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bevy_mod_inverse_kinematics
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Migrated to bevy 0.9

This commit is contained in:
Bram Buurlage 2022-11-13 10:20:21 +01:00
parent b695fac4bb
commit 927910bf63
6 changed files with 37 additions and 75 deletions
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4
CHANGELOG.MD
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@ -4,3 +4,7 @@
# Version 0.1.1
- Fixed build issue when using the debug_lines feature
- Fixed transforms giong to NaN when an exact match is found
# Version 0.2.0
- Migrated to bevy 0.9
- Removed debug_lines feature, to not have a third party bevy dependency.

8
Cargo.toml
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@ -1,6 +1,6 @@
[package]
name = "bevy_mod_inverse_kinematics"
version = "0.1.1"
version = "0.2.0"
authors = ["Bram Buurlage <brambuurlage@gmail.com>"]
edition = "2021"
categories = ["game-engines", "graphics", "rendering"]
@ -10,8 +10,8 @@ keywords = ["gamedev", "graphics", "bevy", "animation"]
license = "MIT OR Apache-2.0"
[dependencies]
bevy = "0.8.1"
bevy_prototype_debug_lines = { version = "0.8.1", features = ["3d"], optional = true }
bevy = "0.9.0"
#bevy_prototype_debug_lines = { version = "0.9.1", features = ["3d"], optional = true }
[features]
debug_lines = ["bevy_prototype_debug_lines"]
#debug_lines = ["bevy_prototype_debug_lines"]

6
README.MD
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@ -14,6 +14,7 @@ I intend to track the latest releases of Bevy.
| bevy | bevy_mod_inverse_kinematics |
| ----- | --------------------------- |
| 0.8.1 | 0.1 |
| 0.9.0 | 0.2 |
## Examples
@ -23,11 +24,6 @@ Have the right arm of a skinned mesh follow the mouse cursor:
cargo run --example skin_mesh
```
Turn on the debug_lines feature to see how the bone rotations are calculated:
```shell
cargo run --example skin_mesh --features debug_lines
```
## Licensing
This project is dual-licensed under either

50
examples/skin_mesh.rs
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@ -6,12 +6,14 @@ pub struct ManuallyTarget(Vec4);
fn main() {
App::new()
.insert_resource(WindowDescriptor {
width: 800.0,
height: 600.0,
.add_plugins(DefaultPlugins.set(WindowPlugin {
window: WindowDescriptor {
width: 800.0,
height: 600.0,
..default()
},
..default()
})
.add_plugins(DefaultPlugins)
}))
.add_plugin(InverseKinematicsPlugin)
.add_startup_system(setup)
.add_system(setup_ik)
@ -26,9 +28,9 @@ fn setup(
mut materials: ResMut<Assets<StandardMaterial>>,
) {
commands
.spawn_bundle(SpatialBundle::default())
.spawn(SpatialBundle::default())
.with_children(|parent| {
parent.spawn_bundle(Camera3dBundle {
parent.spawn(Camera3dBundle {
transform: Transform::from_xyz(-0.5, 1.5, 2.5)
.looking_at(Vec3::new(0.0, 1.0, 0.0), Vec3::Y),
projection: bevy::render::camera::Projection::Perspective(PerspectiveProjection {
@ -42,7 +44,7 @@ fn setup(
});
let size = 30.0;
commands.spawn_bundle(DirectionalLightBundle {
commands.spawn(DirectionalLightBundle {
directional_light: DirectionalLight {
color: Color::WHITE,
illuminance: 10000.0,
@ -62,7 +64,7 @@ fn setup(
..default()
});
commands.spawn_bundle(PbrBundle {
commands.spawn(PbrBundle {
mesh: meshes.add(Mesh::from(shape::Plane { size: 5.0 })),
material: materials.add(StandardMaterial {
base_color: Color::WHITE,
@ -71,7 +73,7 @@ fn setup(
..default()
});
commands.spawn_bundle(SceneBundle {
commands.spawn(SceneBundle {
scene: assets.load("skin.gltf#Scene0"),
transform: Transform::from_xyz(0.0, 0.0, 0.0),
..default()
@ -108,23 +110,25 @@ fn setup_ik(
.unwrap();
let target = commands
.spawn_bundle(PbrBundle {
transform: Transform::from_xyz(0.3, 0.8, 0.2),
mesh: meshes.add(Mesh::from(shape::Icosphere {
radius: 0.05,
subdivisions: 1,
})),
material: materials.add(StandardMaterial {
base_color: Color::RED,
.spawn((
PbrBundle {
transform: Transform::from_xyz(0.3, 0.8, 0.2),
mesh: meshes.add(Mesh::from(shape::Icosphere {
radius: 0.05,
subdivisions: 1,
})),
material: materials.add(StandardMaterial {
base_color: Color::RED,
..default()
}),
..default()
}),
..default()
})
.insert(ManuallyTarget(Vec4::new(0.0, 0.0, 1.0, 0.3)))
},
ManuallyTarget(Vec4::new(0.0, 0.0, 1.0, 0.3)),
))
.id();
let pole_target = commands
.spawn_bundle(PbrBundle {
.spawn(PbrBundle {
transform: Transform::from_xyz(-1.0, 0.4, -0.2),
mesh: meshes.add(Mesh::from(shape::Icosphere {
radius: 0.05,

2
src/lib.rs
View File

@ -28,8 +28,6 @@ pub struct IkConstraint {
impl Plugin for InverseKinematicsPlugin {
fn build(&self, app: &mut App) {
#[cfg(feature = "debug_lines")]
app.add_plugin(bevy_prototype_debug_lines::DebugLinesPlugin::default());
app.add_system_to_stage(
CoreStage::PostUpdate,
solver::inverse_kinematics_system

42
src/solver.rs
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@ -1,7 +1,5 @@
use bevy::ecs::query::QueryEntityError;
use bevy::prelude::*;
#[cfg(feature = "debug_lines")]
use bevy_prototype_debug_lines::{DebugLines, DebugLinesPlugin};
use super::IkConstraint;
@ -16,15 +14,12 @@ pub fn inverse_kinematics_system(
query: Query<(Entity, &IkConstraint)>,
parents: Query<&Parent>,
mut transforms: Query<(&mut Transform, &mut GlobalTransform)>,
#[cfg(feature = "debug_lines")] mut debug_lines: ResMut<DebugLines>,
) {
for (entity, constraint) in query.iter() {
if let Err(e) = constraint.solve(
entity,
&parents,
&mut transforms,
#[cfg(feature = "debug_lines")]
&mut debug_lines,
) {
bevy::log::warn!("Failed to solve IK constraint: {e}");
}
@ -37,7 +32,6 @@ impl IkConstraint {
entity: Entity,
parents: &Query<&Parent>,
transforms: &mut Query<(&mut Transform, &mut GlobalTransform)>,
#[cfg(feature = "debug_lines")] debug_lines: &mut DebugLines,
) -> Result<(), QueryEntityError> {
if self.chain_length == 0 {
return Ok(());
@ -56,9 +50,6 @@ impl IkConstraint {
let start = transforms.get(joints[self.chain_length])?.1.translation();
let pole_target = transforms.get(pole_target)?.1.translation();
#[cfg(feature = "debug_lines")]
debug_lines.line_colored(start, target, 0.0, Color::WHITE);
let tangent = (target - start).normalize();
let axis = (pole_target - start).cross(tangent);
let normal = tangent.cross(axis).normalize();
@ -80,11 +71,9 @@ impl IkConstraint {
target,
pole_target.as_ref(),
transforms,
#[cfg(feature = "debug_lines")]
debug_lines,
)?;
if result.mul_vec3(normal).distance_squared(target) < 0.001 {
if result.transform_point(normal).distance_squared(target) < 0.001 {
return Ok(());
}
}
@ -98,27 +87,8 @@ impl IkConstraint {
target: Vec3,
pole_target: Option<&PoleTarget>,
transforms: &mut Query<(&mut Transform, &mut GlobalTransform)>,
#[cfg(feature = "debug_lines")] debug_lines: &mut DebugLines,
) -> Result<GlobalTransform, QueryEntityError> {
let (&transform, &global_transform) = transforms.get(chain[0])?;
#[cfg(feature = "debug_lines")]
{
let p = global_transform.translation();
debug_lines.line_colored(p, global_transform.mul_vec3(Vec3::X * 0.1), 0.0, Color::RED);
debug_lines.line_colored(
p,
global_transform.mul_vec3(Vec3::Y * 0.1),
0.0,
Color::GREEN,
);
debug_lines.line_colored(
p,
global_transform.mul_vec3(Vec3::Z * 0.1),
0.0,
Color::BLUE,
);
debug_lines.line_colored(p, global_transform.mul_vec3(normal), 0.0, Color::YELLOW);
}
if chain.len() == 1 {
return Ok(global_transform);
@ -160,8 +130,6 @@ impl IkConstraint {
translation,
pole_target,
transforms,
#[cfg(feature = "debug_lines")]
debug_lines,
)?;
// apply constraints on the way back from recursing
@ -172,14 +140,6 @@ impl IkConstraint {
* rotation;
*global_transform = parent_global_transform.mul_transform(*transform);
#[cfg(feature = "debug_lines")]
debug_lines.line_colored(
global_transform.translation(),
global_transform.mul_vec3(normal),
0.0,
Color::CYAN,
);
Ok(*global_transform)
}
}