Merge pull request #53 from Jondolf/spatial-queries

Add spatial queries

crates/bevy_xpbd_2d/Cargo.toml

@@ -16,7 +16,7 @@ default = [ "2d", "f32" ]
 2d = []
 f32 = [ "dep:parry2d" ]
 f64 = [ "dep:parry2d-f64" ]
-debug-plugin = [ "dep:bevy_prototype_debug_lines" ]
+debug-plugin = [ "dep:bevy_prototype_debug_lines", "examples_common_2d/debug-plugin" ]
 simd = [ "parry2d?/simd-stable", "parry2d-f64?/simd-stable" ]
 enhanced-determinism = [ "parry2d?/enhanced-determinism", "parry2d-f64?/enhanced-determinism" ]
 
@@ -61,6 +61,10 @@ required-features = ["2d"]
 name = "prismatic_joint_2d"
 required-features = ["2d"]
 
+[[example]]
+name = "ray_caster"
+required-features = ["2d"]
+
 [[example]]
 name = "revolute_joint_2d"
 required-features = ["2d"]

crates/bevy_xpbd_2d/examples/ray_caster.rs

@@ -0,0 +1,84 @@
+//! A simple ray casting example that uses the [`RayCaster`] component.
+//!
+//! An alternative, more controlled approach is to use the methods of
+//! the [`SpatialQuery`] system parameter.
+
+#![allow(clippy::unnecessary_cast)]
+
+use bevy::{prelude::*, sprite::MaterialMesh2dBundle};
+use bevy_xpbd_2d::prelude::*;
+use examples_common_2d::{bevy_prototype_debug_lines::*, *};
+
+fn main() {
+    App::new()
+        .add_plugins(DefaultPlugins)
+        .add_plugin(XpbdExamplePlugin)
+        .insert_resource(ClearColor(Color::rgb(0.05, 0.05, 0.1)))
+        .add_system(render_rays)
+        .add_startup_system(setup)
+        .run();
+}
+
+fn setup(
+    mut commands: Commands,
+    mut meshes: ResMut<Assets<Mesh>>,
+    mut materials: ResMut<Assets<ColorMaterial>>,
+) {
+    commands.spawn(Camera2dBundle::default());
+
+    // Spawn a perimeter of circles that the ray will be cast against
+    let radius = 16.0;
+    for x in -4..=4 {
+        for y in -4..=4 {
+            if (-3..4).contains(&x) && (-3..4).contains(&y) {
+                continue;
+            }
+
+            commands.spawn((
+                MaterialMesh2dBundle {
+                    mesh: meshes.add(shape::Circle::new(radius as f32).into()).into(),
+                    material: materials.add(ColorMaterial::from(Color::rgb(0.2, 0.7, 0.9))),
+                    ..default()
+                },
+                RigidBody::Kinematic,
+                Position(Vector::new(
+                    x as Scalar * radius * 3.0,
+                    y as Scalar * radius * 3.0,
+                )),
+                Collider::ball(radius),
+            ));
+        }
+    }
+
+    // Spawn a rotating kinematic body with a ray caster
+    commands.spawn((
+        RigidBody::Kinematic,
+        AngularVelocity(0.2),
+        RayCaster::new(Vector::ZERO, Vector::X),
+    ));
+}
+
+fn render_rays(mut rays: Query<(&mut RayCaster, &mut RayHits)>, mut lines: ResMut<DebugLines>) {
+    for (ray, hits) in &mut rays {
+        // Convert to Vec3 for lines
+        let origin = ray.global_origin().extend(0.0).as_f32();
+        let direction = ray.global_direction().extend(0.0).as_f32();
+
+        for hit in hits.iter() {
+            lines.line_colored(
+                origin,
+                origin + direction * hit.time_of_impact as f32,
+                0.001,
+                Color::GREEN,
+            );
+        }
+        if hits.is_empty() {
+            lines.line_colored(
+                origin,
+                origin + direction * 1_000_000.0,
+                0.001,
+                Color::ORANGE_RED,
+            );
+        }
+    }
+}

crates/bevy_xpbd_3d/Cargo.toml

@@ -16,7 +16,7 @@ default = [ "3d", "f32" ]
 3d = []
 f32 = [ "dep:parry3d" ]
 f64 = [ "dep:parry3d-f64" ]
-debug-plugin = [ "dep:bevy_prototype_debug_lines" ]
+debug-plugin = [ "dep:bevy_prototype_debug_lines", "examples_common_3d/debug-plugin" ]
 simd = [ "parry3d?/simd-stable", "parry3d-f64?/simd-stable" ]
 enhanced-determinism = [ "parry3d?/enhanced-determinism", "parry3d-f64?/enhanced-determinism" ]
 

crates/examples_common_2d/Cargo.toml

@@ -3,6 +3,9 @@ name = "examples_common_2d"
 version = "0.1.0"
 edition = "2021"
 
+[features]
+debug-plugin = []
+
 [dependencies]
 bevy = { version = "0.10.1", default-features = false, features = [
     "bevy_core_pipeline",
@@ -16,4 +19,5 @@ bevy = { version = "0.10.1", default-features = false, features = [
     "x11", # github actions runners don't have libxkbcommon installed, so can't use wayland
 ] }
 bevy_screen_diagnostics = "0.2"
+bevy_prototype_debug_lines = "0.10.1"
 bevy_xpbd_2d = { path = "../bevy_xpbd_2d", default-features = false }

crates/examples_common_2d/src/lib.rs

@@ -1,5 +1,7 @@
-use bevy::prelude::*;
+pub extern crate bevy_prototype_debug_lines;
 
+use bevy::prelude::*;
+use bevy_prototype_debug_lines::DebugLinesPlugin;
 use bevy_screen_diagnostics::{ScreenDiagnosticsPlugin, ScreenFrameDiagnosticsPlugin};
 use bevy_xpbd_2d::prelude::*;
 
@@ -16,6 +18,10 @@ impl Plugin for XpbdExamplePlugin {
             .add_system(bevy_xpbd_2d::resume.in_schedule(OnExit(AppState::Paused)))
             .add_system(pause_button)
             .add_system(step_button.run_if(in_state(AppState::Paused)));
+        #[cfg(not(feature = "debug-plugin"))]
+        {
+            app.add_plugin(DebugLinesPlugin::default());
+        }
     }
 }
 

crates/examples_common_3d/Cargo.toml

@@ -3,6 +3,9 @@ name = "examples_common_3d"
 version = "0.1.0"
 edition = "2021"
 
+[features]
+debug-plugin = []
+
 [dependencies]
 bevy = { version = "0.10.1", default-features = false, features = [
     "bevy_core_pipeline",
@@ -16,4 +19,5 @@ bevy = { version = "0.10.1", default-features = false, features = [
     "x11", # github actions runners don't have libxkbcommon installed, so can't use wayland
 ] }
 bevy_screen_diagnostics = "0.2"
+bevy_prototype_debug_lines = "0.10.1"
 bevy_xpbd_3d = { path = "../bevy_xpbd_3d", default-features = false }

crates/examples_common_3d/src/lib.rs

@@ -1,5 +1,7 @@
-use bevy::prelude::*;
+pub extern crate bevy_prototype_debug_lines;
 
+use bevy::prelude::*;
+use bevy_prototype_debug_lines::DebugLinesPlugin;
 use bevy_screen_diagnostics::{ScreenDiagnosticsPlugin, ScreenFrameDiagnosticsPlugin};
 use bevy_xpbd_3d::prelude::*;
 
@@ -16,6 +18,10 @@ impl Plugin for XpbdExamplePlugin {
             .add_system(bevy_xpbd_3d::resume.in_schedule(OnExit(AppState::Paused)))
             .add_system(pause_button)
             .add_system(step_button.run_if(in_state(AppState::Paused)));
+        #[cfg(not(feature = "debug-plugin"))]
+        {
+            app.add_plugin(DebugLinesPlugin::default());
+        }
     }
 }
 

src/components/collider.rs

@@ -88,6 +88,24 @@ impl Collider {
         &self.0
     }
 
+    /// Computes the [Axis-Aligned Bounding Box](ColliderAabb) of the collider.
+    #[cfg(feature = "2d")]
+    pub fn compute_aabb(&self, position: Vector, rotation: Scalar) -> ColliderAabb {
+        ColliderAabb(self.get_shape().compute_aabb(&utils::make_isometry(
+            position,
+            &Rotation::from_radians(rotation),
+        )))
+    }
+
+    /// Computes the [Axis-Aligned Bounding Box](ColliderAabb) of the collider.
+    #[cfg(feature = "3d")]
+    pub fn compute_aabb(&self, position: Vector, rotation: Quaternion) -> ColliderAabb {
+        ColliderAabb(
+            self.get_shape()
+                .compute_aabb(&utils::make_isometry(position, &Rotation(rotation))),
+        )
+    }
+
     /// Creates a collider with a compound shape defined by a given vector of colliders with a position and a rotation.
     ///
     /// Especially for dynamic rigid bodies, compound shape colliders should be preferred over triangle meshes and polylines,

src/components/rotation.rs

@@ -48,8 +48,6 @@ pub struct Rotation {
 ///     // Spawn a dynamic rigid body rotated by 1.5 radians around the x axis
 ///     commands.spawn((RigidBody::Dynamic, Rotation(Quat::from_rotation_x(1.5))));
 /// }
-/// # #[cfg(not(feature = "f32"))]
-/// # fn setup() {}
 /// ```
 #[cfg(feature = "3d")]
 #[derive(Reflect, Clone, Copy, Component, Debug, Default, Deref, DerefMut)]

src/lib.rs

@@ -30,6 +30,11 @@
 //! - [Gravity](Gravity)
 //! - [Joints](joints)
 //! - Built-in [constraints] and support for [custom constraints](constraints#custom-constraints)
+//! - [Spatial queries](spatial_query)
+//!     - [Ray casting](spatial_query#ray-casting)
+//!     - [Shape casting](spatial_query#shape-casting)
+//!     - [Point projection](spatial_query#point-projection)
+//!     - [Intersection tests](spatial_query#intersection-tests)
 //! - Automatically deactivating bodies with [sleeping](Sleeping)
 //! - Configurable [timesteps](PhysicsTimestep) and [substepping](SubstepCount)
 //! - `f32`/`f64` precision (`f32` by default)
@@ -155,6 +160,9 @@
 //! - [Configure gravity](Gravity)
 //! - [Configure restitution](Restitution)
 //! - [Configure friction](Friction)
+//! - [Perform spatial queries](spatial_query)
+//!     - [Ray casting](spatial_query#ray-casting)
+//!     - [Shape casting](spatial_query#shape-casting)
 //! - [Configure the physics timestep](PhysicsTimestep)
 //! - [Configure the substep count](SubstepCount)
 //! - [Create custom constraints](constraints#custom-constraints)

src/plugins/mod.rs

@@ -27,6 +27,7 @@ pub mod prepare;
 pub mod setup;
 pub mod sleeping;
 pub mod solver;
+pub mod spatial_query;
 pub mod sync;
 
 pub use broad_phase::BroadPhasePlugin;
@@ -37,6 +38,7 @@ pub use prepare::PreparePlugin;
 pub use setup::*;
 pub use sleeping::SleepingPlugin;
 pub use solver::{solve_constraint, SolverPlugin};
+pub use spatial_query::*;
 pub use sync::SyncPlugin;
 
 #[allow(unused_imports)]
@@ -56,6 +58,7 @@ use bevy::prelude::*;
 /// - [`SolverPlugin`]: Solves positional and angular [constraints], updates velocities and solves velocity constraints
 /// (dynamic [friction](Friction) and [restitution](Restitution)).
 /// - [`SleepingPlugin`]: Controls when bodies should be deactivated and marked as [`Sleeping`] to improve performance.
+/// - [`SpatialQueryPlugin`]: Handles spatial queries like [ray casting](RayCaster) and shape casting.
 /// - [`SyncPlugin`]: Synchronizes the engine's [`Position`]s and [`Rotation`]s with Bevy's `Transform`s.
 /// - `PhysicsDebugPlugin`: Renders physics objects and events like [AABBs](ColliderAabb) and [contacts](Collision)
 /// for debugging purposes (only with `debug-plugin` feature enabled).
@@ -150,6 +153,7 @@ impl PluginGroup for PhysicsPlugins {
             .add(IntegratorPlugin)
             .add(SolverPlugin)
             .add(SleepingPlugin)
+            .add(SpatialQueryPlugin)
             .add(SyncPlugin)
     }
 }
@@ -164,6 +168,7 @@ impl PluginGroup for PhysicsPlugins {
 ///     3. Update velocities
 ///     4. Solve velocity constraints (dynamic friction and restitution)
 /// 4. Sleeping
+/// 5. Spatial queries (ray casting and shape casting)
 /// 5. Sync data
 #[derive(SystemSet, Clone, Copy, Debug, PartialEq, Eq, Hash)]
 pub enum PhysicsSet {
@@ -185,6 +190,10 @@ pub enum PhysicsSet {
     ///
     /// See [`SleepingPlugin`].
     Sleeping,
+    /// Responsible for spatial queries like [ray casting](`RayCaster`) and shape casting.
+    ///
+    /// See [`SpatialQueryPlugin`].
+    SpatialQuery,
     /// Responsible for synchronizing [`Position`]s and [`Rotation`]s with Bevy's `Transform`s.
     ///
     /// See [`SyncPlugin`].

src/plugins/setup.rs

@@ -87,6 +87,7 @@ impl Plugin for PhysicsSetupPlugin {
                 PhysicsSet::BroadPhase,
                 PhysicsSet::Substeps,
                 PhysicsSet::Sleeping,
+                PhysicsSet::SpatialQuery,
                 PhysicsSet::Sync,
             )
                 .chain(),