builds, doesn't run

Cargo.toml

@@ -1,12 +1,13 @@
 [package]
-name = "audubon"
+name = "toids"
 version = "0.1.0"
-edition = "2021"
+edition = "2024"
 
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 
 [dependencies]
 argh = "0.1.12"
-bevy = "0.12.0"
+bevy = { version = "0.19", default-features = false, features = ["default_app", "default_platform", "bevy_scene", "3d_bevy_render", "bevy_ui"] }
-bevy_spatial = "0.7.0"
+crossbeam-channel = "0.5"
-rand = "0.8.5"
+rand = { version = "0.10", features = ["thread_rng"] }
+rstar = "0.13"

src/lib.rs

@@ -1,16 +1,18 @@
-use argh::FromArgs;
+use std::collections::{HashMap, HashSet};
-use bevy::{
-    prelude::*,
-    utils::{HashMap, HashSet},
-};
-use bevy_spatial::{kdtree::KDTree3, SpatialAccess};
 
-pub type NNTree = KDTree3<Toid>;
+use argh::FromArgs;
+use bevy::{input::keyboard::Key, prelude::*, tasks::AsyncComputeTaskPool};
+use crossbeam_channel::{bounded, Receiver, Sender};
+use rand::RngExt;
+use rstar::{primitives::GeomWithData, RTree};
+
+type Index = RTree<GeomWithData<[f32; 3], Entity>>;
 
 // toid stuff
 const SPEED: f32 = 2.0;
 const SPEED_DIFF_RANGE: f32 = 0.1; // +/- 10%
-const MAX_DELTA_V: f32 = std::f32::consts::PI * 2.0; // basically 360 degrees/sec
+const MAX_DELTA_V: f32 = std::f32::consts::PI * 2.0; // basically 360
+                                                     // degrees/sec
 
 // how far from origin before really wanting to come back
 const RADIUS: f32 = 40.0;
@@ -37,6 +39,24 @@ pub struct Buddies(HashSet<Entity>);
 #[derive(Component, Debug, Clone, Deref, DerefMut, Default)]
 pub struct Velocity(Vec3);
 
+#[derive(Debug, Default, Resource)]
+pub struct Naybs {
+    index: Index,
+    positions: Option<Box<[Vec3]>>,
+}
+
+#[derive(Resource)]
+pub struct RawPosChannel {
+    tx: Sender<Box<[Vec3]>>,
+    rx: Receiver<Box<[Vec3]>>,
+}
+
+#[derive(Resource)]
+pub struct IndexChannel {
+    tx: Sender<(Box<[Vec3]>, Index)>,
+    rx: Receiver<(Box<[Vec3]>, Index)>,
+}
+
 #[derive(Component)]
 pub struct Toid {
     pub speed: f32,
@@ -48,28 +68,27 @@ pub struct LookAt(Vec3);
 
 pub fn turkey_time(
     commands: &mut Commands,
-    scene: &Handle<Scene>,
     r: &mut impl rand::prelude::Rng,
+    assets: &AssetServer,
 ) -> Entity {
-    let speed_diff = r.gen_range(-SPEED_DIFF_RANGE..=SPEED_DIFF_RANGE);
+    let speed_diff = r.random_range(-SPEED_DIFF_RANGE..=SPEED_DIFF_RANGE);
     let speed = SPEED + (SPEED * speed_diff);
     let vel = unit_vec(r) * speed;
-    let buddies = r.gen_range(6..=8);
+    let buddies = r.random_range(6..=8);
-    let x = r.gen_range(-10.0..=10.0);
+    let x = r.random_range(-10.0..=10.0);
-    let z = r.gen_range(-10.0..=10.0);
+    let z = r.random_range(-10.0..=10.0);
-    let y = r.gen_range(0.1..=5.5);
+    let y = r.random_range(MIN_ALTITUDE..=(MIN_ALTITUDE + 5.5));
-    let spatial_bundle = SpatialBundle {
-        transform: Transform::from_xyz(x, MIN_ALTITUDE + y, z),
-        ..Default::default()
-    };
     commands
-        .spawn(spatial_bundle)
+        .spawn((
-        .insert((Velocity(vel), Buddies::default(), Toid { speed, buddies }))
+            Velocity(vel),
+            Buddies::default(),
+            Toid { speed, buddies },
+            Transform::from_xyz(x, y, z),
+        ))
         .with_children(|t| {
-            t.spawn(SceneBundle {
+            t.spawn(WorldAssetRoot(
-                scene: scene.to_owned(),
+                assets.load(GltfAssetLabel::Scene(0).from_asset("models/toid.glb")),
-                ..Default::default()
+            ))
-            })
             .insert(Transform::default());
             //  .insert(Transform::from_rotation(Quat::from_axis_angle(
             //     Vec3::Y,
@@ -83,9 +102,9 @@ pub fn update_vel(
     mut toids: Query<(&Transform, &mut Velocity, &Toid, &Buddies, Entity)>,
     time: Res<Time>,
     positions: Res<Positions>,
-    index: Res<NNTree>,
+    index: Res<Naybs>,
 ) {
-    let dt = time.delta_seconds();
+    let dt = time.delta_secs();
     let max_delta = MAX_DELTA_V * dt;
     for (xform, mut vel, toid, buddies, entity) in toids.iter_mut() {
         let speed = toid.speed;
@@ -107,11 +126,11 @@ pub fn update_vel(
         // avoid flying into neighbors
         let min_dist = speed;
         for neighbor in index
-            .within_distance(pos, min_dist)
+            .index
-            .iter()
+            .locate_within_distance(pos.to_array(), min_dist)
-            .filter(|n| n.1.is_some() && n.1.unwrap() != entity)
+            .filter(|n| n.data != entity)
         {
-            let bp = neighbor.0;
+            let bp = Vec3::from_array(*neighbor.geom());
             let bdir = pos - bp;
             let dist = bdir.length();
             let s = 1.0 - (dist / min_dist).min(1.0);
@@ -159,7 +178,7 @@ pub fn update_pos(
     time: Res<Time>,
 ) {
     let mut new_look = Vec3::ZERO;
-    let dt = time.delta_seconds();
+    let dt = time.delta_secs();
     for (mut xform, vel, entity) in toids.iter_mut() {
         let look_at = xform.translation + vel.0;
         xform.translation += vel.0 * dt;
@@ -172,15 +191,15 @@ pub fn update_pos(
 
 pub fn update_buddies(
     mut toids: Query<(&Transform, Entity, &Toid, &mut Buddies)>,
-    index: Res<NNTree>,
+    index: Res<Naybs>,
     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.clone().iter() {
-            let bp = positions.get(buddy).unwrap();
+            let bp = positions[buddy];
-            let bd2 = (*bp - pos).length_squared();
+            let bd2 = (bp - pos).length_squared();
             if bd2 > d2 {
                 buddies.remove(buddy);
             }
@@ -188,12 +207,13 @@ pub fn update_buddies(
 
         if buddies.len() < toid.buddies {
             let diff = toid.buddies - buddies.len();
-            for (_, neighbor) in index
+            for neighbor in index
-                .k_nearest_neighbour(pos, diff + 1)
+                .index
-                .into_iter()
+                .nearest_neighbor_iter(pos.to_array())
-                .filter(|n| n.1.is_some() && n.1.unwrap() != entity)
+                .filter(|n| n.data != entity)
+                .take(diff)
             {
-                buddies.insert(neighbor.unwrap());
+                buddies.insert(neighbor.data);
             }
         }
     }
@@ -202,41 +222,42 @@ pub fn update_buddies(
 pub fn update_gizmos(toids: Query<&Transform, With<Toid>>, mut gizmos: Gizmos) {
     for toid in toids.iter() {
         let pos = toid.translation;
-        let up = toid.up();
+        let up = toid.up().as_vec3();
-        let forward = toid.forward();
+        let forward = toid.forward().as_vec3();
-        let right = toid.right();
+        let right = toid.right().as_vec3();
-        gizmos.ray(pos, pos + forward, Color::RED);
+        gizmos.ray(pos, pos + forward, Color::srgb(1., 0., 0.));
-        gizmos.ray(pos, pos + up, Color::BLUE);
+        gizmos.ray(pos, pos + up, Color::srgb(0., 1., 0.));
-        gizmos.ray(pos, pos + right, Color::GREEN);
+        gizmos.ray(pos, pos + right, Color::srgb(0., 0., 1.));
     }
 }
 
 pub fn rotate_camera(
     mut query: Query<&mut Transform, With<Camera>>,
-    keys: Res<Input<KeyCode>>,
+    keys: Res<ButtonInput<Key>>,
     lookat: Res<LookAt>,
 ) {
-    let mut xform = query.single_mut();
+    let mut xform = query.single_mut().unwrap();
 
-    let forward = xform.forward() * 0.7;
+    let forward = xform.forward().as_vec3() * 0.7;
-    let right = xform.right();
+    let right = xform.right().as_vec3();
 
-    if keys.pressed(KeyCode::Right) {
+    if keys.pressed(Key::ArrowRight) {
         xform.translation += right;
     }
-    if keys.pressed(KeyCode::Left) {
+    if keys.pressed(Key::ArrowLeft) {
         xform.translation -= right;
     }
 
-    if keys.pressed(KeyCode::Up) {
+    if keys.pressed(Key::ArrowUp) {
-        if keys.pressed(KeyCode::ShiftLeft) || keys.pressed(KeyCode::ShiftRight) {
+        if keys.pressed(Key::Shift) {
             xform.translation += Vec3::Y;
         } else {
             xform.translation += forward;
         }
     }
-    if keys.pressed(KeyCode::Down) {
+
-        if keys.pressed(KeyCode::ShiftLeft) || keys.pressed(KeyCode::ShiftRight) {
+    if keys.pressed(Key::ArrowDown) {
+        if keys.pressed(Key::Shift) {
             xform.translation -= Vec3::Y;
         } else {
             xform.translation -= forward;
@@ -253,10 +274,10 @@ 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 = std::f32::MAX;
+    let mut ssum = f32::MAX;
     while ssum >= 1.0 {
-        x1 = r.gen_range(-1.0..=1.0);
+        x1 = r.random_range(-1.0..=1.0);
-        x2 = r.gen_range(-1.0..=1.0);
+        x2 = r.random_range(-1.0..=1.0);
         ssum = x1.powi(2) + x2.powi(2);
     }
     let sqrt = (1.0 - ssum).sqrt();

src/main.rs

@@ -1,34 +1,34 @@
 use std::time::Duration;
 
-use audubon::*;
 use bevy::{
     diagnostic::{FrameTimeDiagnosticsPlugin, LogDiagnosticsPlugin},
+    input::keyboard::Key,
     prelude::*,
 };
-use bevy_spatial::{AutomaticUpdate, TransformMode};
+use toids::{
+    rotate_camera, turkey_time, update_buddies, update_pos, update_vel, Config, LookAt, Positions,
+};
 
 fn main() {
-    let config: audubon::Config = argh::from_env();
+    let config: toids::Config = argh::from_env();
     App::new()
         .add_plugins(DefaultPlugins)
         .add_plugins((
-            AutomaticUpdate::<Toid>::new()
+            FrameTimeDiagnosticsPlugin::default(),
-                .with_transform(TransformMode::GlobalTransform)
-                .with_frequency(Duration::from_millis(150)),
-            FrameTimeDiagnosticsPlugin,
             LogDiagnosticsPlugin::default(),
         ))
         .insert_resource(config)
         .insert_resource(Positions::default())
-        .insert_resource(ClearColor(Color::rgb(0.64, 0.745, 0.937))) // a nice light blue
+        .insert_resource(ClearColor(Color::srgb(0.64, 0.745, 0.937))) // a nice light blue
-        .insert_resource(AmbientLight {
+        .insert_resource(GlobalAmbientLight {
             color: Color::WHITE,
             brightness: 1.0,
+            ..Default::default()
         })
         .insert_resource(LookAt::default())
         .add_systems(Startup, setup)
         .add_systems(Update, (update_pos, update_buddies, update_vel).chain())
-        .add_systems(Update, (rotate_camera, bevy::window::close_on_esc))
+        .add_systems(Update, (rotate_camera, close_on_esc))
         //.add_systems(Update, update_gizmos)
         .run();
 }
@@ -40,39 +40,55 @@ fn setup(
     config: Res<Config>,
     models: Res<AssetServer>,
 ) {
-    let rand = &mut rand::thread_rng();
+    let rand = &mut rand::rng();
 
-    commands.spawn(Camera3dBundle {
+    commands.spawn((
-        transform: Transform::from_xyz(0., 5.0, 25.).looking_at(Vec3::new(0.0, 5.0, 0.0), Vec3::Y),
+        Transform::from_xyz(0., 5.0, 25.).looking_at(Vec3::new(0.0, 5.0, 0.0), Vec3::Y),
-        ..default()
+        Camera3d::default(),
-    });
+    ));
     // plane
-    commands.spawn(PbrBundle {
+    commands.spawn((
-        mesh: meshes.add(Mesh::from(shape::Plane::from_size(500.0))),
+        Mesh3d(meshes.add(Mesh::from(Plane3d::new(Vec3::Y, Vec2::splat(500.0))))),
-        material: materials.add(Color::rgb(0.3, 0.5, 0.3).into()),
+        MeshMaterial3d(materials.add(Color::srgb(0.3, 0.5, 0.3))),
-        ..default()
+        Transform::default(),
-    });
+    ));
 
-    let toid_model = models.load("models/boid.glb#Scene0");
+    // let toid_model = models.load("models/boid.glb#Scene0");
 
     for _ in 0..config.toids {
-        let _ = turkey_time(&mut commands, &toid_model, rand);
+        let _ = turkey_time(&mut commands, rand, &models);
     }
 
     // instructions
-    commands.spawn(
+    commands.spawn((
-        TextBundle::from_section(
+        Node {
-            "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.",
+            position_type: PositionType::Absolute,
-            TextStyle {
+            top: px(12.0),
-                font_size: 20.,
+            left: px(12.0),
             ..default()
         },
-        )
+        children![(
-        .with_style(Style {
+            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."),
-            position_type: PositionType::Absolute,
+            TextFont {
-            top: Val::Px(12.0),
+                font_size: FontSize::Px(20.0),
-            left: Val::Px(12.0),
                 ..default()
-        }),
+            },
-    );
+        )],
+    ));
+}
+
+fn close_on_esc(
+    mut commands: Commands,
+    focused_windows: Query<(Entity, &Window)>,
+    input: Res<ButtonInput<Key>>,
+) {
+    for (window, focus) in focused_windows.iter() {
+        if !focus.focused {
+            continue;
+        }
+
+        if input.just_pressed(Key::Escape) {
+            commands.entity(window).despawn();
+        }
+    }
 }