make range benchmark have random distributed points

Cargo.lock

@@ -357,15 +357,13 @@ dependencies = [
  "bevy",
  "criterion",
  "dirs",
+ "glam 0.31.0",
  "include_dir",
  "ordered-float",
  "rand",
- "rand_hc",
- "rstar",
  "rusqlite",
  "rusqlite_migration",
  "steel-core",
- "steel-derive",
 ]
 
 [[package]]
@@ -989,7 +987,7 @@ dependencies = [
  "arrayvec 0.7.6",
  "bevy_reflect",
  "derive_more",
- "glam",
+ "glam 0.30.10",
  "itertools 0.14.0",
  "libm",
  "rand",
@@ -1163,7 +1161,7 @@ dependencies = [
  "downcast-rs 2.0.2",
  "erased-serde",
  "foldhash 0.2.0",
- "glam",
+ "glam 0.30.10",
  "indexmap 2.13.0",
  "inventory",
  "petgraph",
@@ -1223,7 +1221,7 @@ dependencies = [
  "downcast-rs 2.0.2",
  "encase",
  "fixedbitset",
- "glam",
+ "glam 0.30.10",
  "image",
  "indexmap 2.13.0",
  "js-sys",
@@ -1390,7 +1388,7 @@ dependencies = [
  "crossbeam-queue",
  "derive_more",
  "futures-lite",
- "heapless 0.9.2",
+ "heapless",
  "pin-project",
 ]
 
@@ -2878,6 +2876,15 @@ dependencies = [
  "serde_core",
 ]
 
+[[package]]
+name = "glam"
+version = "0.31.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "74a4d85559e2637d3d839438b5b3d75c31e655276f9544d72475c36b92fabbed"
+dependencies = [
+ "libm",
+]
+
 [[package]]
 name = "glob"
 version = "0.3.3"
@@ -3053,16 +3060,6 @@ 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"
@@ -3087,7 +3084,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "29a164ceff4500f2a72b1d21beaa8aa8ad83aec2b641844c659b190cb3ea2e0b"
 dependencies = [
  "constgebra",
- "glam",
+ "glam 0.30.10",
  "tinyvec",
 ]
 
@@ -4505,15 +4502,6 @@ 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"
@@ -4691,17 +4679,6 @@ 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"

Cargo.toml

@@ -5,14 +5,14 @@ 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"
+glam = { version = "0.31.0", default-features = false, features = ["libm"] }
 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"] }
 steel-core = { git="https://github.com/mattwparas/steel.git", branch = "master" }
-steel-derive = { git="https://github.com/mattwparas/steel.git", branch = "master" }
 
 # Enable a small amount of optimization in the dev profile.
 [profile.dev]
@@ -22,11 +22,12 @@ opt-level = 1
 [profile.dev.package."*"]
 opt-level = 3
 
-[dev-dependencies]
-rand = "0.9.2"
-rand_hc = "0.4.0"
-criterion = { version = "0.8.1", default-features = false, features = ["cargo_bench_support",  "rayon"] }
+[profile.bench]
+inherits = "release"
 
 [[bench]]
-name = "benchmarks"
+name = "main"
 harness = false
+
+[dev-dependencies]
+rand = "0.9.2"

assets/scripts/tank.scm

@@ -1,4 +0,0 @@
-(struct point (x))
-
-(define (dist p1 p2)
-  )

benches/bench_insert_bulk.rs

@@ -0,0 +1,26 @@
+#[path = "shared.rs"]
+mod shared;
+use std::hint::black_box;
+
+use autobarts::spindex::RStarTree;
+use criterion::{Criterion, criterion_group};
+use shared::*;
+
+fn bench_insert_bulk_rstartree_2d(_c: &mut Criterion) {
+    let points = generate_2d_data();
+    let mut cc = configure_criterion();
+    cc.bench_function("insert_bulk_2d_rstartree", |b| {
+        b.iter_with_setup(
+            || {
+                let tree = RStarTree::new(BENCH_NODE_CAPACITY);
+                (tree, points.clone())
+            },
+            |(mut tree, points)| {
+                tree.insert_bulk(points);
+                black_box(());
+            },
+        )
+    });
+}
+
+criterion_group!(benches, bench_insert_bulk_rstartree_2d,);

benches/bench_range_search.rs

@@ -0,0 +1,92 @@
+use std::hint::black_box;
+
+use autobarts::{geom::Point, spindex::RStarTree};
+use bevy::math::Vec2;
+use criterion::{Criterion, criterion_group};
+use rand::{Rng, SeedableRng, seq::SliceRandom};
+
+//
+// Benchmark Parameters
+//
+pub const BENCH_TIMEOUT: std::time::Duration = std::time::Duration::from_secs(10);
+pub const BENCH_NUM_INSERT: i32 = 50_000;
+pub const BENCH_NODE_CAPACITY: usize = 5;
+
+const SEED: u64 = 8;
+
+//
+// Data Generation Functions (Raw Data)
+//
+pub fn generate_2d_data() -> Vec<Point> {
+    let data: Vec<Point> = (0..BENCH_NUM_INSERT)
+        .map(|i| {
+            let point = bevy::prelude::Vec2::new(i as f32, i as f32);
+
+            Point {
+                point,
+                entity: bevy::prelude::Entity::PLACEHOLDER,
+            }
+        })
+        .collect();
+
+    data
+}
+
+// Configure Criterion with a timeout for benchmarks
+pub fn configure_criterion() -> Criterion {
+    Criterion::default()
+        .measurement_time(BENCH_TIMEOUT)
+        .sample_size(10)
+}
+
+const BENCH_RANGE_RADIUS: f32 = 30.0;
+
+fn benchmark_range_rstartree_2d(_c: &mut Criterion) {
+    let mut points = generate_2d_data();
+    let mut rng = rand::rngs::StdRng::seed_from_u64(SEED);
+    let len = points.len();
+    for i in 0..len {
+        let j = rng.random_range(0..len);
+        points.swap(i, j);
+    }
+
+    let mut tree = RStarTree::new(BENCH_NODE_CAPACITY);
+
+    tree.insert_bulk(points.clone());
+
+    let mut cc = configure_criterion();
+    let mut idx = 0;
+    let len = points.len();
+    cc.bench_function("range_rstartree_2d", |b| {
+        b.iter(|| {
+            let res = tree.range_search(&points[idx], BENCH_RANGE_RADIUS);
+            idx = (idx + 1) % len;
+            black_box(res)
+        })
+    });
+}
+
+fn benchmark_range_bbox_rstartree_2d(_c: &mut Criterion) {
+    let points = generate_2d_data();
+    let mut tree = RStarTree::new(BENCH_NODE_CAPACITY);
+
+    tree.insert_bulk(points);
+
+    let query_rect = bevy::math::bounding::Aabb2d::new(
+        Vec2::new(35.0 - BENCH_RANGE_RADIUS, 45.0 - BENCH_RANGE_RADIUS),
+        4.0 * Vec2::splat(BENCH_RANGE_RADIUS),
+    );
+    let mut cc = configure_criterion();
+    cc.bench_function("range_rstartree_2d", |b| {
+        b.iter(|| {
+            let res = tree.range_search_bbox(&query_rect);
+            black_box(res)
+        })
+    });
+}
+
+criterion_group!(
+    benches,
+    benchmark_range_rstartree_2d,
+    //benchmark_range_bbox_rstartree_2d,
+);

benches/benchmarks.rs

@@ -1,102 +0,0 @@
-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 = (-1_000.0)..=1_000.0;
-    (0..num_points)
-        .map(|_| Point::new(rng.random_range(r.clone()), rng.random_range(r.clone())))
-        .collect()
-}

benches/main.rs

@@ -0,0 +1,6 @@
+use criterion::criterion_main;
+
+//mod bench_insert_bulk;
+mod bench_range_search;
+
+criterion_main!(bench_range_search::benches,);

benches/shared.rs

@@ -0,0 +1,34 @@
+use autobarts::geom::Point;
+use criterion::Criterion;
+
+//
+// Benchmark Parameters
+//
+pub const BENCH_TIMEOUT: std::time::Duration = std::time::Duration::from_secs(10);
+pub const BENCH_NUM_INSERT: i32 = 50_000;
+pub const BENCH_NODE_CAPACITY: usize = 5;
+
+//
+// Data Generation Functions (Raw Data)
+//
+pub fn generate_2d_data() -> Vec<Point> {
+    let data: Vec<Point> = (0..BENCH_NUM_INSERT)
+        .map(|i| {
+            let point = bevy::prelude::Vec2::new(i as f32, i as f32);
+
+            Point {
+                point,
+                entity: bevy::prelude::Entity::PLACEHOLDER,
+            }
+        })
+        .collect();
+
+    data
+}
+
+// Configure Criterion with a timeout for benchmarks
+pub fn configure_criterion() -> Criterion {
+    Criterion::default()
+        .measurement_time(BENCH_TIMEOUT)
+        .sample_size(10)
+}

src/db.rs

@@ -1,7 +1,7 @@
 use std::{path::PathBuf, sync::LazyLock};
 
-use include_dir::{include_dir, Dir};
-use rusqlite::{config::DbConfig, Connection};
+use include_dir::{Dir, include_dir};
+use rusqlite::{Connection, config::DbConfig};
 use rusqlite_migration::Migrations;
 
 static MIGRATIONS_DIR: Dir = include_dir!("$CARGO_MANIFEST_DIR/migrations");

src/ffi.rs

@@ -1,19 +0,0 @@
-use steel::steel_vm::{engine::Engine, register_fn::RegisterFn};
-
-use crate::{geom::*, units::*};
-
-pub fn get_vm() -> Engine {
-    let mut vm = Engine::new();
-    vm.register_type::<Point>("point?");
-    vm.register_fn("dist2", dist2);
-    vm.register_fn("dist", dist);
-    vm
-}
-
-fn dist2(p1: &Point, p2: &Point) -> f32 {
-    p1.point.distance_squared(p2.point)
-}
-
-fn dist(p1: &Point, p2: &Point) -> f32 {
-    p1.point.distance(p2.point)
-}

src/geom.rs

@@ -1,56 +1,16 @@
 use std::cmp::Ordering;
 
-use bevy::prelude::*;
+use bevy::{math::bounding::Aabb2d, prelude::*};
 use ordered_float::OrderedFloat;
-use rstar::Point as PointTrait;
-use steel_derive::Steel;
 
-#[derive(Debug, Clone, Copy, Steel)]
+const POINT_RADIUS: f32 = f32::EPSILON * 16.0;
+
+#[derive(Debug, Clone)]
 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)
@@ -69,3 +29,9 @@ impl PartialOrd for Point {
         }
     }
 }
+
+impl Point {
+    pub fn mbr(&self) -> Aabb2d {
+        Aabb2d::new(self.point, Vec2::splat(POINT_RADIUS))
+    }
+}

src/lib.rs

@@ -1,4 +1,3 @@
 pub mod db;
-pub mod ffi;
 pub mod geom;
-pub mod units;
+pub mod spindex;

src/spindex.rs

@@ -0,0 +1,153 @@
+// based on code stolen under the terms of the MIT license from
+// https://github.com/habedi/spart/blob/0f0e92c556b8906801d3f8b9c2a8a6491f493d9c/src/rstar_tree.rs
+
+use bevy::{
+    math::bounding::{Aabb2d, BoundingVolume, IntersectsVolume},
+    prelude::Vec2,
+};
+
+use crate::geom::Point;
+
+#[derive(Debug, Clone)]
+pub enum Entry {
+    Leaf { mbr: Aabb2d, object: Point },
+    Node { mbr: Aabb2d, child: TreeNode },
+}
+
+impl Entry {
+    /// Returns a reference to the minimum bounding volume for this entry.
+    pub fn mbr(&self) -> &Aabb2d {
+        match self {
+            Entry::Leaf { mbr, .. } | Entry::Node { mbr, .. } => mbr,
+        }
+    }
+}
+
+#[derive(Debug, Clone)]
+pub struct TreeNode {
+    pub entries: Vec<Entry>,
+    pub is_leaf: bool,
+}
+
+#[derive(Debug, Clone)]
+pub struct RStarTree {
+    root: TreeNode,
+    max_entries: usize,
+}
+
+impl Entry {
+    fn as_leaf_obj(&self) -> Option<&Point> {
+        match self {
+            Entry::Leaf { object, .. } => Some(object),
+            _ => None,
+        }
+    }
+    fn child(&self) -> Option<&TreeNode> {
+        match self {
+            Entry::Node { child, .. } => Some(child),
+            _ => None,
+        }
+    }
+}
+
+impl TreeNode {
+    fn is_leaf(&self) -> bool {
+        self.is_leaf
+    }
+
+    fn entries(&self) -> &[Entry] {
+        &self.entries
+    }
+
+    fn range_search_bbox<'s>(&'s self, bbox: &Aabb2d, out: &mut Vec<&'s Point>) {
+        if self.is_leaf() {
+            for entry in self.entries() {
+                if let Some(obj) = entry.as_leaf_obj()
+                    && entry.mbr().intersects(bbox)
+                {
+                    out.push(obj);
+                }
+            }
+        } else {
+            for entry in self.entries() {
+                if let Some(child) = entry.child()
+                    && entry.mbr().intersects(bbox)
+                {
+                    child.range_search_bbox(bbox, out);
+                }
+            }
+        }
+    }
+
+    fn mbr(&self) -> Option<Aabb2d> {
+        entries_mbr(self.entries())
+    }
+}
+
+impl RStarTree {
+    pub fn new(max_entries: usize) -> Self {
+        let max_entries = max_entries.max(4);
+        RStarTree {
+            root: TreeNode {
+                entries: Vec::new(),
+                is_leaf: true,
+            },
+            max_entries,
+        }
+    }
+
+    pub fn range_search(&self, query_point: &Point, radius: f32) -> Vec<&Point> {
+        let query_bbox = Aabb2d::new(query_point.point, Vec2::splat(radius));
+        let r2 = radius.powi(2);
+        let candidates = self.range_search_bbox(&query_bbox);
+        candidates
+            .into_iter()
+            .filter(|&other| query_point.point.distance_squared(other.point) <= r2)
+            .collect()
+    }
+
+    pub fn range_search_bbox(&self, query_bbox: &Aabb2d) -> Vec<&Point> {
+        let mut res = Vec::with_capacity(self.root.entries.len() / 10);
+        self.root.range_search_bbox(query_bbox, &mut res);
+        res
+    }
+
+    pub fn insert_bulk(&mut self, objects: Vec<Point>) {
+        if objects.is_empty() {
+            return;
+        }
+
+        let mut entries: Vec<Entry> = objects
+            .into_iter()
+            .map(|point| Entry::Leaf {
+                mbr: point.mbr(),
+                object: point,
+            })
+            .collect();
+
+        while entries.len() > self.max_entries {
+            let mut new_level_entries = Vec::new();
+            let chunks = entries.chunks(self.max_entries);
+
+            for chunk in chunks {
+                let child = TreeNode {
+                    entries: chunk.to_vec(),
+                    is_leaf: self.root.is_leaf,
+                };
+                if let Some(mbr) = child.mbr() {
+                    new_level_entries.push(Entry::Node { mbr, child });
+                }
+            }
+            entries = new_level_entries;
+            self.root.is_leaf = false;
+        }
+
+        self.root.entries.extend(entries);
+    }
+}
+
+fn entries_mbr(entries: &[Entry]) -> Option<Aabb2d> {
+    let mut iter = entries.iter();
+    let first = *iter.next()?.mbr();
+    Some(iter.fold(first, |acc, entry| acc.merge(entry.mbr())))
+}

src/units.rs

@@ -1,15 +0,0 @@
-use steel_derive::Steel;
-
-#[derive(Debug, Clone, Copy, PartialEq, Steel)]
-pub enum Weapons {
-    Bullet { damage: u32 },
-    Missile { speed: f32, damage: u32 },
-    Bomb { damage: u32 },
-}
-
-#[derive(Debug, Clone, Copy, PartialEq, Eq, Steel)]
-pub enum Machines {
-    Tank,
-    Factory,
-    Plane,
-}