ]
 
+[[package]]
+name = "anes"
+version = "0.1.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "4b46cbb362ab8752921c97e041f5e366ee6297bd428a31275b9fcf1e380f7299"
+
+[[package]]
+name = "anstyle"
+version = "1.0.13"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "5192cca8006f1fd4f7237516f40fa183bb07f8fbdfedaa0036de5ea9b0b45e78"
+
 [[package]]
 name = "anymap3"
 version = "1.0.1"
@@ -334,12 +355,15 @@ name = "autobats"
 version = "0.1.0"
 dependencies = [
  "bevy",
+ "criterion",
  "dirs",
  "include_dir",
  "ordered-float",
+ "rand",
+ "rand_hc",
+ "rstar",
  "rusqlite",
  "rusqlite_migration",
- "spart",
  "steel-core",
 ]
 
@@ -1365,7 +1389,7 @@ dependencies = [
  "crossbeam-queue",
  "derive_more",
  "futures-lite",
- "heapless",
+ "heapless 0.9.2",
  "pin-project",
 ]
 
@@ -1767,6 +1791,12 @@ dependencies = [
  "wayland-client",
 ]
 
+[[package]]
+name = "cast"
+version = "0.3.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "37b2a672a2cb129a2e41c10b1224bb368f9f37a2b16b612598138befd7b37eb5"
+
 [[package]]
 name = "castaway"
 version = "0.2.4"
@@ -1826,6 +1856,33 @@ dependencies = [
  "windows-link 0.2.1",
 ]
 
+[[package]]
+name = "ciborium"
+version = "0.2.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "42e69ffd6f0917f5c029256a24d0161db17cea3997d185db0d35926308770f0e"
+dependencies = [
+ "ciborium-io",
+ "ciborium-ll",
+ "serde",
+]
+
+[[package]]
+name = "ciborium-io"
+version = "0.2.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "05afea1e0a06c9be33d539b876f1ce3692f4afea2cb41f740e7743225ed1c757"
+
+[[package]]
+name = "ciborium-ll"
+version = "0.2.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "57663b653d948a338bfb3eeba9bb2fd5fcfaecb9e199e87e1eda4d9e8b240fd9"
+dependencies = [
+ "ciborium-io",
+ "half",
+]
+
 [[package]]
 name = "clang-sys"
 version = "1.8.1"
@@ -1837,6 +1894,31 @@ dependencies = [
  "libloading",
 ]
 
+[[package]]
+name = "clap"
+version = "4.5.54"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c6e6ff9dcd79cff5cd969a17a545d79e84ab086e444102a591e288a8aa3ce394"
+dependencies = [
+ "clap_builder",
+]
+
+[[package]]
+name = "clap_builder"
+version = "4.5.54"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "fa42cf4d2b7a41bc8f663a7cab4031ebafa1bf3875705bfaf8466dc60ab52c00"
+dependencies = [
+ "anstyle",
+ "clap_lex",
+]
+
+[[package]]
+name = "clap_lex"
+version = "0.7.7"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c3e64b0cc0439b12df2fa678eae89a1c56a529fd067a9115f7827f1fffd22b32"
+
 [[package]]
 name = "codegen"
 version = "0.2.0"
@@ -2112,6 +2194,40 @@ dependencies = [
  "cfg-if",
 ]
 
+[[package]]
+name = "criterion"
+version = "0.8.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "4d883447757bb0ee46f233e9dc22eb84d93a9508c9b868687b274fc431d886bf"
+dependencies = [
+ "alloca",
+ "anes",
+ "cast",
+ "ciborium",
+ "clap",
+ "criterion-plot",
+ "itertools 0.13.0",
+ "num-traits",
+ "oorandom",
+ "page_size",
+ "rayon",
+ "regex",
+ "serde",
+ "serde_json",
+ "tinytemplate",
+ "walkdir",
+]
+
+[[package]]
+name = "criterion-plot"
+version = "0.8.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ed943f81ea2faa8dcecbbfa50164acf95d555afec96a27871663b300e387b2e4"
+dependencies = [
+ "cast",
+ "itertools 0.13.0",
+]
+
 [[package]]
 name = "critical-section"
 version = "1.2.0"
@@ -2127,6 +2243,25 @@ dependencies = [
  "crossbeam-utils",
 ]
 
+[[package]]
+name = "crossbeam-deque"
+version = "0.8.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9dd111b7b7f7d55b72c0a6ae361660ee5853c9af73f70c3c2ef6858b950e2e51"
+dependencies = [
+ "crossbeam-epoch",
+ "crossbeam-utils",
+]
+
+[[package]]
+name = "crossbeam-epoch"
+version = "0.9.18"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "5b82ac4a3c2ca9c3460964f020e1402edd5753411d7737aa39c3714ad1b5420e"
+dependencies = [
+ "crossbeam-utils",
+]
+
 [[package]]
 name = "crossbeam-queue"
 version = "0.3.12"
@@ -2917,6 +3052,16 @@ dependencies = [
  "hashbrown 0.15.5",
 ]
 
+[[package]]
+name = "heapless"
+version = "0.8.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0bfb9eb618601c89945a70e254898da93b13be0388091d42117462b265bb3fad"
+dependencies = [
+ "hash32",
+ "stable_deref_trait",
+]
+
 [[package]]
 name = "heapless"
 version = "0.9.2"
@@ -4010,6 +4155,12 @@ version = "1.21.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "42f5e15c9953c5e4ccceeb2e7382a716482c34515315f7b03532b8b4e8393d2d"
 
+[[package]]
+name = "oorandom"
+version = "11.1.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d6790f58c7ff633d8771f42965289203411a5e5c68388703c06e14f24770b41e"
+
 [[package]]
 name = "option-ext"
 version = "0.2.0"
@@ -4044,6 +4195,16 @@ dependencies = [
  "ttf-parser",
 ]
 
+[[package]]
+name = "page_size"
+version = "0.6.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "30d5b2194ed13191c1999ae0704b7839fb18384fa22e49b57eeaa97d79ce40da"
+dependencies = [
+ "libc",
+ "winapi",
+]
+
 [[package]]
 name = "parking"
 version = "2.2.1"
@@ -4343,6 +4504,15 @@ dependencies = [
  "rand",
 ]
 
+[[package]]
+name = "rand_hc"
+version = "0.4.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "54fc7b35e3026136eaf1decdc66ecde3efadfd663cc0d71115ad40da7ebcff63"
+dependencies = [
+ "rand_core 0.9.5",
+]
+
 [[package]]
 name = "rand_xoshiro"
 version = "0.6.0"
@@ -4370,6 +4540,26 @@ version = "0.6.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "20675572f6f24e9e76ef639bc5552774ed45f1c30e2951e1e99c59888861c539"
 
+[[package]]
+name = "rayon"
+version = "1.11.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "368f01d005bf8fd9b1206fb6fa653e6c4a81ceb1466406b81792d87c5677a58f"
+dependencies = [
+ "either",
+ "rayon-core",
+]
+
+[[package]]
+name = "rayon-core"
+version = "1.13.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "22e18b0f0062d30d4230b2e85ff77fdfe4326feb054b9783a3460d8435c8ab91"
+dependencies = [
+ "crossbeam-deque",
+ "crossbeam-utils",
+]
+
 [[package]]
 name = "read-fonts"
 version = "0.35.0"
@@ -4500,6 +4690,17 @@ version = "0.20.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "6c20b6793b5c2fa6553b250154b78d6d0db37e72700ae35fad9387a46f487c97"
 
+[[package]]
+name = "rstar"
+version = "0.12.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "421400d13ccfd26dfa5858199c30a5d76f9c54e0dba7575273025b43c5175dbb"
+dependencies = [
+ "heapless 0.8.0",
+ "num-traits",
+ "smallvec",
+]
+
 [[package]]
 name = "rusqlite"
 version = "0.37.0"
@@ -4795,16 +4996,6 @@ dependencies = [
  "serde",
 ]
 
-[[package]]
-name = "spart"
-version = "0.5.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7a05d85e94c16e35b2f963dee2eaa6f6b2494ee5dad740b045b139c5614872d6"
-dependencies = [
- "ordered-float",
- "tracing",
-]
-
 [[package]]
 name = "spin"
 version = "0.10.0"
@@ -5120,6 +5311,16 @@ dependencies = [
  "zerovec",
 ]
 
+[[package]]
+name = "tinytemplate"
+version = "1.2.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "be4d6b5f19ff7664e8c98d03e2139cb510db9b0a60b55f8e8709b689d939b6bc"
+dependencies = [
+ "serde",
+ "serde_json",
+]
+
 [[package]]
 name = "tinyvec"
 version = "1.10.0"

Cargo.toml

@@ -5,12 +5,13 @@ edition = "2024"
 
 [dependencies]
 bevy = { version = "0.18", default-features = false, features = ["2d"] }
+criterion = { version = "0.8.1", default-features = false, features = ["cargo_bench_support", "rayon"] }
 dirs = "6.0.0"
 include_dir = "0.7.4"
 ordered-float = "5.1.0"
+rstar = "0.12.2"
 rusqlite = { version = "0.37", default-features = false, features = ["bundled", "blob", "functions", "jiff"] }
 rusqlite_migration = { version = "2.3.0", features = ["from-directory"] }
-spart = "0.5.0"
 steel-core = { git="https://github.com/mattwparas/steel.git", branch = "master" }
 
 # Enable a small amount of optimization in the dev profile.
@@ -20,3 +21,11 @@ opt-level = 1
 # Enable a large amount of optimization in the dev profile for dependencies.
 [profile.dev.package."*"]
 opt-level = 3
+
+[dev-dependencies]
+rand = "0.9.2"
+rand_hc = "0.4.0"
+
+[[bench]]
+name = "benchmarks"
+harness = false

benches/benchmarks.rs

@@ -0,0 +1,102 @@
+use rand::{Rng, SeedableRng};
+use rand_hc::Hc128Rng;
+
+use autobats::geom::Point;
+use criterion::{criterion_group, criterion_main, Criterion};
+use rstar::{RStarInsertionStrategy, RTree, RTreeParams};
+
+const SEED_1: &[u8; 32] = b"Gv0aHMtHkBGsUXNspGU9fLRuCWkZWHZx";
+const SEED_2: &[u8; 32] = b"km7DO4GeaFZfTcDXVpnO7ZJlgUY7hZiS";
+
+struct Params;
+
+impl RTreeParams for Params {
+    const MIN_SIZE: usize = 2;
+    const MAX_SIZE: usize = 30;
+    const REINSERTION_COUNT: usize = 1;
+    type DefaultInsertionStrategy = RStarInsertionStrategy;
+}
+
+const DEFAULT_BENCHMARK_TREE_SIZE: usize = 50_000;
+
+fn bulk_load_baseline(c: &mut Criterion) {
+    c.bench_function("bulk load baseline", move |b| {
+        let points: Vec<_> = create_random_points(DEFAULT_BENCHMARK_TREE_SIZE, SEED_1);
+
+        b.iter(|| {
+            RTree::<_, Params>::bulk_load_with_params(points.clone());
+        });
+    });
+}
+
+fn bulk_load_comparison(c: &mut Criterion) {
+    c.bench_function("insert sequential", |b| {
+        let points: Vec<_> = create_random_points(DEFAULT_BENCHMARK_TREE_SIZE, SEED_1);
+        b.iter(move || {
+            let mut rtree = rstar::RTree::new();
+            for point in &points {
+                rtree.insert(*point);
+            }
+        });
+    });
+}
+
+fn tree_creation_quality(c: &mut Criterion) {
+    const SIZE: usize = 100_000;
+    let points: Vec<_> = create_random_points(SIZE, SEED_1);
+    let tree_bulk_loaded = RTree::<_, Params>::bulk_load_with_params(points.clone());
+    let mut tree_sequential = RTree::new();
+    for point in &points {
+        tree_sequential.insert(*point);
+    }
+
+    let query_points = create_random_points(100_000, SEED_2);
+    let query_points_cloned_1 = query_points.clone();
+    c.bench_function("bulk load quality", move |b| {
+        b.iter(|| {
+            for query_point in &query_points {
+                tree_bulk_loaded.nearest_neighbor(query_point).unwrap();
+            }
+        })
+    })
+    .bench_function("sequential load quality", move |b| {
+        b.iter(|| {
+            for query_point in &query_points_cloned_1 {
+                tree_sequential.nearest_neighbor(query_point).unwrap();
+            }
+        });
+    });
+}
+
+fn range_query(c: &mut Criterion) {
+    const SIZE: usize = 50_000;
+    let points: Vec<_> = create_random_points(SIZE, SEED_1);
+    let tree = RTree::<_, Params>::bulk_load_with_params(points.clone());
+
+    c.bench_function("range query", move |b| {
+        let d = 30.0f32.powi(2);
+        let mut i = 0;
+        b.iter(|| {
+            let q = &points[i];
+            i = (i + 1) % SIZE;
+            tree.locate_within_distance(*q, d)
+        })
+    });
+}
+
+criterion_group!(
+    benches,
+    //bulk_load_baseline,
+    // bulk_load_comparison,
+    // tree_creation_quality,
+    range_query
+);
+criterion_main!(benches);
+
+fn create_random_points(num_points: usize, seed: &[u8; 32]) -> Vec<Point> {
+    let mut rng = Hc128Rng::from_seed(*seed);
+    let r = (-10_000.0)..=10_000.0;
+    (0..num_points)
+        .map(|_| Point::new(rng.random_range(r.clone()), rng.random_range(r.clone())))
+        .collect()
+}

src/geom.rs

@@ -2,14 +2,54 @@ use std::cmp::Ordering;
 
 use bevy::prelude::*;
 use ordered_float::OrderedFloat;
-use spart::{geometry::BoundingVolume, rstar_tree::RStarTreeObject};
+use rstar::Point as PointTrait;
 
-#[derive(Debug, Clone)]
+#[derive(Debug, Clone, Copy)]
 pub struct Point {
     pub point: Vec2,
     pub entity: Entity,
 }
 
+impl Point {
+    pub fn new(x: f32, y: f32) -> Self {
+        Self {
+            point: Vec2::new(x, y),
+            entity: Entity::PLACEHOLDER,
+        }
+    }
+}
+
+impl From<[f32; 2]> for Point {
+    fn from(value: [f32; 2]) -> Self {
+        Self {
+            point: value.into(),
+            entity: Entity::PLACEHOLDER,
+        }
+    }
+}
+
+impl PointTrait for Point {
+    type Scalar = f32;
+
+    const DIMENSIONS: usize = 2;
+
+    fn generate(mut generator: impl FnMut(usize) -> Self::Scalar) -> Self {
+        let point = Vec2::new(generator(0), generator(1));
+        Point {
+            point,
+            entity: Entity::PLACEHOLDER,
+        }
+    }
+
+    fn nth(&self, index: usize) -> Self::Scalar {
+        self.point[index]
+    }
+
+    fn nth_mut(&mut self, index: usize) -> &mut Self::Scalar {
+        &mut self.point[index]
+    }
+}
+
 impl PartialEq for Point {
     fn eq(&self, other: &Self) -> bool {
         OrderedFloat(self.point.x) == OrderedFloat(other.point.x)
@@ -28,36 +68,3 @@ impl PartialOrd for Point {
         }
     }
 }
-
-impl RStarTreeObject for Point {
-    type B = PointBox;
-
-    fn mbr(&self) -> Self::B {
-        todo!()
-    }
-}
-
-#[derive(Debug, Clone)]
-pub struct PointBox;
-
-impl BoundingVolume for PointBox {
-    fn area(&self) -> f64 {
-        todo!()
-    }
-
-    fn union(&self, other: &Self) -> Self {
-        todo!()
-    }
-
-    fn intersects(&self, other: &Self) -> bool {
-        todo!()
-    }
-
-    fn overlap(&self, other: &Self) -> f64 {
-        todo!()
-    }
-
-    fn margin(&self) -> f64 {
-        todo!()
-    }
-}

src/lib.rs

@@ -0,0 +1,2 @@
+pub mod db;
+pub mod geom;

src/main.rs

@@ -1,8 +1,5 @@
+use autobats::db::init_db;
 use bevy::prelude::*;
-use db::init_db;
-
-mod db;
-mod geom;
 
 fn main() {
     App::new()