Migrated to bevy 0.9

CHANGELOG.MD

@@ -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.

Cargo.toml

@@ -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 = "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]
-debug_lines = ["bevy_prototype_debug_lines"]
+#debug_lines = ["bevy_prototype_debug_lines"]

README.MD

@@ -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

examples/skin_mesh.rs

@@ -6,12 +6,14 @@ pub struct ManuallyTarget(Vec4);
 
 fn main() {
     App::new()
-        .insert_resource(WindowDescriptor {
+        .add_plugins(DefaultPlugins.set(WindowPlugin {
-            width: 800.0,
+            window: WindowDescriptor {
-            height: 600.0,
+                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 {
+            .spawn((
-                transform: Transform::from_xyz(0.3, 0.8, 0.2),
+                PbrBundle {
-                mesh: meshes.add(Mesh::from(shape::Icosphere {
+                    transform: Transform::from_xyz(0.3, 0.8, 0.2),
-                    radius: 0.05,
+                    mesh: meshes.add(Mesh::from(shape::Icosphere {
-                    subdivisions: 1,
+                        radius: 0.05,
-                })),
+                        subdivisions: 1,
-                material: materials.add(StandardMaterial {
+                    })),
-                    base_color: Color::RED,
+                    material: materials.add(StandardMaterial {
+                        base_color: Color::RED,
+                        ..default()
+                    }),
                     ..default()
-                }),
+                },
-                ..default()
+                ManuallyTarget(Vec4::new(0.0, 0.0, 1.0, 0.3)),
-            })
+            ))
-            .insert(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,

src/lib.rs

@@ -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

src/solver.rs

@@ -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)
     }
 }