move_and_slide_3d.rs

//! Demonstrates using move and slide to control a kinematic character.
//!
//! This is intended more as a testbed and less as a polished usage example.

use core::f32::consts::FRAC_PI_2;

use avian3d::{math::*, prelude::*};
use bevy::{
    color::palettes::tailwind,
    ecs::entity::EntityHashSet,
    gltf::{GltfLoaderSettings, convert_coordinates::GltfConvertCoordinates},
    input::{common_conditions::input_just_pressed, mouse::AccumulatedMouseMotion},
    pbr::{Atmosphere, ScatteringMedium},
    prelude::*,
    window::{CursorGrabMode, CursorOptions},
};
use examples_common_3d::ExampleCommonPlugin;

fn main() {
    App::new()
        .add_plugins((
            DefaultPlugins,
            ExampleCommonPlugin,
            PhysicsPlugins::default(),
        ))
        .add_systems(Startup, setup)
        .add_systems(FixedUpdate, (player_movement, run_move_and_slide).chain())
        .add_systems(
            Update,
            (
                update_camera_transform,
                capture_cursor.run_if(input_just_pressed(MouseButton::Left)),
                release_cursor.run_if(input_just_pressed(KeyCode::Escape)),
                update_debug_text,
            ),
        )
        .run();
}

#[derive(Component)]
struct Player;

/// The entities touched during the last `move_and_slide` call. Stored for debug printing.
#[derive(Component, Default, Deref, DerefMut)]
struct TouchedEntities(EntityHashSet);

#[derive(Component)]
struct DebugText;

fn setup(
    mut commands: Commands,
    mut materials: ResMut<Assets<StandardMaterial>>,
    mut meshes: ResMut<Assets<Mesh>>,
    mut scattering_media: ResMut<Assets<ScatteringMedium>>,
    assets: ResMut<AssetServer>,
) {
    // Character
    let shape = Sphere::new(0.5);
    commands.spawn((
        Player,
        Mesh3d(meshes.add(shape)),
        MeshMaterial3d(materials.add(Color::from(tailwind::SKY_400.with_alpha(0.6)))),
        Collider::from(shape),
        RigidBody::Kinematic,
        TransformInterpolation,
        // We want to control position updates manually using move and slide.
        CustomPositionIntegration,
        // Store touched and colliding entities for debug printing.
        TouchedEntities::default(),
        CollidingEntities::default(),
    ));

    // Scene
    commands.spawn((
        SceneRoot(assets.load_with_settings(
            "https://github.com/avianphysics/avian_asset_files/raw/08f82a1031c4fbdf1a461600468d2a37593a804a/move_and_slide_level/move_and_slide_level.glb#Scene0",
            |settings: &mut GltfLoaderSettings| {
                settings.convert_coordinates = Some(GltfConvertCoordinates {
                    rotate_scene_entity: true,
                    rotate_meshes: true,
                });
            },
        )),
        ColliderConstructorHierarchy::new(ColliderConstructor::TrimeshFromMesh),
        RigidBody::Static,
    )).observe(|
        _ready: On<ColliderConstructorHierarchyReady>,
        mut commands: Commands,
        mut meshes: ResMut<Assets<Mesh>>,
        mut materials: ResMut<Assets<StandardMaterial>>| {
        // Add some dynamic cubes
        for i in 0..5 {
            for j in 0..5 {
                let position = Vec3::new(i as f32 * 2.0 - 15.0, 0.0, j as f32 * 2.0 - 15.0);
                let cube = Cuboid::from_length(0.75);
                commands.spawn((
                    Name::new("Cube"),
                    Mesh3d(meshes.add(cube)),
                    MeshMaterial3d(materials.add(StandardMaterial::default())),
                    Collider::from(cube),
                    RigidBody::Dynamic,
                    Transform::from_translation(position),
                ));
            }
        }
    });

    // Light
    commands.spawn((
        DirectionalLight {
            illuminance: 6000.0,
            shadows_enabled: true,
            ..default()
        },
        Transform::default().looking_at(Vec3::new(-1.0, -3.0, -2.0), Vec3::Y),
    ));

    // Camera and atmosphere
    commands.spawn((
        Camera3d::default(),
        Transform::from_xyz(-5.0, 3.5, 5.5).looking_at(Vec3::ZERO, Vec3::Y),
        Atmosphere::earthlike(scattering_media.add(ScatteringMedium::default())),
        EnvironmentMapLight {
            diffuse_map: assets.load("https://github.com/avianphysics/avian_asset_files/raw/08f82a1031c4fbdf1a461600468d2a37593a804a/voortrekker_interior/voortrekker_interior_1k_diffuse.ktx2"),
            specular_map: assets.load("https://github.com/avianphysics/avian_asset_files/raw/08f82a1031c4fbdf1a461600468d2a37593a804a/voortrekker_interior/voortrekker_interior_1k_specular.ktx2"),
            intensity: 1500.0,
            ..default()
        },
        Projection::Perspective(PerspectiveProjection {
            fov: 70.0_f32.to_radians(),
            ..default()
        }),
    ));

    // Debug test
    commands.spawn((
        DebugText,
        Node {
            width: percent(100.0),
            height: percent(100.0),
            ..default()
        },
        Text::default(),
    ));
}

/// System to handle player movement and friction.
///
/// This only updates velocity. The actual movement is handled by the `run_move_and_slide` system.
fn player_movement(
    mut query: Query<&mut LinearVelocity, With<Player>>,
    camera: Single<&Transform, With<Camera>>,
    time: Res<Time>,
    input: Res<ButtonInput<KeyCode>>,
) {
    for mut lin_vel in &mut query {
        // Determine movement velocity from input
        let mut movement_velocity = Vec3::ZERO;
        if input.pressed(KeyCode::KeyW) {
            movement_velocity += Vec3::NEG_Z
        }
        if input.pressed(KeyCode::KeyS) {
            movement_velocity += Vec3::Z
        }
        if input.pressed(KeyCode::KeyA) {
            movement_velocity += Vec3::NEG_X
        }
        if input.pressed(KeyCode::KeyD) {
            movement_velocity += Vec3::X
        }
        if input.pressed(KeyCode::Space) || input.pressed(KeyCode::KeyE) {
            movement_velocity += Vec3::Y
        }
        if input.pressed(KeyCode::ControlLeft) || input.pressed(KeyCode::KeyQ) {
            movement_velocity += Vec3::NEG_Y
        }
        movement_velocity = movement_velocity.normalize_or_zero();
        movement_velocity *= 7.0;
        if input.pressed(KeyCode::ShiftLeft) {
            movement_velocity *= 3.0;
        }
        movement_velocity = camera.rotation * movement_velocity;

        // Add to current velocity
        lin_vel.0 += movement_velocity.adjust_precision();

        let current_speed = lin_vel.length();
        if current_speed > 0.0 {
            // Apply friction
            lin_vel.0 = lin_vel.0 / current_speed
                * (current_speed - current_speed * 20.0 * time.delta_secs().adjust_precision())
                    .max(0.0)
        }
    }
}

/// System to run the move and slide algorithm, updating the player's transform and velocity.
///
/// This replaces Avian's default "position integration" that moves kinematic bodies based on their
/// velocity without any collision handling.
fn run_move_and_slide(
    mut query: Query<
        (
            Entity,
            &mut Transform,
            &mut LinearVelocity,
            &mut TouchedEntities,
            &Collider,
        ),
        With<Player>,
    >,
    move_and_slide: MoveAndSlide,
    time: Res<Time>,
    mut gizmos: Gizmos,
) {
    for (entity, mut transform, mut lin_vel, mut touched, collider) in &mut query {
        touched.clear();

        // Perform move and slide
        let MoveAndSlideOutput {
            position,
            projected_velocity,
        } = move_and_slide.move_and_slide(
            collider,
            transform.translation.adjust_precision(),
            transform.rotation.adjust_precision(),
            lin_vel.0,
            time.delta(),
            &MoveAndSlideConfig::default(),
            &SpatialQueryFilter::from_excluded_entities([entity]),
            |hit| {
                // For each collision, draw debug gizmos
                if hit.intersects() {
                    gizmos.circle(transform.translation, 33.0, tailwind::RED_600);
                } else {
                    gizmos.arrow(
                        hit.point.f32(),
                        (hit.point
                            + hit.normal.adjust_precision() * hit.collision_distance
                                / time.delta_secs().adjust_precision())
                        .f32(),
                        tailwind::EMERALD_400,
                    );
                }
                touched.insert(hit.entity);
                MoveAndSlideHitResponse::Accept
            },
        );

        // Update transform and velocity
        transform.translation = position.f32();
        lin_vel.0 = projected_velocity;
    }
}

fn update_camera_transform(
    accumulated_mouse_motion: Res<AccumulatedMouseMotion>,
    player: Single<(Entity, &Transform), With<TouchedEntities>>,
    mut camera: Single<&mut Transform, (With<Camera>, Without<TouchedEntities>)>,
    spatial: SpatialQuery,
) {
    let (player_entity, player_transform) = player.into_inner();
    let delta = accumulated_mouse_motion.delta;

    let delta_yaw = -delta.x * 0.005;
    let delta_pitch = -delta.y * 0.005;

    let (yaw, pitch, roll) = camera.rotation.to_euler(EulerRot::YXZ);
    let yaw = yaw + delta_yaw;

    const PITCH_LIMIT: f32 = FRAC_PI_2 - 0.01;
    let pitch = (pitch + delta_pitch).clamp(-PITCH_LIMIT, PITCH_LIMIT);

    camera.rotation = Quat::from_euler(EulerRot::YXZ, yaw, pitch, roll);
    const MAX_DISTANCE: f32 = 15.0;
    camera.translation = player_transform.translation + camera.back() * MAX_DISTANCE;
    if let Some(hit) = spatial.cast_ray(
        player_transform.translation.adjust_precision(),
        camera.back(),
        MAX_DISTANCE.adjust_precision(),
        true,
        &SpatialQueryFilter::from_excluded_entities([player_entity]),
    ) {
        camera.translation = player_transform.translation
            + camera.back() * (hit.distance.val_num_f32() - 1.0).max(0.0);
    }
}

fn capture_cursor(mut cursor: Single<&mut CursorOptions>) {
    cursor.visible = false;
    cursor.grab_mode = CursorGrabMode::Locked;
}

fn release_cursor(mut cursor: Single<&mut CursorOptions>) {
    cursor.visible = true;
    cursor.grab_mode = CursorGrabMode::None;
}

fn update_debug_text(
    mut text: Single<&mut Text, With<DebugText>>,
    player: Single<(&LinearVelocity, &TouchedEntities, &CollidingEntities), With<Player>>,
    names: Query<NameOrEntity>,
) {
    let (lin_vel, touched, colliding_entities) = player.into_inner();
    ***text = format!(
        "velocity: [{:.3}, {:.3}, {:.3}]\n{} intersections (goal is 0): {:#?}\n{} touched: {:#?}",
        lin_vel.x,
        lin_vel.y,
        lin_vel.z,
        colliding_entities.len(),
        names
            .iter_many(colliding_entities.iter())
            .map(|name| name
                .name
                .map(|n| format!("{} ({})", name.entity, n))
                .unwrap_or_else(|| format!("{}", name.entity)))
            .collect::<Vec<_>>(),
        touched.len(),
        names
            .iter_many(touched.iter())
            .map(|name| name
                .name
                .map(|n| format!("{} ({})", name.entity, n))
                .unwrap_or_else(|| format!("{}", name.entity)))
            .collect::<Vec<_>>()
    );
}