Cargo.toml

@@ -1,14 +1,12 @@
 [package]
-name = "toids"
+name = "audubon"
 version = "0.1.0"
-edition = "2024"
+edition = "2021"
 
-[features]
+# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
-debug = ["bevy/debug"]
 
 [dependencies]
 argh = "0.1.12"
-bevy = { version = "0.19", default-features = false, features = ["3d", "ui"] }
+bevy = "0.12.0"
-async-channel = "2"
+bevy_spatial = "0.7.0"
-rand = { version = "0.10", features = ["thread_rng"] }
+rand = "0.8.5"
-rstar = "0.13"

src/lib.rs

@@ -1,21 +1,16 @@
-use std::collections::{HashMap, HashSet};
-
 use argh::FromArgs;
-use async_channel::{bounded, Receiver, Sender};
+use bevy::{
-use bevy::{input::keyboard::Key, prelude::*, tasks::AsyncComputeTaskPool};
+    prelude::*,
-use rand::RngExt;
+    utils::{HashMap, HashSet},
-use rstar::{primitives::GeomWithData, RTree};
+};
+use bevy_spatial::{kdtree::KDTree3, SpatialAccess};
 
-type IndexElement = GeomWithData<[f32; 3], Entity>;
+pub type NNTree = KDTree3<Toid>;
-type Index = RTree<IndexElement>;
-
-type EntityPos = (Vec3, 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
+const MAX_DELTA_V: f32 = std::f32::consts::PI * 2.0; // basically 360 degrees/sec
-                                                     // degrees/sec
 
 // how far from origin before really wanting to come back
 const RADIUS: f32 = 40.0;
@@ -42,34 +37,6 @@ pub struct Buddies(HashSet<Entity>);
 #[derive(Component, Debug, Clone, Deref, DerefMut, Default)]
 pub struct Velocity(Vec3);
 
-#[derive(Debug, Default, Resource)]
-pub struct Naybs {
-    pub index: Index,
-    pub positions: Option<Vec<EntityPos>>,
-}
-
-#[derive(Resource)]
-pub struct RawPosChannel {
-    tx: Sender<RawMessage>,
-    rx: Option<Receiver<RawMessage>>,
-}
-
-#[derive(Resource)]
-pub struct IndexChannel {
-    tx: Sender<IndexMessage>,
-    rx: Receiver<IndexMessage>,
-}
-
-struct IndexMessage {
-    raw: Vec<EntityPos>,
-    index: Index,
-}
-
-struct RawMessage(Vec<EntityPos>);
-
-#[derive(Default, Resource, Deref, DerefMut)]
-pub struct BackgroundHandle(Option<bevy::tasks::Task<()>>);
-
 #[derive(Component)]
 pub struct Toid {
     pub speed: f32,
@@ -79,135 +46,46 @@ pub struct Toid {
 #[derive(Debug, Default, Clone, Copy, Deref, DerefMut, Resource)]
 pub struct LookAt(Vec3);
 
-pub fn setup_channels(mut commands: Commands) {
-    let (raw_tx, raw_rx) = bounded(1);
-    commands.insert_resource(RawPosChannel {
-        tx: raw_tx,
-        rx: Some(raw_rx),
-    });
-
-    let (idx_tx, idx_rx) = bounded(1);
-    commands.insert_resource(IndexChannel {
-        tx: idx_tx,
-        rx: idx_rx,
-    });
-}
-
-pub fn update_naybs(
-    mut naybs: ResMut<Naybs>,
-    raw_chan: Res<RawPosChannel>,
-    positions: Res<Positions>,
-    idx_chan: Res<IndexChannel>,
-) {
-    if let Ok(idx_msg) = idx_chan.rx.try_recv() {
-        naybs.index = idx_msg.index;
-        let _ = naybs.positions.insert(idx_msg.raw);
-        return;
-    }
-
-    if let Some(mut raw) = naybs.positions.take() {
-        for (i, (entity, pos)) in positions.iter().enumerate() {
-            raw[i] = (*pos, *entity);
-        }
-
-        if let Err(e) = raw_chan.tx.try_send(RawMessage(raw)) {
-            let RawMessage(raw) = e.into_inner();
-            let _ = naybs.positions.insert(raw);
-        }
-    }
-}
-
-pub fn init_naybs(positions: Res<Positions>, mut naybs: ResMut<Naybs>) {
-    let mut raw = Vec::with_capacity(positions.len());
-    for (entity, pos) in positions.iter() {
-        raw.push((*pos, *entity));
-    }
-    naybs.positions = Some(raw);
-}
-
-pub fn spawn_background(
-    mut raw_chan: ResMut<RawPosChannel>,
-    idx_chan: Res<IndexChannel>,
-    mut handle: ResMut<BackgroundHandle>,
-) {
-    let pool = AsyncComputeTaskPool::get();
-
-    let raw_rx = raw_chan.rx.take().unwrap();
-    let idx_tx = idx_chan.tx.clone();
-
-    let task = pool.spawn(async move {
-        let tx = idx_tx;
-        let rx = raw_rx;
-        loop {
-            match rx.recv().await {
-                Ok(RawMessage(e_posns)) => {
-                    let idx = RTree::bulk_load(
-                        e_posns
-                            .iter()
-                            .map(|(p, e)| GeomWithData::new(p.to_array(), *e))
-                            .collect(),
-                    );
-                    let msg = IndexMessage {
-                        raw: e_posns,
-                        index: idx,
-                    };
-                    if tx.send(msg).await.is_err() {
-                        break;
-                    };
-                }
-                Err(_) => break,
-            }
-        }
-    });
-
-    let _ = handle.0.insert(task);
-}
-
 pub fn turkey_time(
     commands: &mut Commands,
+    scene: &Handle<Scene>,
     r: &mut impl rand::prelude::Rng,
-    assets: &AssetServer,
+) -> Entity {
-    positions: &mut HashMap<Entity, Vec3>,
+    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.random_range(6..=8);
+    let buddies = r.gen_range(6..=8);
-    let x = r.random_range(-10.0..=10.0);
+    let x = r.gen_range(-10.0..=10.0);
-    let z = r.random_range(-10.0..=10.0);
+    let z = r.gen_range(-10.0..=10.0);
-    let y = r.random_range(MIN_ALTITUDE..=(MIN_ALTITUDE + 5.5));
+    let y = r.gen_range(0.1..=5.5);
-
+    let spatial_bundle = SpatialBundle {
-    let entity = commands
+        transform: Transform::from_xyz(x, MIN_ALTITUDE + y, z),
-        .spawn((
+        ..Default::default()
-            Velocity(vel),
+    };
-            Buddies::default(),
+    commands
-            Toid { speed, buddies },
+        .spawn(spatial_bundle)
-            Transform::from_xyz(x, y, z),
+        .insert((Velocity(vel), Buddies::default(), Toid { speed, buddies }))
-            Visibility::Visible,
-        ))
         .with_children(|t| {
-            t.spawn(WorldAssetRoot(
+            t.spawn(SceneBundle {
-                assets.load(GltfAssetLabel::Scene(0).from_asset("models/boid.glb")),
+                scene: scene.to_owned(),
-            ))
+                ..Default::default()
-            .insert(Transform::default())
+            })
-            //.insert(Visibility::Visible);
+            .insert(Transform::default());
-            .insert(Transform::from_rotation(Quat::from_axis_angle(
+            //  .insert(Transform::from_rotation(Quat::from_axis_angle(
-                Vec3::Y,
+            //     Vec3::Y,
-                -std::f32::consts::FRAC_PI_2,
+            //     -std::f32::consts::FRAC_PI_2,
-            )));
+            // )));
         })
-        .id();
+        .id()
-
-    positions.insert(entity, Vec3::new(x, y, z));
 }
 
 pub fn update_vel(
     mut toids: Query<(&Transform, &mut Velocity, &Toid, &Buddies, Entity)>,
     time: Res<Time>,
     positions: Res<Positions>,
-    index: Res<Naybs>,
+    index: Res<NNTree>,
 ) {
-    let dt = time.delta_secs();
+    let dt = time.delta_seconds();
     let max_delta = MAX_DELTA_V * dt;
     for (xform, mut vel, toid, buddies, entity) in toids.iter_mut() {
         let speed = toid.speed;
@@ -229,11 +107,11 @@ pub fn update_vel(
         // avoid flying into neighbors
         let min_dist = speed;
         for neighbor in index
-            .index
+            .within_distance(pos, min_dist)
-            .locate_within_distance(pos.to_array(), min_dist)
+            .iter()
-            .filter(|n| n.data != entity)
+            .filter(|n| n.1.is_some() && n.1.unwrap() != entity)
         {
-            let bp = Vec3::from_array(*neighbor.geom());
+            let bp = neighbor.0;
             let bdir = pos - bp;
             let dist = bdir.length();
             let s = 1.0 - (dist / min_dist).min(1.0);
@@ -281,7 +159,7 @@ pub fn update_pos(
     time: Res<Time>,
 ) {
     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() {
         let look_at = xform.translation + vel.0;
         xform.translation += vel.0 * dt;
@@ -294,15 +172,15 @@ pub fn update_pos(
 
 pub fn update_buddies(
     mut toids: Query<(&Transform, Entity, &Toid, &mut Buddies)>,
-    index: Res<Naybs>,
+    index: Res<NNTree>,
     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[buddy];
+            let bp = positions.get(buddy).unwrap();
-            let bd2 = (bp - pos).length_squared();
+            let bd2 = (*bp - pos).length_squared();
             if bd2 > d2 {
                 buddies.remove(buddy);
             }
@@ -310,13 +188,12 @@ pub fn update_buddies(
 
         if buddies.len() < toid.buddies {
             let diff = toid.buddies - buddies.len();
-            for neighbor in index
+            for (_, neighbor) in index
-                .index
+                .k_nearest_neighbour(pos, diff + 1)
-                .nearest_neighbor_iter(pos.to_array())
+                .into_iter()
-                .filter(|n| n.data != entity)
+                .filter(|n| n.1.is_some() && n.1.unwrap() != entity)
-                .take(diff)
             {
-                buddies.insert(neighbor.data);
+                buddies.insert(neighbor.unwrap());
             }
         }
     }
@@ -325,42 +202,41 @@ 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().as_vec3();
+        let up = toid.up();
-        let forward = toid.forward().as_vec3();
+        let forward = toid.forward();
-        let right = toid.right().as_vec3();
+        let right = toid.right();
-        gizmos.ray(pos, pos + forward, Color::srgb(1., 0., 0.));
+        gizmos.ray(pos, pos + forward, Color::RED);
-        gizmos.ray(pos, pos + up, Color::srgb(0., 1., 0.));
+        gizmos.ray(pos, pos + up, Color::BLUE);
-        gizmos.ray(pos, pos + right, Color::srgb(0., 0., 1.));
+        gizmos.ray(pos, pos + right, Color::GREEN);
     }
 }
 
 pub fn rotate_camera(
     mut query: Query<&mut Transform, With<Camera>>,
-    keys: Res<ButtonInput<Key>>,
+    keys: Res<Input<KeyCode>>,
     lookat: Res<LookAt>,
 ) {
-    let mut xform = query.single_mut().unwrap();
+    let mut xform = query.single_mut();
 
-    let forward = xform.forward().as_vec3() * 0.7;
+    let forward = xform.forward() * 0.7;
-    let right = xform.right().as_vec3();
+    let right = xform.right();
 
-    if keys.pressed(Key::ArrowRight) {
+    if keys.pressed(KeyCode::Right) {
         xform.translation += right;
     }
-    if keys.pressed(Key::ArrowLeft) {
+    if keys.pressed(KeyCode::Left) {
         xform.translation -= right;
     }
 
-    if keys.pressed(Key::ArrowUp) {
+    if keys.pressed(KeyCode::Up) {
-        if keys.pressed(Key::Shift) {
+        if keys.pressed(KeyCode::ShiftLeft) || keys.pressed(KeyCode::ShiftRight) {
             xform.translation += Vec3::Y;
         } else {
             xform.translation += forward;
         }
     }
-
+    if keys.pressed(KeyCode::Down) {
-    if keys.pressed(Key::ArrowDown) {
+        if keys.pressed(KeyCode::ShiftLeft) || keys.pressed(KeyCode::ShiftRight) {
-        if keys.pressed(Key::Shift) {
             xform.translation -= Vec3::Y;
         } else {
             xform.translation -= forward;
@@ -377,10 +253,10 @@ 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 = f32::MAX;
+    let mut ssum = std::f32::MAX;
     while ssum >= 1.0 {
-        x1 = r.random_range(-1.0..=1.0);
+        x1 = r.gen_range(-1.0..=1.0);
-        x2 = r.random_range(-1.0..=1.0);
+        x2 = r.gen_range(-1.0..=1.0);
         ssum = x1.powi(2) + x2.powi(2);
     }
     let sqrt = (1.0 - ssum).sqrt();

src/main.rs

@@ -1,46 +1,34 @@
+use std::time::Duration;
+
+use audubon::*;
 use bevy::{
     diagnostic::{FrameTimeDiagnosticsPlugin, LogDiagnosticsPlugin},
-    input::keyboard::Key,
     prelude::*,
 };
-use rstar::RTree;
+use bevy_spatial::{AutomaticUpdate, TransformMode};
-use toids::{
-    init_naybs, rotate_camera, setup_channels, spawn_background, turkey_time, update_buddies,
-    update_naybs, update_pos, update_vel, BackgroundHandle, Config, LookAt, Naybs, Positions,
-};
 
 fn main() {
-    let config: toids::Config = argh::from_env();
+    let config: audubon::Config = argh::from_env();
     App::new()
         .add_plugins(DefaultPlugins)
         .add_plugins((
-            FrameTimeDiagnosticsPlugin::default(),
+            AutomaticUpdate::<Toid>::new()
+                .with_transform(TransformMode::GlobalTransform)
+                .with_frequency(Duration::from_millis(150)),
+            FrameTimeDiagnosticsPlugin,
             LogDiagnosticsPlugin::default(),
         ))
         .insert_resource(config)
         .insert_resource(Positions::default())
-        .insert_resource(ClearColor(Color::srgb(0.64, 0.745, 0.937))) // a nice light blue
+        .insert_resource(ClearColor(Color::rgb(0.64, 0.745, 0.937))) // a nice light blue
-        .insert_resource(GlobalAmbientLight {
+        .insert_resource(AmbientLight {
             color: Color::WHITE,
-            brightness: 150.0,
+            brightness: 1.0,
-            affects_lightmapped_meshes: true,
-            ..Default::default()
         })
-        .insert_resource(Naybs {
-            index: RTree::new(),
-            positions: None,
-        })
-        .insert_resource(BackgroundHandle::default())
         .insert_resource(LookAt::default())
-        .add_systems(
+        .add_systems(Startup, setup)
-            Startup,
-            (setup_channels, setup, init_naybs, spawn_background).chain(),
-        )
         .add_systems(Update, (update_pos, update_buddies, update_vel).chain())
-        .add_systems(
+        .add_systems(Update, (rotate_camera, bevy::window::close_on_esc))
-            Update,
-            (rotate_camera, close_on_esc, update_naybs.after(update_pos)),
-        )
         //.add_systems(Update, update_gizmos)
         .run();
 }
@@ -49,63 +37,42 @@ fn setup(
     mut commands: Commands,
     mut meshes: ResMut<Assets<Mesh>>,
     mut materials: ResMut<Assets<StandardMaterial>>,
-    mut positions: ResMut<Positions>,
     config: Res<Config>,
     models: Res<AssetServer>,
 ) {
-    let rand = &mut rand::rng();
+    let rand = &mut rand::thread_rng();
 
-    commands.spawn((
+    commands.spawn(Camera3dBundle {
-        Transform::from_xyz(0., 5.0, 25.).looking_at(Vec3::new(0.0, 5.0, 0.0), Vec3::Y),
+        transform: Transform::from_xyz(0., 5.0, 25.).looking_at(Vec3::new(0.0, 5.0, 0.0), Vec3::Y),
-        Camera3d::default(),
+        ..default()
-    ));
+    });
     // plane
-    commands.spawn((
+    commands.spawn(PbrBundle {
-        Mesh3d(meshes.add(Mesh::from(Plane3d::new(Vec3::Y, Vec2::splat(500.0))))),
+        mesh: meshes.add(Mesh::from(shape::Plane::from_size(500.0))),
-        MeshMaterial3d(materials.add(Color::srgb(0.3, 0.9, 0.3))),
+        material: materials.add(Color::rgb(0.3, 0.5, 0.3).into()),
-        Visibility::Visible,
+        ..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 {
-        turkey_time(&mut commands, rand, &models, &mut positions.0);
+        let _ = turkey_time(&mut commands, &toid_model, rand);
     }
 
     // instructions
-    commands.spawn((
+    commands.spawn(
-        Visibility::Visible,
+        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![(
-            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: FontSize::Px(20.0),
                 ..default()
             },
-        )],
+        )
-    ));
+        .with_style(Style {
-}
+            position_type: PositionType::Absolute,
-
+            top: Val::Px(12.0),
-fn close_on_esc(
+            left: Val::Px(12.0),
-    mut commands: Commands,
+            ..default()
-    focused_windows: Query<(Entity, &Window)>,
+        }),
-    input: Res<ButtonInput<Key>>,
+    );
-    mut handle: ResMut<BackgroundHandle>,
-) {
-    for (window, focus) in focused_windows.iter() {
-        if !focus.focused {
-            continue;
-        }
-
-        if input.just_pressed(Key::Escape) {
-            drop((*handle).take());
-            commands.entity(window).despawn();
-        }
-    }
 }