src/core.rs

@@ -98,10 +98,10 @@ impl From<Rot2> for MovementDirection {
             h if h > PI / 8. && h <= 3. * PI / 8. => NorthEast,
             h if h > 3. * PI / 8. && h <= 5. * PI / 8. => North,
             h if h > 5. * PI / 8. && h <= 7. * PI / 8. => NorthWest,
-            h if h > 7. * PI / 8. || h <= -7. * PI / 8. => West,
+            h if h > 7. * PI / 8. || h <= -7. * PI / 8. => East,
-            h if h > -7. * PI / 8. && h <= -5. * PI / 8. => SouthWest,
+            h if h > -7. * PI / 8. && h <= -5. * PI / 8. => SouthEast,
             h if h > -5. * PI / 8. && h <= -3. * PI / 8. => South,
-            h if h > -3. * PI / 8. && h <= -PI / 8. => SouthEast,
+            h if h > -3. * PI / 8. && h <= -PI / 8. => SouthWest,
             _ => West,
         })
     }

src/exploration.rs

@@ -1,9 +1,4 @@
-use std::{
+use std::{error::Error, fmt::Debug, hash::Hash, marker::PhantomData};
-    error::Error,
-    fmt::{Debug, Display},
-    hash::Hash,
-    marker::PhantomData,
-};
 
 use bevy::prelude::*;
 use bevy_rapier2d::prelude::*;
@@ -187,7 +182,7 @@ fn exploration_type_changed_announcement<ExplorationType>(
     >,
 ) -> Result<(), Box<dyn Error>>
 where
-    ExplorationType: Component + Default + Copy + Display,
+    ExplorationType: Component + Default + Copy + Into<String>,
 {
     for (focused, changed) in &focused {
         if changed.is_added() {
@@ -195,7 +190,8 @@ where
         }
         match &focused.0 {
             Some(v) => {
-                tts.speak(format!("{v}"), true)?;
+                let v: String = (*v).into();
+                tts.speak(v, true)?;
             }
             None => {
                 tts.speak("Everything", true)?;
@@ -288,7 +284,7 @@ fn exploration_changed_announcement<ExplorationType, MapData>(
     rapier_context: Res<RapierContext>,
 ) -> Result<(), Box<dyn Error>>
 where
-    ExplorationType: Component + Copy + Display,
+    ExplorationType: Component + Copy + Into<String>,
     MapData: 'static + Clone + Default + Send + Sync,
 {
     if let Ok((coordinates, exploring, viewshed)) = explorer.get_single() {
@@ -322,7 +318,7 @@ where
                         }
                         if tokens.is_empty() {
                             if let Ok(t) = types.get(entity) {
-                                tokens.push(format!("{t}"));
+                                tokens.push((*t).into());
                             }
                         }
                     }
@@ -389,7 +385,7 @@ pub struct Exploration;
 
 impl<ExplorationType, MapData> Plugin for ExplorationPlugin<ExplorationType, MapData>
 where
-    ExplorationType: 'static + Component + Default + Copy + Ord + PartialEq + Display,
+    ExplorationType: 'static + Component + Default + Copy + Ord + PartialEq + Into<String>,
     MapData: 'static + Clone + Default + Send + Sync,
 {
     fn build(&self, app: &mut App) {

src/navigation.rs

@@ -99,6 +99,7 @@ impl Default for Speed {
 }
 
 fn snap(
+    mut tts: ResMut<Tts>,
     mut snap_timers: ResMut<SnapTimers>,
     mut query: Query<
         (
@@ -109,7 +110,7 @@ fn snap(
         ),
         With<Player>,
     >,
-) {
+) -> Result<(), Box<dyn Error>> {
     for (entity, actions, mut transform, direction) in &mut query {
         if snap_timers.contains_key(&entity) {
             continue;
@@ -137,12 +138,11 @@ fn snap(
             let yaw: Rot2 = direction.into();
             let yaw = yaw.as_radians();
             println!("Yaw: {yaw}");
-            let rotation = Quat::from_rotation_z(yaw);
+            transform.rotation = Quat::from_rotation_z(yaw);
-            if transform.rotation != rotation {
+            tts.speak(direction.to_string(), true)?;
-                transform.rotation = rotation;
-            }
         }
     }
+    Ok(())
 }
 
 fn tick_snap_timers(time: Res<Time>, mut snap_timers: ResMut<SnapTimers>) {
@@ -380,7 +380,7 @@ impl Plugin for NavigationPlugin {
             .add_systems(PreUpdate, (update_direction, add_speed))
             .add_systems(
                 Update,
-                (snap, controls)
+                (snap.pipe(error_handler), controls)
                     .chain()
                     .in_set(Movement),
             )

src/visibility.rs

@@ -1,11 +1,12 @@
 use std::{
+    cell::RefCell,
     collections::{HashMap, HashSet},
     marker::PhantomData,
 };
 
 use bevy::prelude::*;
 
-use bevy_rapier2d::na::Isometry2;
+use bevy_rapier2d::{na::Isometry2, parry::bounding_volume::BoundingVolume};
 use coord_2d::{Coord, Size};
 use shadowcast::{vision_distance, Context, InputGrid};
 
@@ -50,17 +51,100 @@ impl Viewshed {
         viewer_entity: &Entity,
         visible_entities: &mut VisibleEntities,
         start: &Vec2,
-        opacity_map: &OpacityMap,
-        sensors: &Query<&Sensor>,
         rapier_context: &RapierContext,
+        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| {
+            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));
+            }
+            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 size = (
             (start.x.abs() + self.range as f32 * 2.) as u32,
             (start.y.abs() + self.range as f32 * 2.) as u32,
         );
-        let visibility_grid = VisibilityGrid(size, *viewer_entity, opacity_map.clone());
+        let visibility_grid = VisibilityGrid(
+            size,
+            RefCell::new(Box::new(|coord: Coord| {
+                let shape_pos = Vec2::new(coord.x as f32 + 0.5, coord.y as f32 + 0.5);
+                // println!("Checking {coord:?}: {shape_pos:?}");
+                if start.distance(&shape_pos) > self.range as f32 {
+                    // println!("Out of range");
+                    return u8::MAX;
+                }
+                let mut coord_entities = HashSet::new();
+                let mut to_insert = None;
+                let opacity = if let Some((opacity, entities)) =
+                    cache.borrow().get(&(coord.x, coord.y))
+                {
+                    // println!("Cache hit: {opacity:?}: {entities:?}");
+                    coord_entities = entities.clone();
+                    *opacity
+                } else {
+                    let position = Isometry2::translation(shape_pos.x, shape_pos.y);
+                    let aabb = shape.raw.compute_aabb(&position);
+                    if boxes.iter().any(|b| b.intersects(&aabb)) {
+                        // println!("Hit");
+                        let mut opacity = 0;
+                        rapier_context.intersections_with_shape(
+                            shape_pos,
+                            0.,
+                            &shape,
+                            default(),
+                            |entity| {
+                                if let Ok((visible, _, _)) = visible_query.get(entity) {
+                                    // println!(
+                                    // "{entity:?}: {visible:?}: {:?}",
+                                    // transform.translation().truncate()
+                                    // );
+                                    coord_entities.insert(entity);
+                                    opacity = opacity.max(**visible);
+                                }
+                                true
+                            },
+                        );
+                        to_insert = Some(((coord.x, coord.y), (opacity, coord_entities.clone())));
+                        // println!("New opacity: {opacity}");
+                        opacity
+                    } else {
+                        // println!("No hits, 0");
+                        to_insert = Some(((coord.x, coord.y), default()));
+                        0
+                    }
+                };
+                if let Some((k, v)) = to_insert {
+                    cache.borrow_mut().insert(k, v);
+                }
+                if coord_entities.contains(&viewer_entity) {
+                    let mut coord_entities = coord_entities.clone();
+                    coord_entities.retain(|e| e != viewer_entity);
+                    let opacity = coord_entities
+                        .iter()
+                        .map(|v| visible_query.get(*v).unwrap().0 .0)
+                        .max()
+                        .unwrap_or(0);
+                    // println!("Viewer hit, removing viewer opacity: {opacity}");
+                    opacity
+                } else {
+                    opacity
+                }
+            })),
+        );
         let mut new_visible = HashSet::new();
         let mut new_visible_entities = HashSet::new();
         // println!("Start: {viewer_entity}");
@@ -72,36 +156,9 @@ impl Viewshed {
             u8::MAX,
             |coord, _directions, _visibility| {
                 new_visible.insert((coord.x, coord.y));
-                let coord = IVec2::new(coord.x, coord.y);
+                if let Some((_, entities)) = cache.borrow().get(&(coord.x, coord.y)) {
-                // println!("Checking {coord:?}");
-                if let Some((_, entities)) = opacity_map.get(&coord) {
                     for e in entities {
-                        if entities.len() == 1 || sensors.contains(*e) {
                         new_visible_entities.insert(*e);
-                        } else {
-                            let mut should_push = true;
-                            let coord = Vec2::new(coord.x as f32 + 0.5, coord.y as f32 + 0.5);
-                            let dir = (coord - *start).normalize();
-                            // println!("Casting from {coord}");
-                            rapier_context.intersections_with_ray(
-                                *start,
-                                dir,
-                                dir.distance(*start),
-                                true,
-                                default(),
-                                |entity, _hit| {
-                                    if *e != entity && entities.contains(&e) {
-                                        // println!("{entities:?} contains {e} and hits at {:?}", hit.point);
-                                        // commands.entity(*e).log_components();
-                                        should_push = false;
-                                    }
-                                    true
-                                },
-                            );
-                            if should_push {
-                                new_visible_entities.insert(*e);
-                            }
-                        }
                     }
                 }
             },
@@ -114,6 +171,8 @@ impl Viewshed {
                 commands.trigger_targets(VisibilityChanged::Lost(*lost), *viewer_entity);
             }
             for gained in new_visible_entities.difference(visible_entities) {
+                // println!("transition: {:?} gains {:?}", viewer_entity,
+                // gained);
                 commands.trigger_targets(VisibilityChanged::Gained(*gained), *viewer_entity);
             }
             **visible_entities = new_visible_entities;
@@ -141,80 +200,6 @@ impl Visible {
     }
 }
 
-#[derive(Resource, Clone, Deref, DerefMut, Default)]
-pub struct OpacityMap(HashMap<IVec2, (u8, HashSet<Entity>)>);
-
-impl OpacityMap {
-    fn update(
-        &mut self,
-        rapier_context: &RapierContext,
-        coordinates: HashSet<IVec2>,
-        visible: &Query<(Entity, &GlobalTransform, &Collider, &Visible)>,
-    ) {
-        self.retain(|k, _| !coordinates.contains(k));
-        let shape = Collider::cuboid(0.49, 0.49);
-        for coords in &coordinates {
-            let shape_pos = Vec2::new(coords.x as f32 + 0.5, coords.y as f32 + 0.5);
-            let mut opacity = 0;
-            let mut coord_entities = HashSet::new();
-            rapier_context.intersections_with_shape(shape_pos, 0., &shape, default(), |entity| {
-                if let Ok((_, _, _, visible)) = visible.get(entity) {
-                    coord_entities.insert(entity);
-                    opacity = opacity.max(**visible);
-                }
-                true
-            });
-            self.insert(*coords, (opacity, coord_entities));
-        }
-    }
-}
-
-fn update_opacity_map(
-    mut opacity_map: ResMut<OpacityMap>,
-    rapier_context: Res<RapierContext>,
-    query: Query<
-        (Entity, &GlobalTransform, &Collider, &Visible),
-        Or<(Changed<GlobalTransform>, Changed<Visible>)>,
-    >,
-    visible: Query<(Entity, &GlobalTransform, &Collider, &Visible)>,
-) {
-    let mut to_update = HashSet::new();
-    for (entity, transform, collider, _) in &query {
-        // println!(
-        //     "Updating {entity} at {:?}",
-        //     transform.translation().truncate().as_ivec2()
-        // );
-        let mut prev = HashSet::new();
-        for (k, v) in opacity_map.iter() {
-            if v.1.contains(&entity) {
-                // println!("Also updating {k} because it contained entity");
-                prev.insert(*k);
-            }
-        }
-        let mut current = HashSet::new();
-        current.insert(transform.translation().truncate().as_ivec2());
-        let position = Isometry2::new(
-            transform.translation().truncate().into(),
-            transform.yaw().as_radians(),
-        );
-        let aabb = collider.raw.compute_aabb(&position);
-        for x in aabb.mins.x as i32..aabb.maxs.x as i32 {
-            for y in aabb.mins.y as i32..aabb.maxs.y as i32 {
-                // println!(
-                //     "Also updating coordinates at {:?}",
-                //     IVec2::new(x as i32, y as i32)
-                // );
-                current.insert(IVec2::new(x as i32, y as i32));
-            }
-        }
-        if prev != current {
-            to_update.extend(prev);
-            to_update.extend(current);
-        }
-    }
-    opacity_map.update(&rapier_context, to_update, &visible);
-}
-
 #[derive(Component, Clone, Debug, Default, Deref, DerefMut)]
 pub struct VisibleEntities(HashSet<Entity>);
 
@@ -276,9 +261,12 @@ fn viewshed_removed(
     }
 }
 
-pub struct VisibilityGrid(pub (u32, u32), pub Entity, pub OpacityMap);
+pub struct VisibilityGrid<F>(pub (u32, u32), pub RefCell<Box<F>>);
 
-impl InputGrid for VisibilityGrid {
+impl<F> InputGrid for VisibilityGrid<F>
+where
+    F: FnMut(Coord) -> u8,
+{
     type Grid = (u32, u32);
 
     type Opacity = u8;
@@ -288,47 +276,35 @@ impl InputGrid for VisibilityGrid {
     }
 
     fn get_opacity(&self, _grid: &Self::Grid, coord: Coord) -> Self::Opacity {
-        // println!("Checking {coord:?}");
+        (self.1.borrow_mut())(coord)
-        if let Some((opacity, entities)) = self.2.get(&IVec2::new(coord.x, coord.y)) {
-            if entities.len() == 1 && entities.contains(&self.1) {
-                // println!("Hit viewer, 0");
-                0
-            } else {
-                // println!("{opacity:?}");
-                *opacity
-            }
-        } else {
-            // println!("Miss, 0");
-            0
-        }
     }
 }
 
 fn update_viewshed(
     mut commands: Commands,
     config: Res<RapierConfiguration>,
+    visible: Query<(&Visible, &Collider, &GlobalTransform)>,
     mut viewers: Query<(
         Entity,
         &mut Viewshed,
         &mut VisibleEntities,
         &GlobalTransform,
     )>,
-    opacity_map: Res<OpacityMap>,
-    sensors: Query<&Sensor>,
     rapier_context: Res<RapierContext>,
 ) {
     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(
             &mut commands,
             &viewer_entity,
             &mut visible_entities,
             &viewer_transform.translation().truncate(),
-            &opacity_map,
+            &rapier_context,
-            &sensors,
+            &visible,
-            &*rapier_context,
+            &mut cache,
         );
     }
 }
@@ -342,21 +318,11 @@ fn remove_visible(
         &mut VisibleEntities,
         &GlobalTransform,
     )>,
-    sensors: Query<&Sensor>,
     rapier_context: Res<RapierContext>,
-    mut opacity_map: ResMut<OpacityMap>,
+    visible: Query<(&Visible, &Collider, &GlobalTransform)>,
-    visible: Query<(Entity, &GlobalTransform, &Collider, &Visible)>,
 ) {
     if !removed.is_empty() {
-        let mut to_update = HashSet::new();
+        let mut cache = default();
-        for e in removed.read() {
-            for (k, v) in opacity_map.iter() {
-                if v.1.contains(&e) {
-                    to_update.insert(*k);
-                }
-            }
-        }
-        opacity_map.update(&rapier_context, to_update, &visible);
         for removed in removed.read() {
             for (viewer_entity, mut viewshed, mut visible_entities, start) in &mut viewers {
                 if !visible_entities.contains(&removed) {
@@ -367,9 +333,9 @@ fn remove_visible(
                     &viewer_entity,
                     &mut visible_entities,
                     &start.translation().truncate(),
-                    &opacity_map,
+                    &rapier_context,
-                    &sensors,
+                    &visible,
-                    &*rapier_context,
+                    &mut cache,
                 );
             }
         }
@@ -405,6 +371,7 @@ fn log_visible(
         }
         if let Ok((viewer_transform, viewer_collider)) = viewers.get(trigger.entity()) {
             if let Ok((name, viewed_transform, viewed_collider)) = visible.get(*entity) {
+                // println!("Gain {name}: {entity}");
                 let location = if let (Some(viewer_collider), Some(viewed_collider)) =
                     (viewer_collider, viewed_collider)
                 {
@@ -435,12 +402,7 @@ impl<MapData: 'static + Clone + Default + Send + Sync> Default for VisibilityPlu
 
 impl<MapData: 'static + Clone + Default + Send + Sync> Plugin for VisibilityPlugin<MapData> {
     fn build(&self, app: &mut App) {
-        app.init_resource::<OpacityMap>()
+        app.add_systems(
-            .add_systems(
-                FixedPreUpdate,
-                update_opacity_map.before(update_viewshed),
-            )
-            .add_systems(
             FixedPreUpdate,
             (
                 add_visibility_indices::<MapData>,