Refactor helpers for direction and distance, adding some that take colliders into account.

src/core.rs

@@ -8,7 +8,7 @@ use std::{
 };
 
 use bevy::{core::FloatOrd, ecs::query::WorldQuery, prelude::*};
-use bevy_rapier2d::prelude::*;
+use bevy_rapier2d::{na, parry::query::ClosestPoints, prelude::*, rapier::math::Isometry};
 use once_cell::sync::Lazy;
 use rand::prelude::*;
 use serde::{Deserialize, Serialize};
@@ -52,6 +52,74 @@ impl Angle {
             Radians(v) => *v,
         }
     }
+
+    fn relative_desc(&self) -> String {
+        let mode = RELATIVE_DIRECTION_MODE.read().unwrap();
+        match self.degrees() {
+            v if v <= 15. => "ahead",
+            v if v <= 45. => {
+                if *mode == RelativeDirectionMode::ClockFacing {
+                    "11:00"
+                } else {
+                    "ahead and left"
+                }
+            }
+            v if v <= 75. => {
+                if *mode == RelativeDirectionMode::ClockFacing {
+                    "10:00"
+                } else {
+                    "left and ahead"
+                }
+            }
+            v if v <= 105. => "left",
+            v if v <= 135. => {
+                if *mode == RelativeDirectionMode::ClockFacing {
+                    "8:00"
+                } else {
+                    "left and behind"
+                }
+            }
+            v if v <= 165. => {
+                if *mode == RelativeDirectionMode::ClockFacing {
+                    "7:00"
+                } else {
+                    "behind and left"
+                }
+            }
+            v if v <= 195. => "behind",
+            v if v <= 225. => {
+                if *mode == RelativeDirectionMode::ClockFacing {
+                    "5:00"
+                } else {
+                    "behind and right"
+                }
+            }
+            v if v <= 255. => {
+                if *mode == RelativeDirectionMode::ClockFacing {
+                    "4:00"
+                } else {
+                    "right and behind"
+                }
+            }
+            v if v <= 285. => "right",
+            v if v <= 315. => {
+                if *mode == RelativeDirectionMode::ClockFacing {
+                    "2:00"
+                } else {
+                    "right and ahead"
+                }
+            }
+            v if v <= 345. => {
+                if *mode == RelativeDirectionMode::ClockFacing {
+                    "1:00"
+                } else {
+                    "ahead and right"
+                }
+            }
+            _ => "ahead",
+        }
+        .into()
+    }
 }
 
 impl Sub for Angle {
@@ -216,6 +284,8 @@ static RELATIVE_DIRECTION_MODE: Lazy<RwLock<RelativeDirectionMode>> = Lazy::new(
     RwLock::new(v)
 });
 
+static PHYSICS_SCALE: Lazy<RwLock<f32>> = Lazy::new(|| RwLock::new(1.));
+
 pub trait PointLike {
     fn x(&self) -> f32;
 
@@ -283,73 +353,8 @@ pub trait PointLike {
         if distance > 0 {
             let tile_or_tiles = if distance == 1 { "tile" } else { "tiles" };
             let direction: String = if let Some(yaw) = yaw {
-                let mode = RELATIVE_DIRECTION_MODE.read().unwrap();
                 let bearing = self.bearing(other);
-                let relative = (bearing - yaw).degrees();
-                match relative {
-                    v if v <= 15. => "ahead",
-                    v if v <= 45. => {
-                        if *mode == RelativeDirectionMode::ClockFacing {
-                            "11:00"
-                        } else {
-                            "ahead and left"
-                        }
-                    }
-                    v if v <= 75. => {
-                        if *mode == RelativeDirectionMode::ClockFacing {
-                            "10:00"
-                        } else {
-                            "left and ahead"
-                        }
-                    }
-                    v if v <= 105. => "left",
-                    v if v <= 135. => {
-                        if *mode == RelativeDirectionMode::ClockFacing {
-                            "8:00"
-                        } else {
-                            "left and behind"
-                        }
-                    }
-                    v if v <= 165. => {
-                        if *mode == RelativeDirectionMode::ClockFacing {
-                            "7:00"
-                        } else {
-                            "behind and left"
-                        }
-                    }
-                    v if v <= 195. => "behind",
-                    v if v <= 225. => {
-                        if *mode == RelativeDirectionMode::ClockFacing {
-                            "5:00"
-                        } else {
-                            "behind and right"
-                        }
-                    }
-                    v if v <= 255. => {
-                        if *mode == RelativeDirectionMode::ClockFacing {
-                            "4:00"
-                        } else {
-                            "right and behind"
-                        }
-                    }
-                    v if v <= 285. => "right",
-                    v if v <= 315. => {
-                        if *mode == RelativeDirectionMode::ClockFacing {
-                            "2:00"
-                        } else {
-                            "right and ahead"
-                        }
-                    }
-                    v if v <= 345. => {
-                        if *mode == RelativeDirectionMode::ClockFacing {
-                            "1:00"
-                        } else {
-                            "ahead and right"
-                        }
-                    }
-                    _ => "ahead",
-                }
-                .into()
+                (bearing - yaw).relative_desc()
             } else {
                 self.direction(other).into()
             };
@@ -460,6 +465,69 @@ impl From<&dyn PointLike> for (i32, i32) {
     }
 }
 
+pub trait GlobalTransformExt {
+    fn yaw(&self) -> Angle;
+    fn collider_direction_and_distance(
+        &self,
+        collider: &Collider,
+        other: &GlobalTransform,
+        other_collider: &Collider,
+    ) -> String;
+}
+
+impl GlobalTransformExt for GlobalTransform {
+    fn yaw(&self) -> Angle {
+        let forward = self.local_x();
+        Angle::Radians(forward.y.atan2(forward.x))
+    }
+
+    fn collider_direction_and_distance(
+        &self,
+        collider: &Collider,
+        other: &GlobalTransform,
+        other_collider: &Collider,
+    ) -> String {
+        use bevy::math::Vec3Swizzles;
+        let scale = PHYSICS_SCALE.read().unwrap();
+        let pos1 = Isometry::new(
+            (self.translation / *scale).xy().into(),
+            self.rotation.to_scaled_axis().z,
+        );
+        let pos2 = Isometry::new(
+            (other.translation / *scale).xy().into(),
+            other.rotation.to_scaled_axis().z,
+        );
+        let closest = bevy_rapier2d::parry::query::closest_points(
+            &pos1,
+            &*collider.raw,
+            &pos2,
+            &*other_collider.raw,
+            f32::MAX,
+        )
+        .unwrap();
+        let distance: u32 = match closest {
+            ClosestPoints::Intersecting => 0,
+            ClosestPoints::WithinMargin(p1, p2) => na::distance(&p1, &p2) as u32,
+            ClosestPoints::Disjoint => 0,
+        };
+        let tile_or_tiles = if distance == 1 { "tile" } else { "tiles" };
+        if distance > 0 {
+            if let ClosestPoints::WithinMargin(p1, p2) = closest {
+                let p1 = (p1.x, p1.y);
+                let p2 = (p2.x, p2.y);
+                let bearing = p1.bearing(&p2);
+                let yaw = self.yaw();
+                let direction = (bearing - yaw).relative_desc();
+                format!("{direction} {distance} {tile_or_tiles}")
+            } else {
+                format!("{} {}", distance, tile_or_tiles)
+            }
+        } else {
+            format!("{} {}", distance, tile_or_tiles)
+        }
+    }
+}
+
 #[derive(Component, Clone, Copy, Debug, Default, Reflect)]
 #[reflect(Component)]
 pub struct Player;
@@ -524,6 +592,8 @@ where
 }
 
 fn setup(core_config: Res<CoreConfig>) {
+    let mut scale = PHYSICS_SCALE.write().unwrap();
+    *scale = core_config.pixels_per_unit as f32;
     let mut mode = RELATIVE_DIRECTION_MODE.write().unwrap();
     *mode = core_config.relative_direction_mode;
 }

src/navigation.rs

@@ -7,7 +7,7 @@ use bevy_tts::Tts;
 
 use crate::{
     commands::RunIfExistsExt,
-    core::{Angle, CardinalDirection, Player},
+    core::{Angle, CardinalDirection, Player, GlobalTransformExt},
     error::error_handler,
     exploration::{ExplorationFocused, Exploring},
     pathfinding::Destination,
@@ -264,13 +264,12 @@ where
 fn update_direction(
     mut commands: Commands,
     mut query: Query<
-        (Entity, &Transform, Option<&mut CardinalDirection>),
+        (Entity, &GlobalTransform, Option<&mut CardinalDirection>),
         (With<Player>, Changed<Transform>),
     >,
 ) {
     for (entity, transform, direction) in query.iter_mut() {
-        let forward = transform.local_x();
-        let yaw = Angle::Radians(forward.y.atan2(forward.x));
+        let yaw = transform.yaw();
         let new_direction: CardinalDirection = yaw.into();
         if let Some(mut direction) = direction {
             if *direction != new_direction {

src/visibility.rs

@@ -12,7 +12,7 @@ use shadowcast::{vision_distance, Context, InputGrid};
 use crate::{
     bevy_rapier2d::prelude::*,
     commands::RunIfExistsExt,
-    core::{Angle, Player, PointLike},
+    core::{GlobalTransformExt, Player, PointLike},
     log::Log,
     map::{Map, MapConfig, MapObstruction},
 };
@@ -380,8 +380,8 @@ fn log_visible(
     mut recently_lost: Local<HashMap<Entity, Timer>>,
     mut events: EventReader<VisibilityChanged>,
     mut log: Query<&mut Log>,
-    viewers: Query<(Entity, &Transform), (With<Player>, With<Viewshed>)>,
-    visible: Query<(&Name, &Transform), Without<DontLogWhenVisible>>,
+    viewers: Query<(Entity, &GlobalTransform, Option<&Collider>), (With<Player>, With<Viewshed>)>,
+    visible: Query<(&Name, &GlobalTransform, Option<&Collider>), Without<DontLogWhenVisible>>,
 ) {
     for timer in recently_lost.values_mut() {
         timer.tick(time.delta());
@@ -392,21 +392,24 @@ fn log_visible(
             VisibilityChanged::Gained { viewer, .. } => viewer,
             VisibilityChanged::Lost { viewer, .. } => viewer,
         };
-        if let Ok((viewer_entity, viewer_transform)) = viewers.get(*viewer) {
+        if let Ok((viewer_entity, viewer_transform, viewer_collider)) = viewers.get(*viewer) {
             if let VisibilityChanged::Gained { viewed, .. } = event {
                 if *viewed == viewer_entity || recently_lost.contains_key(viewed) {
                     continue;
                 }
-                if let Ok((name, transform)) = visible.get(*viewed) {
-                    let viewed_coordinates = (transform.translation.x, transform.translation.y);
-                    let forward = viewer_transform.local_x();
-                    let yaw = Angle::Radians(forward.y.atan2(forward.x));
-                    let viewer_coordinates = (
-                        viewer_transform.translation.x,
-                        viewer_transform.translation.y,
-                    );
-                    let location =
-                        viewer_coordinates.direction_and_distance(&viewed_coordinates, Some(yaw));
+                if let Ok((name, viewed_transform, viewed_collider)) = visible.get(*viewed) {
+                    let location = if let (Some(viewer_collider), Some(viewed_collider)) =
+                        (viewer_collider, viewed_collider)
+                    {
+                        viewer_transform.collider_direction_and_distance(
+                            viewer_collider,
+                            &viewed_transform,
+                            viewed_collider,
+                        )
+                    } else {
+                        let yaw = viewer_transform.yaw();
+                        viewer_transform.direction_and_distance(viewed_transform, Some(yaw))
+                    };
                     if let Ok(mut log) = log.get_single_mut() {
                         log.push(format!("{}: {location}", name));
                     }