Refactord main.rs into lib.rs as Preperation for android support

examples/demo/src/lib.rs

@@ -0,0 +1,693 @@
+use std::{f32::consts::PI, ops::Mul, time::Duration};
+
+use bevy::{
+    diagnostic::{FrameTimeDiagnosticsPlugin, LogDiagnosticsPlugin},
+    ecs::schedule::ScheduleLabel,
+    log::info,
+    prelude::{
+        default, shape, App, Assets, Color, Commands, Component, Entity, Event, EventReader,
+        EventWriter, FixedUpdate, Gizmos, GlobalTransform, IntoSystemConfigs, IntoSystemSetConfigs,
+        Mesh, PbrBundle, PostUpdate, Quat, Query, Res, ResMut, Resource, Schedule, SpatialBundle,
+        StandardMaterial, Startup, Transform, Update, Vec3, Vec3Swizzles, With, Without, World,
+    },
+    time::{Fixed, Time, Timer},
+    transform::TransformSystem,
+};
+use bevy_oxr::{
+    input::XrInput,
+    resources::{XrFrameState, XrInstance, XrSession},
+    xr_input::{
+        debug_gizmos::OpenXrDebugRenderer,
+        hand::{HandBone, HandInputDebugRenderer, HandResource, HandsResource, OpenXrHandInput},
+        interactions::{
+            draw_interaction_gizmos, draw_socket_gizmos, interactions, socket_interactions,
+            update_interactable_states, InteractionEvent, Touched, XRDirectInteractor,
+            XRInteractable, XRInteractableState, XRInteractorState, XRSelection,
+        },
+        oculus_touch::OculusController,
+        prototype_locomotion::{proto_locomotion, PrototypeLocomotionConfig},
+        trackers::{OpenXRController, OpenXRLeftController, OpenXRRightController, OpenXRTracker},
+        Hand,
+    },
+    DefaultXrPlugins,
+};
+
+mod setup;
+use crate::setup::setup_scene;
+use bevy_rapier3d::prelude::*;
+
+pub fn main() {
+    color_eyre::install().unwrap();
+
+    info!("Running bevy_openxr demo");
+    let mut app = App::new();
+
+    app
+        //lets get the usual diagnostic stuff added
+        .add_plugins(LogDiagnosticsPlugin::default())
+        .add_plugins(FrameTimeDiagnosticsPlugin)
+        //lets get the xr defaults added
+        .add_plugins(DefaultXrPlugins)
+        //lets add the debug renderer for the controllers
+        .add_plugins(OpenXrDebugRenderer)
+        //rapier goes here
+        .add_plugins(RapierPhysicsPlugin::<NoUserData>::default().with_default_system_setup(false))
+        // .add_plugins(RapierDebugRenderPlugin::default())
+        //lets setup the starting scene
+        .add_systems(Startup, setup_scene)
+        .add_systems(Startup, spawn_controllers_example) //you need to spawn controllers or it crashes TODO:: Fix this
+        //add locomotion
+        .add_systems(Update, proto_locomotion)
+        .insert_resource(PrototypeLocomotionConfig::default())
+        //lets add the interaction systems
+        .add_event::<InteractionEvent>()
+        .add_systems(Update, prototype_interaction_input)
+        .add_systems(Update, interactions.before(update_interactable_states))
+        .add_systems(Update, update_interactable_states)
+        .add_systems(
+            Update,
+            socket_interactions.before(update_interactable_states),
+        )
+        //add the grabbable system
+        .add_systems(Update, update_grabbables.after(update_interactable_states))
+        //draw the interaction gizmos
+        .add_systems(
+            Update,
+            draw_interaction_gizmos.after(update_interactable_states),
+        )
+        .add_systems(Update, draw_socket_gizmos.after(update_interactable_states))
+        //add our cube spawning system
+        .add_event::<SpawnCubeRequest>()
+        .insert_resource(SpawnCubeTimer(Timer::from_seconds(
+            0.25,
+            bevy::time::TimerMode::Once,
+        )))
+        .add_systems(Update, request_cube_spawn)
+        .add_systems(Update, cube_spawner.after(request_cube_spawn))
+        //test capsule
+        .add_systems(Startup, spawn_capsule)
+        //physics hands
+        .add_plugins(OpenXrHandInput)
+        .add_plugins(HandInputDebugRenderer)
+        .add_systems(Startup, spawn_physics_hands)
+        .add_systems(
+            FixedUpdate,
+            update_physics_hands.before(PhysicsSet::SyncBackend),
+        );
+
+    //configure rapier sets
+    let mut physics_schedule = Schedule::new(PhysicsSchedule);
+
+    physics_schedule.configure_sets(
+        (
+            PhysicsSet::SyncBackend,
+            PhysicsSet::StepSimulation,
+            PhysicsSet::Writeback,
+        )
+            .chain()
+            .before(TransformSystem::TransformPropagate),
+    );
+
+    app.configure_sets(
+        PostUpdate,
+        (
+            PhysicsSet::SyncBackend,
+            PhysicsSet::StepSimulation,
+            PhysicsSet::Writeback,
+        )
+            .chain()
+            .before(TransformSystem::TransformPropagate),
+    );
+    //add rapier systems
+    physics_schedule.add_systems((
+        RapierPhysicsPlugin::<NoUserData>::get_systems(PhysicsSet::SyncBackend)
+            .in_set(PhysicsSet::SyncBackend),
+        RapierPhysicsPlugin::<NoUserData>::get_systems(PhysicsSet::StepSimulation)
+            .in_set(PhysicsSet::StepSimulation),
+        RapierPhysicsPlugin::<NoUserData>::get_systems(PhysicsSet::Writeback)
+            .in_set(PhysicsSet::Writeback),
+    ));
+    app.add_schedule(physics_schedule) // configure our fixed timestep schedule to run at the rate we want
+        .insert_resource(Time::<Fixed>::from_duration(Duration::from_secs_f32(
+            FIXED_TIMESTEP,
+        )))
+        .add_systems(FixedUpdate, run_physics_schedule)
+        .add_systems(Startup, configure_physics);
+    app.run();
+}
+
+//fixed timesteps?
+const FIXED_TIMESTEP: f32 = 1. / 90.;
+
+// A label for our new Schedule!
+#[derive(ScheduleLabel, Debug, Hash, PartialEq, Eq, Clone)]
+struct PhysicsSchedule;
+
+fn run_physics_schedule(world: &mut World) {
+    world.run_schedule(PhysicsSchedule);
+}
+
+fn configure_physics(mut rapier_config: ResMut<RapierConfiguration>) {
+    rapier_config.timestep_mode = TimestepMode::Fixed {
+        dt: FIXED_TIMESTEP,
+        substeps: 1,
+    }
+}
+
+fn spawn_controllers_example(mut commands: Commands) {
+    //left hand
+    commands.spawn((
+        OpenXRLeftController,
+        OpenXRController,
+        OpenXRTracker,
+        SpatialBundle::default(),
+        XRDirectInteractor,
+        XRInteractorState::default(),
+        XRSelection::default(),
+    ));
+    //right hand
+    commands.spawn((
+        OpenXRRightController,
+        OpenXRController,
+        OpenXRTracker,
+        SpatialBundle::default(),
+        XRDirectInteractor,
+        XRInteractorState::default(),
+        XRSelection::default(),
+    ));
+}
+
+fn spawn_capsule(
+    mut commands: Commands,
+    mut meshes: ResMut<Assets<Mesh>>,
+    mut materials: ResMut<Assets<StandardMaterial>>,
+) {
+    commands.spawn((
+        PbrBundle {
+            mesh: meshes.add(Mesh::from(shape::Capsule {
+                radius: 0.033,
+                depth: 0.115,
+                ..default()
+            })),
+            material: materials.add(Color::rgb(0.8, 0.7, 0.6).into()),
+            transform: Transform::from_xyz(0.0, 2.0, 0.0),
+            ..default()
+        },
+        // Collider::capsule_y(0.0575, 0.034),
+        Collider::capsule(
+            Vec3 {
+                x: 0.0,
+                y: -0.0575,
+                z: 0.0,
+            },
+            Vec3 {
+                x: 0.0,
+                y: 0.0575,
+                z: 0.0,
+            },
+            0.034,
+        ),
+        RigidBody::Dynamic,
+    ));
+}
+
+#[derive(Component, PartialEq, Debug, Clone, Copy)]
+pub enum PhysicsHandBone {
+    Palm,
+    Wrist,
+    ThumbMetacarpal,
+    ThumbProximal,
+    ThumbDistal,
+    ThumbTip,
+    IndexMetacarpal,
+    IndexProximal,
+    IndexIntermediate,
+    IndexDistal,
+    IndexTip,
+    MiddleMetacarpal,
+    MiddleProximal,
+    MiddleIntermediate,
+    MiddleDistal,
+    MiddleTip,
+    RingMetacarpal,
+    RingProximal,
+    RingIntermediate,
+    RingDistal,
+    RingTip,
+    LittleMetacarpal,
+    LittleProximal,
+    LittleIntermediate,
+    LittleDistal,
+    LittleTip,
+}
+#[derive(Component, PartialEq)]
+pub enum BoneInitState {
+    True,
+    False,
+}
+
+fn spawn_physics_hands(mut commands: Commands) {
+    //here we go
+    let hands = [Hand::Left, Hand::Right];
+    let bones = [
+        PhysicsHandBone::Palm,
+        PhysicsHandBone::Wrist,
+        PhysicsHandBone::ThumbMetacarpal,
+        PhysicsHandBone::ThumbProximal,
+        PhysicsHandBone::ThumbDistal,
+        PhysicsHandBone::ThumbTip,
+        PhysicsHandBone::IndexMetacarpal,
+        PhysicsHandBone::IndexProximal,
+        PhysicsHandBone::IndexIntermediate,
+        PhysicsHandBone::IndexDistal,
+        PhysicsHandBone::IndexTip,
+        PhysicsHandBone::MiddleMetacarpal,
+        PhysicsHandBone::MiddleProximal,
+        PhysicsHandBone::MiddleIntermediate,
+        PhysicsHandBone::MiddleDistal,
+        PhysicsHandBone::MiddleTip,
+        PhysicsHandBone::RingMetacarpal,
+        PhysicsHandBone::RingProximal,
+        PhysicsHandBone::RingIntermediate,
+        PhysicsHandBone::RingDistal,
+        PhysicsHandBone::RingTip,
+        PhysicsHandBone::LittleMetacarpal,
+        PhysicsHandBone::LittleProximal,
+        PhysicsHandBone::LittleIntermediate,
+        PhysicsHandBone::LittleDistal,
+        PhysicsHandBone::LittleTip,
+    ];
+    let radius = 0.010;
+    let left_hand_membership_group = Group::GROUP_1;
+    let right_hand_membership_group = Group::GROUP_2;
+    let floor_membership = Group::GROUP_3;
+
+
+    for hand in hands.iter() {
+        let hand_membership =  match hand
+         {
+            Hand::Left => left_hand_membership_group,
+            Hand::Right => right_hand_membership_group,
+        };
+        let mut hand_filter: Group = Group::ALL;
+        hand_filter.remove(hand_membership);
+        hand_filter.remove(floor_membership);
+        for bone in bones.iter() {
+            //spawn the thing
+            commands.spawn((
+                SpatialBundle::default(),
+                Collider::capsule(
+                    Vec3 {
+                        x: 0.0,
+                        y: -0.0575,
+                        z: 0.0,
+                    },
+                    Vec3 {
+                        x: 0.0,
+                        y: 0.0575,
+                        z: 0.0,
+                    },
+                    radius,
+                ),
+                RigidBody::Dynamic,
+                Velocity::default(),
+                CollisionGroups::new(hand_membership, Group::from_bits(0b0001).unwrap()),
+                // SolverGroups::new(self_group, interaction_group),
+                bone.clone(),
+                BoneInitState::False,
+                hand.clone(),
+            ));
+        }
+    }
+}
+
+pub enum MatchingType {
+    PositionMatching,
+    VelocityMatching,
+}
+
+fn update_physics_hands(
+    hands_res: Option<Res<HandsResource>>,
+    mut bone_query: Query<(
+        &mut Transform,
+        &mut Collider,
+        &PhysicsHandBone,
+        &mut BoneInitState,
+        &Hand,
+        &mut Velocity,
+    )>,
+    hand_query: Query<(&Transform, &HandBone, &Hand, Without<PhysicsHandBone>)>,
+    time: Res<Time>,
+    mut gizmos: Gizmos,
+) {
+    let matching = MatchingType::VelocityMatching;
+    //sanity check do we even have hands?
+    match hands_res {
+        Some(res) => {
+            //config stuff
+            let radius = 0.010;
+            for mut bone in bone_query.iter_mut() {
+                let hand_res = match bone.4 {
+                    Hand::Left => res.left,
+                    Hand::Right => res.right,
+                };
+
+                //lets just do the Right ThumbMetacarpal for now
+                let result = get_start_and_end_entities(hand_res, bone.2);
+                if let Some((start_entity, end_entity)) = result {
+                    //now we need their transforms
+                    let start_components = hand_query.get(start_entity);
+                    let end_components = hand_query.get(end_entity);
+                    let direction = end_components.unwrap().0.translation
+                        - start_components.unwrap().0.translation;
+                    if direction.length() < 0.001 {
+                        //i hate this but we need to skip init if the length is zero
+                        return;
+                    }
+
+                    match *bone.3 {
+                        BoneInitState::True => {
+                            match matching {
+                                MatchingType::PositionMatching => {
+                                    //if we are init then we just move em?
+                                    *bone.0 = start_components
+                                        .unwrap()
+                                        .0
+                                        .clone()
+                                        .looking_at(end_components.unwrap().0.translation, Vec3::Y);
+                                }
+                                MatchingType::VelocityMatching => {
+                                    //calculate position difference
+                                    let diff = (start_components.unwrap().0.translation
+                                        - bone.0.translation)
+                                        / time.delta_seconds();
+                                    bone.5.linvel = diff;
+                                    //calculate angular velocity?
+                                    // gizmos.ray(bone.0.translation, bone.0.forward(), Color::WHITE);
+                                    let desired_forward = start_components
+                                        .unwrap()
+                                        .0
+                                        .clone()
+                                        .looking_at(end_components.unwrap().0.translation, Vec3::Y)
+                                        .rotation;
+                                    // gizmos.ray(
+                                    //     bone.0.translation,
+                                    //     desired_forward.mul_vec3(-Vec3::Z),
+                                    //     Color::GREEN,
+                                    // );
+                                    let cross =
+                                        bone.0.forward().cross(desired_forward.mul_vec3(-Vec3::Z));
+
+                                    // gizmos.ray(
+                                    //     bone.0.translation,
+                                    //     cross,
+                                    //     Color::RED,
+                                    // );
+                                    bone.5.angvel = cross / time.delta_seconds();
+                                }
+                            }
+                        }
+                        BoneInitState::False => {
+                            //build a new collider?
+                            *bone.1 = Collider::capsule(
+                                Vec3::splat(0.0),
+                                Vec3 {
+                                    x: 0.0,
+                                    y: 0.0,
+                                    z: -direction.length(),
+                                },
+                                radius,
+                            );
+                            *bone.3 = BoneInitState::True;
+                        }
+                    }
+                }
+            }
+        }
+        None => info!("hand states resource not initialized yet"),
+    }
+}
+
+fn get_start_and_end_entities(
+    hand_res: HandResource,
+    bone: &PhysicsHandBone,
+) -> Option<(Entity, Entity)> {
+    match bone {
+        PhysicsHandBone::Palm => return None,
+        PhysicsHandBone::Wrist => return None,
+        PhysicsHandBone::ThumbMetacarpal => {
+            return Some((hand_res.thumb.metacarpal, hand_res.thumb.proximal))
+        }
+        PhysicsHandBone::ThumbProximal => {
+            return Some((hand_res.thumb.proximal, hand_res.thumb.distal))
+        }
+        PhysicsHandBone::ThumbDistal => return Some((hand_res.thumb.distal, hand_res.thumb.tip)),
+        PhysicsHandBone::ThumbTip => return None,
+        PhysicsHandBone::IndexMetacarpal => {
+            return Some((hand_res.index.metacarpal, hand_res.index.proximal))
+        }
+        PhysicsHandBone::IndexProximal => {
+            return Some((hand_res.index.proximal, hand_res.index.intermediate))
+        }
+        PhysicsHandBone::IndexIntermediate => {
+            return Some((hand_res.index.intermediate, hand_res.index.distal))
+        }
+        PhysicsHandBone::IndexDistal => return Some((hand_res.index.distal, hand_res.index.tip)),
+        PhysicsHandBone::IndexTip => return None,
+        PhysicsHandBone::MiddleMetacarpal => {
+            return Some((hand_res.middle.metacarpal, hand_res.middle.proximal))
+        }
+        PhysicsHandBone::MiddleProximal => {
+            return Some((hand_res.middle.proximal, hand_res.middle.intermediate))
+        }
+        PhysicsHandBone::MiddleIntermediate => {
+            return Some((hand_res.middle.intermediate, hand_res.middle.distal))
+        }
+        PhysicsHandBone::MiddleDistal => {
+            return Some((hand_res.middle.distal, hand_res.middle.tip))
+        }
+        PhysicsHandBone::MiddleTip => return None,
+        PhysicsHandBone::RingMetacarpal => {
+            return Some((hand_res.ring.metacarpal, hand_res.ring.proximal))
+        }
+        PhysicsHandBone::RingProximal => {
+            return Some((hand_res.ring.proximal, hand_res.ring.intermediate))
+        }
+        PhysicsHandBone::RingIntermediate => {
+            return Some((hand_res.ring.intermediate, hand_res.ring.distal))
+        }
+        PhysicsHandBone::RingDistal => return Some((hand_res.ring.distal, hand_res.ring.tip)),
+        PhysicsHandBone::RingTip => return None,
+        PhysicsHandBone::LittleMetacarpal => {
+            return Some((hand_res.little.metacarpal, hand_res.little.proximal))
+        }
+        PhysicsHandBone::LittleProximal => {
+            return Some((hand_res.little.proximal, hand_res.little.intermediate))
+        }
+        PhysicsHandBone::LittleIntermediate => {
+            return Some((hand_res.little.intermediate, hand_res.little.distal))
+        }
+        PhysicsHandBone::LittleDistal => {
+            return Some((hand_res.little.distal, hand_res.little.tip))
+        }
+        PhysicsHandBone::LittleTip => return None,
+    };
+}
+
+fn get_hand_res(res: &Res<'_, HandsResource>, hand: Hand) -> HandResource {
+    match hand {
+        Hand::Left => res.left.clone(),
+        Hand::Right => res.right.clone(),
+    }
+}
+
+#[derive(Event, Default)]
+pub struct SpawnCubeRequest;
+
+#[derive(Resource)]
+pub struct SpawnCubeTimer(Timer);
+
+fn request_cube_spawn(
+    oculus_controller: Res<OculusController>,
+    frame_state: Res<XrFrameState>,
+    xr_input: Res<XrInput>,
+    instance: Res<XrInstance>,
+    session: Res<XrSession>,
+    mut writer: EventWriter<SpawnCubeRequest>,
+    time: Res<Time>,
+    mut timer: ResMut<SpawnCubeTimer>,
+) {
+    timer.0.tick(time.delta());
+    if timer.0.finished() {
+        //lock frame
+        let frame_state = *frame_state.lock().unwrap();
+        //get controller
+        let controller = oculus_controller.get_ref(&instance, &session, &frame_state, &xr_input);
+        //get controller triggers
+        let left_main_button = controller.a_button();
+        if left_main_button {
+            writer.send(SpawnCubeRequest::default());
+            timer.0.reset();
+        }
+        let right_main_button = controller.x_button();
+        if right_main_button {
+            writer.send(SpawnCubeRequest::default());
+            timer.0.reset();
+        }
+    }
+}
+
+fn cube_spawner(
+    mut commands: Commands,
+    mut meshes: ResMut<Assets<Mesh>>,
+    mut materials: ResMut<Assets<StandardMaterial>>,
+    mut events: EventReader<SpawnCubeRequest>,
+) {
+    for request in events.read() {
+        // cube
+        commands.spawn((
+            PbrBundle {
+                mesh: meshes.add(Mesh::from(shape::Cube { size: 0.1 })),
+                material: materials.add(Color::rgb(0.8, 0.7, 0.6).into()),
+                transform: Transform::from_xyz(0.0, 1.0, 0.0),
+                ..default()
+            },
+            RigidBody::Dynamic,
+            Collider::cuboid(0.05, 0.05, 0.05),
+            ColliderDebugColor(Color::hsl(220.0, 1.0, 0.3)),
+            XRInteractable,
+            XRInteractableState::default(),
+            Grabbable,
+            Touched(false),
+        ));
+    }
+}
+
+//TODO: find a real place for this
+fn prototype_interaction_input(
+    oculus_controller: Res<OculusController>,
+    frame_state: Res<XrFrameState>,
+    xr_input: Res<XrInput>,
+    instance: Res<XrInstance>,
+    session: Res<XrSession>,
+    mut right_interactor_query: Query<
+        (&mut XRInteractorState),
+        (
+            With<XRDirectInteractor>,
+            With<OpenXRRightController>,
+            Without<OpenXRLeftController>,
+        ),
+    >,
+    mut left_interactor_query: Query<
+        (&mut XRInteractorState),
+        (
+            With<XRDirectInteractor>,
+            With<OpenXRLeftController>,
+            Without<OpenXRRightController>,
+        ),
+    >,
+) {
+    //lock frame
+    let frame_state = *frame_state.lock().unwrap();
+    //get controller
+    let controller = oculus_controller.get_ref(&instance, &session, &frame_state, &xr_input);
+    //get controller triggers
+    let left_trigger = controller.trigger(Hand::Left);
+    let right_trigger = controller.trigger(Hand::Right);
+    //get the interactors and do state stuff
+    let mut left_state = left_interactor_query.single_mut();
+    if left_trigger > 0.8 {
+        *left_state = XRInteractorState::Selecting;
+    } else {
+        *left_state = XRInteractorState::Idle;
+    }
+    let mut right_state = right_interactor_query.single_mut();
+    if right_trigger > 0.8 {
+        *right_state = XRInteractorState::Selecting;
+    } else {
+        *right_state = XRInteractorState::Idle;
+    }
+}
+
+#[derive(Component)]
+pub struct Grabbable;
+
+pub fn update_grabbables(
+    mut events: EventReader<InteractionEvent>,
+    mut grabbable_query: Query<(
+        Entity,
+        &mut Transform,
+        With<Grabbable>,
+        Without<XRDirectInteractor>,
+        Option<&mut RigidBody>,
+    )>,
+    mut interactor_query: Query<(
+        &GlobalTransform,
+        &XRInteractorState,
+        &mut XRSelection,
+        Without<Grabbable>,
+    )>,
+) {
+    //so basically the idea is to try all the events?
+    for event in events.read() {
+        // info!("some event");
+        match grabbable_query.get_mut(event.interactable) {
+            Ok(mut grabbable_transform) => {
+                // info!("we got a grabbable");
+                //now we need the location of our interactor
+                match interactor_query.get_mut(event.interactor) {
+                    Ok(mut interactor_transform) => {
+                        match *interactor_transform.2 {
+                            XRSelection::Empty => {
+                                match interactor_transform.1 {
+                                    XRInteractorState::Idle => match grabbable_transform.4 {
+                                        Some(mut thing) => {
+                                            *thing = RigidBody::Dynamic;
+                                            *interactor_transform.2 = XRSelection::Empty;
+                                        }
+                                        None => (),
+                                    },
+                                    XRInteractorState::Selecting => {
+                                        // info!("its a direct interactor?");
+                                        match grabbable_transform.4 {
+                                            Some(mut thing) => {
+                                                *thing = RigidBody::KinematicPositionBased;
+                                                *interactor_transform.2 =
+                                                    XRSelection::Full(grabbable_transform.0);
+                                            }
+                                            None => (),
+                                        }
+                                        *grabbable_transform.1 =
+                                            interactor_transform.0.compute_transform();
+                                    }
+                                }
+                            }
+                            XRSelection::Full(ent) => {
+                                info!("nah bro we holding something");
+                                match grabbable_transform.0 == ent {
+                                    true => {
+                                        *grabbable_transform.1 =
+                                            interactor_transform.0.compute_transform();
+                                    }
+                                    false => {}
+                                }
+                                match interactor_transform.1 {
+                                    XRInteractorState::Idle => {
+                                        *interactor_transform.2 = XRSelection::Empty
+                                    }
+                                    XRInteractorState::Selecting => {}
+                                }
+                            }
+                        }
+                    }
+                    Err(_) => {
+                        // info!("not a direct interactor")
+                    }
+                }
+            }
+            Err(_) => {
+                // info!("not a grabbable?")
+            }
+        }
+    }
+}