builds, doesn't run

.rustfmt.toml

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

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"] }
-rand = "0.8.5"
+crossbeam-channel = "0.5"
-rstar = "0.11.0"
+rand = { version = "0.10", features = ["thread_rng"] }
+rstar = "0.13"

src/lib.rs

@@ -1,123 +1,283 @@
-use argh::FromArgs;
+use std::collections::{HashMap, HashSet};
-use bevy::prelude::*;
 
-const SPEED: f32 = 20.0;
+use argh::FromArgs;
-const SPEED_DIFF_RANGE: f32 = 0.08; // +/- 8%
+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
+
+// how far from origin before really wanting to come back
+const RADIUS: f32 = 40.0;
+
+// how close to try to stay to your buddies
+const BUDDY_RADIUS: f32 = 10.0;
+
+const MIN_ALTITUDE: f32 = 3.5;
 
 #[derive(Debug, FromArgs, Resource)]
 /// Toid Watching
 pub struct Config {
     /// how many Toids to spawn
-    #[argh(option, short = 't', default = "100")]
+    #[argh(option, short = 't', default = "5_000")]
     pub toids: usize,
 }
 
-pub type Point = (f32, f32, f32);
+#[derive(Clone, Debug, Default, Deref, DerefMut, Resource)]
+pub struct Positions(pub HashMap<Entity, Vec3>);
 
-pub type Toint = rstar::primitives::GeomWithData<Point, Entity>;
+#[derive(Component, Debug, Deref, DerefMut, Clone, Default)]
-
+pub struct Buddies(HashSet<Entity>);
-pub trait Pointable {
-    fn to_point(&self) -> Point;
-}
-
-impl Pointable for Vec3 {
-    fn to_point(&self) -> Point {
-        (self.x, self.y, self.z)
-    }
-}
-
-#[derive(Resource, Deref, DerefMut)]
-pub struct Index(pub rstar::RTree<Toint>);
-
-#[derive(Resource, Deref, DerefMut)]
-pub struct Positions(pub std::collections::HashMap<Entity, Vec3>);
-
-#[derive(Component, Debug, Clone, Deref, DerefMut, Default)]
-pub struct Buddies(Vec<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,
+    pub buddies: usize,
 }
 
+#[derive(Debug, Default, Clone, Copy, Deref, DerefMut, Resource)]
+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.random_range(6..=8);
+    let x = r.random_range(-10.0..=10.0);
+    let z = r.random_range(-10.0..=10.0);
+    let y = r.random_range(MIN_ALTITUDE..=(MIN_ALTITUDE + 5.5));
     commands
-        .spawn(SpatialBundle::default())
+        .spawn((
-        .insert((Velocity(vel), Buddies::default(), Toid { speed }))
+            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(
+            //  .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()
 }
 
-pub fn add_gizmos(mut gizmos: Gizmos, toids: Query<(&Transform, Entity), With<Toid>>) {
+pub fn update_vel(
-    let gizmos = &mut gizmos;
+    mut toids: Query<(&Transform, &mut Velocity, &Toid, &Buddies, Entity)>,
-    for (pos, _entity) in toids.iter() {
+    time: Res<Time>,
-        let nudge = pos.up() * 0.15;
+    positions: Res<Positions>,
-        let rpos = pos.translation + nudge;
+    index: Res<Naybs>,
-        gizmos.ray(rpos, pos.forward(), Color::RED);
+) {
+    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;
+        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.0.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;
+        for neighbor in index
+            .index
+            .locate_within_distance(pos.to_array(), min_dist)
+            .filter(|n| n.data != entity)
+        {
+            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);
+            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)>,
+    mut toids: Query<(&mut Transform, &Velocity, Entity), With<Toid>>,
-    time: Res<Time>,
+    mut positions: ResMut<Positions>,
-    mut index: Res<Index>,
+    mut lookat: ResMut<LookAt>,
-) {
-    let dt = time.delta_seconds();
-    for (mut xform, vel, _entity) in toids.iter_mut() {
-        let vel = vel.0;
-        xform.translation += vel * dt;
-    }
-}
-
-pub fn update_vel(
-    mut toids: Query<(&Transform, &mut Velocity, &Toid), With<Toid>>,
     time: Res<Time>,
 ) {
-    let dt = time.delta_seconds();
+    let mut new_look = Vec3::ZERO;
-    for (xform, mut vel, toid) in toids.iter_mut() {
+    let dt = time.delta_secs();
-        let speed = toid.speed;
+    for (mut xform, vel, entity) in toids.iter_mut() {
-        let mut dir = xform.forward();
+        let look_at = xform.translation + vel.0;
+        xform.translation += vel.0 * dt;
+        xform.look_at(look_at, Vec3::Y);
+        *positions.entry(entity).or_insert(Vec3::ZERO) = xform.translation;
+        new_look += xform.translation;
+    }
+    **lookat = new_look / positions.len() as f32;
+}
 
-        // nudge up if too low
+pub fn update_buddies(
-
+    mut toids: Query<(&Transform, Entity, &Toid, &mut Buddies)>,
-        // nudge toward origin if too far
+    index: Res<Naybs>,
-
+    positions: Res<Positions>,
-        // find buddies and orient: point more towards further-away buddies
+) {
+    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 bd2 = (bp - pos).length_squared();
+            if bd2 > d2 {
+                buddies.remove(buddy);
             }
         }
 
-pub fn update_buddies(mut toids: Query<(&Transform, Entity, &mut Buddies)>, index: Res<Index>) {}
+        if buddies.len() < toid.buddies {
+            let diff = toid.buddies - buddies.len();
+            for neighbor in index
+                .index
+                .nearest_neighbor_iter(pos.to_array())
+                .filter(|n| n.data != entity)
+                .take(diff)
+            {
+                buddies.insert(neighbor.data);
+            }
+        }
+    }
+}
+
+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 forward = toid.forward().as_vec3();
+        let right = toid.right().as_vec3();
+        gizmos.ray(pos, pos + forward, Color::srgb(1., 0., 0.));
+        gizmos.ray(pos, pos + up, Color::srgb(0., 1., 0.));
+        gizmos.ray(pos, pos + right, Color::srgb(0., 0., 1.));
+    }
+}
+
+pub fn rotate_camera(
+    mut query: Query<&mut Transform, With<Camera>>,
+    keys: Res<ButtonInput<Key>>,
+    lookat: Res<LookAt>,
+) {
+    let mut xform = query.single_mut().unwrap();
+
+    let forward = xform.forward().as_vec3() * 0.7;
+    let right = xform.right().as_vec3();
+
+    if keys.pressed(Key::ArrowRight) {
+        xform.translation += right;
+    }
+    if keys.pressed(Key::ArrowLeft) {
+        xform.translation -= right;
+    }
+
+    if keys.pressed(Key::ArrowUp) {
+        if keys.pressed(Key::Shift) {
+            xform.translation += Vec3::Y;
+        } else {
+            xform.translation += forward;
+        }
+    }
+
+    if keys.pressed(Key::ArrowDown) {
+        if keys.pressed(Key::Shift) {
+            xform.translation -= Vec3::Y;
+        } else {
+            xform.translation -= forward;
+        }
+    }
+
+    xform.look_at(**lookat, Vec3::Y);
+}
 
 //-************************************************************************
 // util
 //-************************************************************************
 
-pub fn unit_vec(r: &mut impl rand::prelude::Rng) -> Vec3 {
+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

@@ -1,24 +1,35 @@
-//use std::f32::consts::PI;
+use std::time::Duration;
 
-use bevy::prelude::*;
+use bevy::{
-
+    diagnostic::{FrameTimeDiagnosticsPlugin, LogDiagnosticsPlugin},
-use audubon::*;
+    input::keyboard::Key,
+    prelude::*,
+};
+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((
+            FrameTimeDiagnosticsPlugin::default(),
+            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(GlobalAmbientLight {
+            color: Color::WHITE,
+            brightness: 1.0,
+            ..Default::default()
+        })
+        .insert_resource(LookAt::default())
         .add_systems(Startup, setup)
-        .add_systems(
+        .add_systems(Update, (update_pos, update_buddies, update_vel).chain())
-            Update,
+        .add_systems(Update, (rotate_camera, close_on_esc))
-            (
+        //.add_systems(Update, update_gizmos)
-                add_gizmos,
-                rotate_camera,
-                update_config,
-                bevy::window::close_on_esc,
-            ),
-        )
         .run();
 }
 
@@ -29,77 +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., 1.5, 6.).looking_at(Vec3::ZERO, 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(50.0))),
+        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);
     }
 
-    // light
+    // instructions
-    commands.spawn(PointLightBundle {
+    commands.spawn((
-        point_light: PointLight {
+        Node {
-            intensity: 1500.0,
-            shadows_enabled: true,
-            ..default()
-        },
-        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()
-            },
-        )
-        .with_style(Style {
             position_type: PositionType::Absolute,
-            top: Val::Px(12.0),
+            top: px(12.0),
-            left: Val::Px(12.0),
+            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()
+            },
+        )],
+    ));
 }
 
-fn rotate_camera(mut query: Query<&mut Transform, With<Camera>>, time: Res<Time>) {
+fn close_on_esc(
-    let mut transform = query.single_mut();
+    mut commands: Commands,
-
+    focused_windows: Query<(Entity, &Window)>,
-    transform.rotate_around(Vec3::ZERO, Quat::from_rotation_y(time.delta_seconds() / 2.));
+    input: Res<ButtonInput<Key>>,
+) {
+    for (window, focus) in focused_windows.iter() {
+        if !focus.focused {
+            continue;
         }
 
-fn update_config(mut config: ResMut<GizmoConfig>, keyboard: Res<Input<KeyCode>>, time: Res<Time>) {
+        if input.just_pressed(Key::Escape) {
-    if keyboard.just_pressed(KeyCode::D) {
+            commands.entity(window).despawn();
-        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();
     }
 }