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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@ -4,3 +4,7 @@
# Version 0.1.1 # Version 0.1.1
- Fixed build issue when using the debug_lines feature - Fixed build issue when using the debug_lines feature
- Fixed transforms giong to NaN when an exact match is found - 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.

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

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@ -14,6 +14,7 @@ I intend to track the latest releases of Bevy.
| bevy | bevy_mod_inverse_kinematics | | bevy | bevy_mod_inverse_kinematics |
| ----- | --------------------------- | | ----- | --------------------------- |
| 0.8.1 | 0.1 | | 0.8.1 | 0.1 |
| 0.9.0 | 0.2 |
## Examples ## Examples
@ -23,11 +24,6 @@ Have the right arm of a skinned mesh follow the mouse cursor:
cargo run --example skin_mesh 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 ## Licensing
This project is dual-licensed under either This project is dual-licensed under either

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@ -6,12 +6,14 @@ pub struct ManuallyTarget(Vec4);
fn main() { fn main() {
App::new() App::new()
.insert_resource(WindowDescriptor { .add_plugins(DefaultPlugins.set(WindowPlugin {
window: WindowDescriptor {
width: 800.0, width: 800.0,
height: 600.0, height: 600.0,
..default() ..default()
}) },
.add_plugins(DefaultPlugins) ..default()
}))
.add_plugin(InverseKinematicsPlugin) .add_plugin(InverseKinematicsPlugin)
.add_startup_system(setup) .add_startup_system(setup)
.add_system(setup_ik) .add_system(setup_ik)
@ -26,9 +28,9 @@ fn setup(
mut materials: ResMut<Assets<StandardMaterial>>, mut materials: ResMut<Assets<StandardMaterial>>,
) { ) {
commands commands
.spawn_bundle(SpatialBundle::default()) .spawn(SpatialBundle::default())
.with_children(|parent| { .with_children(|parent| {
parent.spawn_bundle(Camera3dBundle { parent.spawn(Camera3dBundle {
transform: Transform::from_xyz(-0.5, 1.5, 2.5) transform: Transform::from_xyz(-0.5, 1.5, 2.5)
.looking_at(Vec3::new(0.0, 1.0, 0.0), Vec3::Y), .looking_at(Vec3::new(0.0, 1.0, 0.0), Vec3::Y),
projection: bevy::render::camera::Projection::Perspective(PerspectiveProjection { projection: bevy::render::camera::Projection::Perspective(PerspectiveProjection {
@ -42,7 +44,7 @@ fn setup(
}); });
let size = 30.0; let size = 30.0;
commands.spawn_bundle(DirectionalLightBundle { commands.spawn(DirectionalLightBundle {
directional_light: DirectionalLight { directional_light: DirectionalLight {
color: Color::WHITE, color: Color::WHITE,
illuminance: 10000.0, illuminance: 10000.0,
@ -62,7 +64,7 @@ fn setup(
..default() ..default()
}); });
commands.spawn_bundle(PbrBundle { commands.spawn(PbrBundle {
mesh: meshes.add(Mesh::from(shape::Plane { size: 5.0 })), mesh: meshes.add(Mesh::from(shape::Plane { size: 5.0 })),
material: materials.add(StandardMaterial { material: materials.add(StandardMaterial {
base_color: Color::WHITE, base_color: Color::WHITE,
@ -71,7 +73,7 @@ fn setup(
..default() ..default()
}); });
commands.spawn_bundle(SceneBundle { commands.spawn(SceneBundle {
scene: assets.load("skin.gltf#Scene0"), scene: assets.load("skin.gltf#Scene0"),
transform: Transform::from_xyz(0.0, 0.0, 0.0), transform: Transform::from_xyz(0.0, 0.0, 0.0),
..default() ..default()
@ -108,7 +110,8 @@ fn setup_ik(
.unwrap(); .unwrap();
let target = commands let target = commands
.spawn_bundle(PbrBundle { .spawn((
PbrBundle {
transform: Transform::from_xyz(0.3, 0.8, 0.2), transform: Transform::from_xyz(0.3, 0.8, 0.2),
mesh: meshes.add(Mesh::from(shape::Icosphere { mesh: meshes.add(Mesh::from(shape::Icosphere {
radius: 0.05, radius: 0.05,
@ -119,12 +122,13 @@ fn setup_ik(
..default() ..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(); .id();
let pole_target = commands let pole_target = commands
.spawn_bundle(PbrBundle { .spawn(PbrBundle {
transform: Transform::from_xyz(-1.0, 0.4, -0.2), transform: Transform::from_xyz(-1.0, 0.4, -0.2),
mesh: meshes.add(Mesh::from(shape::Icosphere { mesh: meshes.add(Mesh::from(shape::Icosphere {
radius: 0.05, radius: 0.05,

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

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