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WIP: Refactor to Avian.

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This commit is contained in:
Nolan Darilek 2024-10-06 11:10:46 -05:00
parent fb34f6ef12
commit 7c7504834f
9 changed files with 179 additions and 308 deletions
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2
Cargo.toml
View File

@ -14,8 +14,8 @@ speech_dispatcher_0_10 = ["bevy_tts/speech_dispatcher_0_10"]
speech_dispatcher_0_11 = ["bevy_tts/speech_dispatcher_0_11"]
[dependencies]
avian2d = "0.1"
bevy = "0.14"
bevy_rapier2d = "0.27"
bevy_synthizer = "0.7"
bevy_tts = { version = "0.9", default-features = false, features = ["tolk"] }
coord_2d = "0.3"

34
src/core.rs
View File

@ -6,12 +6,14 @@ use std::{
sync::RwLock,
};
use bevy::{app::PluginGroupBuilder, math::FloatOrd, prelude::*};
use bevy_rapier2d::{
parry::query::{closest_points, distance, ClosestPoints},
use avian2d::{
parry::{
math::Isometry,
query::{closest_points, distance, ClosestPoints},
},
prelude::*,
rapier::{math::Isometry, prelude::Aabb},
};
use bevy::{app::PluginGroupBuilder, math::FloatOrd, prelude::*};
use once_cell::sync::Lazy;
use rand::prelude::*;
use serde::{Deserialize, Serialize};
@ -530,7 +532,14 @@ impl GlobalTransformExt for GlobalTransform {
(other.translation() / *scale).xy().into(),
other.yaw().radians(),
);
closest_points(&pos1, &*collider.raw, &pos2, &*other_collider.raw, f32::MAX).unwrap()
closest_points(
&pos1,
collider.shape().as_ref(),
&pos2,
other_collider.shape().as_ref(),
f32::MAX,
)
.unwrap()
}
fn collider_direction_and_distance(
@ -549,7 +558,13 @@ impl GlobalTransformExt for GlobalTransform {
other.yaw().radians(),
);
let closest = self.closest_points(collider, other, other_collider);
let distance = distance(&pos1, &*collider.raw, &pos2, &*other_collider.raw).unwrap() as u32;
let distance = distance(
&pos1,
collider.shape().as_ref(),
&pos2,
other_collider.shape().as_ref(),
)
.unwrap() as u32;
let tile_or_tiles = if distance == 1 { "tile" } else { "tiles" };
if distance > 0 {
if let ClosestPoints::WithinMargin(p1, p2) = closest {
@ -568,9 +583,6 @@ impl GlobalTransformExt for GlobalTransform {
}
}
#[derive(Component, Copy, Clone, Debug, Deref, DerefMut, PartialEq)]
pub struct Area(pub Aabb);
#[derive(Component, Clone, Copy, Debug, Default, Reflect)]
#[reflect(Component)]
pub struct Player;
@ -676,9 +688,7 @@ impl Plugin for CorePlugin {
};
app.insert_resource(config)
.register_type::<CardinalDirection>()
.add_plugins(RapierPhysicsPlugin::<NoUserData>::pixels_per_meter(
config.pixels_per_unit as f32,
))
.add_plugins(PhysicsPlugins::default().with_length_unit(config.pixels_per_unit as f32))
.add_systems(Startup, setup)
.add_systems(Update, sync_config);
}

14
src/exploration.rs
View File

@ -1,7 +1,7 @@
use std::{error::Error, fmt::Debug, hash::Hash, marker::PhantomData};
use avian2d::prelude::*;
use bevy::prelude::*;
use bevy_rapier2d::prelude::*;
use bevy_tts::Tts;
use leafwing_input_manager::prelude::*;
@ -281,7 +281,7 @@ fn exploration_changed_announcement<ExplorationType, MapData>(
names: Query<&Name>,
types: Query<&ExplorationType>,
mappables: Query<&Mappable>,
rapier_context: Res<RapierContext>,
spatial_query: SpatialQuery,
) -> Result<(), Box<dyn Error>>
where
ExplorationType: Component + Copy + Into<String>,
@ -290,7 +290,7 @@ where
if let Ok((coordinates, exploring, viewshed)) = explorer.get_single() {
let coordinates = coordinates.trunc();
let point = **exploring;
let shape = Collider::cuboid(0.5 - f32::EPSILON, 0.5 - f32::EPSILON);
let shape = Collider::rectangle(0.5 - f32::EPSILON, 0.5 - f32::EPSILON);
let (known, idx) = if let Ok((map, revealed_tiles)) = map.get_single() {
let idx = point.to_index(map.width);
(revealed_tiles[idx], Some(idx))
@ -305,12 +305,13 @@ where
commands.entity(entity).remove::<ExplorationFocused>();
}
let exploring = Vec2::new(exploring.x(), exploring.y());
rapier_context.intersections_with_shape(
spatial_query.shape_intersections_callback(
&shape,
exploring,
0.,
&shape,
QueryFilter::new().predicate(&|v| explorable.get(v).is_ok()),
SpatialQueryFilter::default(),
|entity| {
if explorable.contains(entity) {
commands.entity(entity).insert(ExplorationFocused);
if visible || mappables.get(entity).is_ok() {
if let Ok(name) = names.get(entity) {
@ -322,6 +323,7 @@ where
}
}
}
}
true
},
);

2
src/lib.rs
View File

@ -2,8 +2,8 @@
#![allow(clippy::too_many_arguments)]
#![allow(clippy::type_complexity)]
pub use avian2d;
pub use bevy;
pub use bevy_rapier2d;
pub use bevy_synthizer;
pub use bevy_tts;
pub use coord_2d;

39
src/map.rs
View File

@ -1,20 +1,13 @@
use std::marker::PhantomData;
use avian2d::prelude::*;
use bevy::prelude::*;
use bevy_rapier2d::{
na::{Isometry2, Vector2},
prelude::*,
};
pub use here_be_dragons::Map as MapgenMap;
use here_be_dragons::{geometry::Rect as MRect, MapFilter, Tile};
use maze_generator::{prelude::*, recursive_backtracking::RbGenerator};
use rand::prelude::StdRng;
use crate::{
core::{Area, PointLike},
exploration::Mappable,
visibility::Visible,
};
use crate::{core::PointLike, exploration::Mappable, visibility::Visible};
#[derive(Component, Clone, Default, Deref, DerefMut)]
pub struct Map<D: 'static + Clone + Default + Send + Sync>(pub MapgenMap<D>);
@ -80,9 +73,9 @@ impl ITileType for Tile {
#[derive(Bundle, Default)]
pub struct PortalBundle {
pub transform: TransformBundle,
pub portal: Portal,
pub mappable: Mappable,
pub transform: TransformBundle,
}
#[derive(Bundle, Clone, Default)]
@ -98,7 +91,6 @@ pub struct TileBundle {
pub transform: TransformBundle,
pub collider: Collider,
pub rigid_body: RigidBody,
pub active_collision_types: ActiveCollisionTypes,
pub map_obstruction: MapObstruction,
}
@ -106,12 +98,9 @@ impl Default for TileBundle {
fn default() -> Self {
Self {
transform: default(),
collider: Collider::cuboid(0.5, 0.5),
rigid_body: RigidBody::Fixed,
active_collision_types: ActiveCollisionTypes::default()
| ActiveCollisionTypes::KINEMATIC_STATIC
| ActiveCollisionTypes::DYNAMIC_STATIC,
map_obstruction: MapObstruction,
collider: Collider::rectangle(0.5, 0.5),
rigid_body: RigidBody::Static,
map_obstruction: default(),
}
}
}
@ -129,34 +118,28 @@ impl TileBundle {
pub struct ZoneBundle {
pub collider: Collider,
pub transform: TransformBundle,
pub area: Area,
pub zone: Zone,
pub sensor: Sensor,
pub active_events: ActiveEvents,
}
impl ZoneBundle {
fn new(collider: Collider, position: (f32, f32)) -> Self {
let point = Isometry2::new(Vector2::new(position.0, position.1), 0.);
let aabb = collider.raw.compute_aabb(&point);
fn new(collider: Collider, position: Vec2) -> Self {
Self {
collider,
area: Area(aabb),
transform: Transform::from_translation(Vec3::new(position.0, position.1, 0.)).into(),
transform: Transform::from_translation(position.extend(0.)).into(),
zone: default(),
sensor: default(),
active_events: ActiveEvents::COLLISION_EVENTS,
}
}
}
impl From<&MRect> for ZoneBundle {
fn from(rect: &MRect) -> Self {
let collider = Collider::cuboid(
let collider = Collider::rectangle(
rect.width() as f32 / 2. + 0.5,
rect.height() as f32 / 2. + 0.5,
);
let position = (rect.center().x(), rect.center().y());
let position = Vec2::new(rect.center().x(), rect.center().y());
Self::new(collider, position)
}
}
@ -332,7 +315,7 @@ fn spawn_portal_colliders<D: 'static + Clone + Default + Send + Sync>(
for portal_entity in &portals {
commands
.entity(portal_entity)
.insert((Collider::cuboid(0.5, 0.5), Sensor));
.insert((Collider::rectangle(0.5, 0.5), Sensor));
}
commands.entity(entity).remove::<SpawnColliders>();
}

71
src/navigation.rs
View File

@ -1,14 +1,17 @@
#![allow(clippy::map_entry)]
use std::{collections::HashMap, error::Error, f32::consts::PI, fmt::Debug, hash::Hash};
use avian2d::prelude::*;
use bevy::prelude::*;
use bevy_rapier2d::prelude::*;
use bevy_tts::Tts;
use leafwing_input_manager::prelude::*;
use crate::{
core::{Angle, Area, CardinalDirection, GlobalTransformExt, Player, TransformExt},
core::{Angle, CardinalDirection, GlobalTransformExt, Player, TransformExt},
error::error_handler,
log::Log,
map::Zone,
utils::target_and_other,
};
@ -151,13 +154,14 @@ fn tick_snap_timers(time: Res<Time>, mut snap_timers: ResMut<SnapTimers>) {
}
fn controls(
rapier_context: Res<RapierContext>,
spatial_query: SpatialQuery,
time: Res<Time>,
snap_timers: Res<SnapTimers>,
sensors: Query<Entity, With<Sensor>>,
mut query: Query<(
Entity,
&mut ActionState<NavigationAction>,
&mut Velocity,
&mut LinearVelocity,
&Speed,
Option<&RotationSpeed>,
Option<&BackwardMovementFactor>,
@ -212,24 +216,21 @@ fn controls(
// println!("{entity:?}: SetLinearVelocity: {velocity:?}");
actions.set_axis_pair(&NavigationAction::SetLinearVelocity, move_velocity);
}
if velocity.linvel != actions.axis_pair(&NavigationAction::SetLinearVelocity) {
velocity.linvel = actions.axis_pair(&NavigationAction::SetLinearVelocity);
if velocity.0 != actions.axis_pair(&NavigationAction::SetLinearVelocity) {
**velocity = actions.axis_pair(&NavigationAction::SetLinearVelocity);
}
if actions.axis_pair(&NavigationAction::Translate) != Vec2::ZERO {
let pair = actions.axis_pair(&NavigationAction::Translate);
if rapier_context
let dir = Dir2::new_unchecked(pair.normalize());
if spatial_query
.cast_shape(
collider,
transform.translation.truncate(),
transform.yaw().radians(),
pair,
collider,
ShapeCastOptions {
max_time_of_impact: 1.,
..default()
},
QueryFilter::new()
.exclude_sensors()
.exclude_collider(entity),
dir,
1.,
true,
SpatialQueryFilter::from_excluded_entities(&sensors),
)
.is_none()
{
@ -302,18 +303,18 @@ fn speak_direction(
Ok(())
}
fn add_speed(mut commands: Commands, query: Query<Entity, (Added<Speed>, Without<Velocity>)>) {
fn add_speed(
mut commands: Commands,
query: Query<Entity, (Added<Speed>, Without<LinearVelocity>)>,
) {
for entity in &query {
commands.entity(entity).insert(Velocity {
linvel: Vec2::ZERO,
..default()
});
commands.entity(entity).insert(LinearVelocity::default());
}
}
fn log_area_descriptions<State>(
mut events: EventReader<CollisionEvent>,
areas: Query<(&Area, Option<&Name>)>,
fn log_zone_descriptions<State>(
mut events: EventReader<Collision>,
zones: Query<(&ColliderAabb, Option<&Name>), With<Zone>>,
players: Query<&Player>,
config: Res<NavigationPlugin<State>>,
mut log: Query<&mut Log>,
@ -323,19 +324,21 @@ fn log_area_descriptions<State>(
if !config.log_area_descriptions {
return;
}
for event in events.read() {
let (entity1, entity2, started) = match event {
CollisionEvent::Started(collider1, collider2, _) => (collider1, collider2, true),
CollisionEvent::Stopped(collider1, collider2, _) => (collider1, collider2, false),
};
if let Some((area, other)) = target_and_other(*entity1, *entity2, &|v| areas.get(v).is_ok())
for Collision(contacts) in events.read() {
let started = contacts.during_current_frame && !contacts.during_previous_frame;
let stopped = !contacts.during_current_frame && contacts.during_previous_frame;
if !started && !stopped {
continue;
}
if let Some((area, other)) =
target_and_other(contacts.entity1, contacts.entity2, &|v| zones.contains(v))
{
if players.get(other).is_ok() {
if let Ok((aabb, area_name)) = areas.get(area) {
if players.contains(other) {
if let Ok((aabb, area_name)) = zones.get(area) {
let name = if let Some(name) = area_name {
Some(name.to_string())
} else if config.describe_undescribed_areas {
Some(format!("{}-by-{} area", aabb.extents().x, aabb.extents().y))
Some(format!("{}-by-{} area", aabb.size().x, aabb.size().y))
} else {
None
};
@ -400,7 +403,7 @@ where
)
.add_systems(
PostUpdate,
(remove_direction, log_area_descriptions::<State>),
(remove_direction, log_zone_descriptions::<State>),
);
if !self.states.is_empty() {
for state in &self.states {

229
src/pathfinding.rs
View File

@ -1,19 +1,11 @@
use bevy::{
prelude::*,
tasks::{futures_lite::future, prelude::*, Task},
utils::HashMap,
};
use bevy_rapier2d::{
na::{Isometry2, Vector2},
prelude::*,
rapier::prelude::{ColliderHandle, ColliderSet, QueryPipeline, RigidBodySet},
};
use avian2d::prelude::*;
use bevy::{prelude::*, utils::HashMap};
use leafwing_input_manager::{plugin::InputManagerSystem, prelude::*};
use pathfinding::prelude::*;
use crate::{
core::{PointLike, TransformExt},
map::{Map, MapObstruction},
map::Map,
navigation::{NavigationAction, RotationSpeed, Speed},
};
@ -26,9 +18,6 @@ impl Actionlike for NegotiatePathAction {
}
}
#[derive(Component, Debug, Deref, DerefMut)]
struct Calculating(Task<Option<Path>>);
#[derive(Component, Clone, Copy, Debug, Default, Deref, DerefMut, Eq, Hash, PartialEq, Reflect)]
#[reflect(Component)]
pub struct Destination(pub (i32, i32));
@ -93,16 +82,41 @@ pub fn find_path<D: 'static + Clone + Default + Send + Sync>(
)
}
fn find_path_for_shape(
initiator: ColliderHandle,
start: Transform,
destination: Destination,
cost_map: &Option<CostMap>,
query_pipeline: QueryPipeline,
collider_set: ColliderSet,
rigid_body_set: RigidBodySet,
shape: Collider,
) -> Option<Path> {
fn calculate_path(
mut commands: Commands,
spatial_query: SpatialQuery,
mut query: Query<
(
Entity,
&Destination,
&Transform,
&Collider,
Option<&CostMap>,
Option<&mut ActionState<NegotiatePathAction>>,
),
Changed<Destination>,
>,
) {
for (entity, destination, start, collider, cost_map, actions) in &mut query {
trace!("{entity}: destination: {destination:?}");
if start.i32() == **destination {
trace!("{entity}: remove1");
commands
.entity(entity)
.remove::<Path>()
.remove::<NoPath>()
.remove::<Destination>();
continue;
}
trace!(
"{entity:?}: Calculating path from {:?} to {destination:?}",
start.translation.truncate().i32()
);
trace!(
"{entity:?}: path: calculating from {:?} to {destination:?}",
start.i32(),
);
commands.entity(entity).remove::<Path>().remove::<NoPath>();
let path = astar(
&start.i32(),
|p| {
@ -121,18 +135,14 @@ fn find_path_for_shape(
];
for exit in &exits {
let mut should_push = true;
let dest = Isometry2::new(Vector2::new(exit.0 .0 as f32, exit.0 .1 as f32), 0.);
if query_pipeline
.intersection_with_shape(
&rigid_body_set,
&collider_set,
&dest,
&*shape.raw,
bevy_rapier2d::rapier::pipeline::QueryFilter::new()
.exclude_sensors()
.exclude_collider(initiator),
if !spatial_query
.shape_intersections(
collider,
start.translation.truncate(),
start.yaw().radians(),
SpatialQueryFilter::default(),
)
.is_some()
.is_empty()
{
should_push = false;
}
@ -152,115 +162,8 @@ fn find_path_for_shape(
|p| *p == destination.i32(),
);
if let Some(path) = path {
Some(Path(path.0))
commands.entity(entity).insert(Path(path.0));
} else {
None
}
}
fn calculate_path(
mut commands: Commands,
rapier_context: Res<RapierContext>,
obstructions: Query<&RapierColliderHandle, With<MapObstruction>>,
query: Query<
(
Entity,
&RapierColliderHandle,
&Destination,
&Transform,
&Collider,
Option<&CostMap>,
),
Changed<Destination>,
>,
) {
for (entity, handle, destination, coordinates, shape, cost_map) in &query {
trace
!("{entity}: destination: {destination:?}");
if coordinates.i32() == **destination {
trace
!("{entity}: remove1");
commands
.entity(entity)
.remove::<Path>()
.remove::<NoPath>()
.remove::<Calculating>()
.remove::<Destination>();
continue;
}
trace!(
"{entity:?}: Calculating path from {:?} to {destination:?}",
coordinates.translation.truncate().i32()
);
let coordinates_clone = *coordinates;
let destination_clone = *destination;
let query_pipeline = rapier_context.query_pipeline.clone();
let cost_map_clone = cost_map.cloned();
let handle_clone = *handle;
let mut collider_set = rapier_context.colliders.clone();
let mut to_remove = vec![handle.0];
for handle in collider_set.iter() {
if !obstructions.iter().map(|v| v.0).any(|x| x == handle.0) {
to_remove.push(handle.0);
}
}
let mut bodies = rapier_context.bodies.clone();
if !to_remove.is_empty() {
let mut islands = rapier_context.islands.clone();
for handle in to_remove {
collider_set.remove(handle, &mut islands, &mut bodies, false);
}
}
let shape_clone = (*shape).clone();
trace!(
"{entity:?}: path: calculating from {:?} to {destination:?}",
coordinates.i32(),
);
let pool = AsyncComputeTaskPool::get();
let task = pool.spawn(async move {
find_path_for_shape(
handle_clone.0,
coordinates_clone,
destination_clone,
&cost_map_clone,
query_pipeline,
collider_set,
bodies,
shape_clone,
)
});
trace
!("{entity}: remove2");
commands
.entity(entity)
.insert(Calculating(task))
.remove::<Path>()
.remove::<NoPath>();
}
}
fn poll_tasks(
mut commands: Commands,
mut query: Query<(
Entity,
&mut Calculating,
&Transform,
&Destination,
Option<&mut ActionState<NegotiatePathAction>>,
)>,
) {
for (entity, mut calculating, transform, destination, actions) in &mut query {
if let Some(result) = future::block_on(future::poll_once(&mut **calculating)) {
if let Some(path) = result {
trace!("{entity:?}: Path: {path:?}");
commands.entity(entity).insert(path);
} else {
trace
!(
"{entity:?}: path: no path from {:?} to {:?}",
transform.translation.truncate().i32(),
**destination
);
commands.entity(entity).insert(NoPath);
if let Some(mut actions) = actions {
trace!("{entity:?}: Disabling and resetting because no path");
@ -268,18 +171,13 @@ fn poll_tasks(
actions.reset_all();
}
}
commands.entity(entity).remove::<Calculating>();
}
}
}
fn remove_destination(mut commands: Commands, mut removed: RemovedComponents<Destination>) {
for entity in removed.read() {
if let Some(mut commands) = commands.get_entity(entity) {
commands
.remove::<Calculating>()
.remove::<Path>()
.remove::<NoPath>();
commands.remove::<Path>().remove::<NoPath>();
}
}
}
@ -287,7 +185,7 @@ fn remove_destination(mut commands: Commands, mut removed: RemovedComponents<Des
fn negotiate_path(
mut commands: Commands,
time: Res<Time>,
physics_config: Res<RapierConfiguration>,
spatial_query: SpatialQuery,
mut query: Query<(
Entity,
Option<&mut ActionState<NegotiatePathAction>>,
@ -298,11 +196,7 @@ fn negotiate_path(
&Speed,
Option<&RotationSpeed>,
)>,
rapier_context: Res<RapierContext>,
) {
if !physics_config.physics_pipeline_active || !physics_config.query_pipeline_active {
return;
}
for (
entity,
actions,
@ -346,24 +240,19 @@ fn negotiate_path(
"{entity:?}: Direction: {direction:?}, Distance: {}",
(next - start).length()
);
if rapier_context
if spatial_query
.cast_shape(
collider,
start,
transform.yaw().radians(),
direction,
collider,
ShapeCastOptions {
max_time_of_impact: 1.,
..default()
},
QueryFilter::new()
.exclude_sensors()
.exclude_collider(entity),
Dir2::new_unchecked(direction.normalize()),
direction.length(),
true,
SpatialQueryFilter::default(),
)
.is_some()
{
trace
!("{entity:?} is stuck");
trace!("{entity:?} is stuck");
// TODO: Remove when we have an actual character controller.
next.x = next.x.trunc();
next.y = next.y.trunc();
@ -376,8 +265,7 @@ fn negotiate_path(
transform.rotation = Quat::from_rotation_z(angle);
}
} else {
trace
!("{entity:?}: empty path, cleaning");
trace!("{entity:?}: empty path, cleaning");
if let Some(mut actions) = actions {
trace!("{entity:?}: Disabling pathfind because at destination");
actions.reset_all();
@ -421,8 +309,7 @@ fn actions(
*current_dest = dest;
}
} else {
trace
!("{entity:?}: Adding destination, zeroing velocity");
trace!("{entity:?}: Adding destination, zeroing velocity");
navigation_action.set_axis_pair(&NavigationAction::SetLinearVelocity, Vec2::ZERO);
commands.entity(entity).insert(dest);
}
@ -439,7 +326,7 @@ impl Plugin for PathfindingPlugin {
.register_type::<NoPath>()
.register_type::<Path>()
.register_type::<CostMap>()
.add_systems(PreUpdate, (poll_tasks, negotiate_path).chain())
.add_systems(PreUpdate, negotiate_path)
.add_systems(
PreUpdate,
(actions, calculate_path)

2
src/sound/volumetric.rs
View File

@ -1,5 +1,5 @@
use avian2d::{parry::query::ClosestPoints, prelude::*};
use bevy::{prelude::*, transform::TransformSystem};
use bevy_rapier2d::{parry::query::ClosestPoints, prelude::*};
use bevy_synthizer::{Listener, Sound};
use crate::core::GlobalTransformExt;

42
src/visibility.rs
View File

@ -4,14 +4,12 @@ use std::{
marker::PhantomData,
};
use avian2d::prelude::*;
use bevy::prelude::*;
use bevy_rapier2d::{na::Isometry2, parry::bounding_volume::BoundingVolume};
use coord_2d::{Coord, Size};
use shadowcast::{vision_distance, Context, InputGrid};
use crate::{
bevy_rapier2d::prelude::*,
core::{GlobalTransformExt, Player, PointLike},
log::Log,
map::{Map, MapPlugin},
@ -51,29 +49,22 @@ impl Viewshed {
viewer_entity: &Entity,
visible_entities: &mut VisibleEntities,
start: &Vec2,
rapier_context: &RapierContext,
spatial_query: &SpatialQuery,
visible_query: &Query<(&Visible, &Collider, &GlobalTransform)>,
cache: &mut RefCell<HashMap<(i32, i32), (u8, HashSet<Entity>)>>,
) {
// println!("Start");
let mut boxes = vec![];
let shape = Collider::cuboid(self.range as f32, self.range as f32);
rapier_context.intersections_with_shape(*start, 0., &shape, default(), |entity| {
let shape = Collider::rectangle(self.range as f32, self.range as f32);
spatial_query.shape_intersections_callback(&shape, *start, 0., default(), |entity| {
if let Ok((_, collider, transform)) = visible_query.get(entity) {
let position =
Isometry2::translation(transform.translation().x, transform.translation().y);
// println!(
// "Hit {:?}, pushing {:?}",
// entity,
// collider.raw.compute_aabb(&position)
// );
boxes.push(collider.raw.compute_aabb(&position));
boxes.push(collider.aabb(transform.translation().truncate(), 0.));
}
true
});
let mut context: Context<u8> = Context::default();
let vision_distance = vision_distance::Circle::new(self.range);
let shape = Collider::cuboid(0.49, 0.49);
let shape = Collider::rectangle(0.49, 0.49);
let size = (
(start.x.abs() + self.range as f32 * 2.) as u32,
(start.y.abs() + self.range as f32 * 2.) as u32,
@ -96,15 +87,14 @@ impl Viewshed {
coord_entities = entities.clone();
*opacity
} else {
let position = Isometry2::translation(shape_pos.x, shape_pos.y);
let aabb = shape.raw.compute_aabb(&position);
let aabb = shape.aabb(shape_pos, 0.);
if boxes.iter().any(|b| b.intersects(&aabb)) {
// println!("Hit");
let mut opacity = 0;
rapier_context.intersections_with_shape(
spatial_query.shape_intersections_callback(
&shape,
shape_pos,
0.,
&shape,
default(),
|entity| {
if let Ok((visible, _, _)) = visible_query.get(entity) {
@ -130,7 +120,7 @@ impl Viewshed {
if let Some((k, v)) = to_insert {
cache.borrow_mut().insert(k, v);
}
if coord_entities.contains(&viewer_entity) {
if coord_entities.contains(viewer_entity) {
let mut coord_entities = coord_entities.clone();
coord_entities.retain(|e| e != viewer_entity);
let opacity = coord_entities
@ -282,7 +272,6 @@ where
fn update_viewshed(
mut commands: Commands,
config: Res<RapierConfiguration>,
visible: Query<(&Visible, &Collider, &GlobalTransform)>,
mut viewers: Query<(
Entity,
@ -290,11 +279,8 @@ fn update_viewshed(
&mut VisibleEntities,
&GlobalTransform,
)>,
rapier_context: Res<RapierContext>,
spatial_query: SpatialQuery,
) {
if !config.query_pipeline_active {
return;
}
let mut cache = default();
for (viewer_entity, mut viewshed, mut visible_entities, viewer_transform) in &mut viewers {
viewshed.update(
@ -302,7 +288,7 @@ fn update_viewshed(
&viewer_entity,
&mut visible_entities,
&viewer_transform.translation().truncate(),
&rapier_context,
&spatial_query,
&visible,
&mut cache,
);
@ -318,7 +304,7 @@ fn remove_visible(
&mut VisibleEntities,
&GlobalTransform,
)>,
rapier_context: Res<RapierContext>,
spatial_query: SpatialQuery,
visible: Query<(&Visible, &Collider, &GlobalTransform)>,
) {
if !removed.is_empty() {
@ -333,7 +319,7 @@ fn remove_visible(
&viewer_entity,
&mut visible_entities,
&start.translation().truncate(),
&rapier_context,
&spatial_query,
&visible,
&mut cache,
);