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Schmarni
2023-11-08 02:31:11 +01:00
parent 7b52b57df4
commit e20c38c5db
11 changed files with 740 additions and 83 deletions
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21
examples/demo/Cargo.toml
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@@ -3,22 +3,13 @@ name = "demo"
version = "0.1.0"
edition = "2021"
[lib]
crate-type = ["cdylib","lib"]
# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
[lib]
crate-type = ["cdylib", "lib"]
[dependencies]
bevy = { git = "https://github.com/bevyengine/bevy.git" }
# bevy = "0.11.3"
# default-features is false because it for some reason complains when trying to statically link openxr
bevy_openxr = { path = "../../", default-features = false}
# bevy_openxr = { git = "https://github.com/Schmarni-Dev/bevy_openxr", default-features = false, branch = "demo"}
bevy_rapier3d = { git = "https://github.com/Schmarni-Dev/bevy_rapier" }
bevy = "0.12"
bevy_oxr = { path = "../../", default-features = false }
bevy_rapier3d = { git = "https://github.com/devil-ira/bevy_rapier", branch = "bevy-0.12" }
color-eyre = "0.6.2"
[profile.release]
lto = "fat"
codegen-units = 1
panic = "abort"

162
examples/demo/src/lib.rs
View File

@@ -1,22 +1,25 @@
use std::{f32::consts::PI, ops::Mul, time::Duration};
use bevy::{
diagnostic::{FrameTimeDiagnosticsPlugin, LogDiagnosticsPlugin},
ecs::schedule::ScheduleLabel,
log::info,
prelude::{
*,
bevy_main, default, shape, App, Assets, Color, Commands, Component, Event, EventReader,
EventWriter, GlobalTransform, IntoSystemConfigs, IntoSystemSetConfigs, Mesh, PbrBundle,
PostUpdate, Query, Res, ResMut, Resource, SpatialBundle, StandardMaterial, Startup,
Transform, Update, With, Without,
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, bevy_main,
},
time::{Time, Timer},
time::{Fixed, Time, Timer},
transform::TransformSystem,
};
use bevy_openxr::{
use bevy_oxr::{
input::XrInput,
resources::{XrFrameState, XrInstance, XrSession},
xr_input::{
debug_gizmos::OpenXrDebugRenderer,
hand::{HandBone, HandInputDebugRenderer, HandResource, HandsResource, OpenXrHandInput},
hand::{ HandInputDebugRenderer, HandResource, HandsResource, OpenXrHandInput},
hands::HandBone,
interactions::{
draw_interaction_gizmos, draw_socket_gizmos, interactions, socket_interactions,
update_interactable_states, InteractionEvent, Touched, XRDirectInteractor,
@@ -51,7 +54,7 @@ pub fn main() {
.add_plugins(OpenXrDebugRenderer)
//rapier goes here
.add_plugins(RapierPhysicsPlugin::<NoUserData>::default().with_default_system_setup(false))
.add_plugins(RapierDebugRenderPlugin::default())
// .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
@@ -89,9 +92,24 @@ pub fn main() {
.add_plugins(OpenXrHandInput)
.add_plugins(HandInputDebugRenderer)
.add_systems(Startup, spawn_physics_hands)
.add_systems(Update, update_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,
(
@@ -103,24 +121,41 @@ pub fn main() {
.before(TransformSystem::TransformPropagate),
);
//add rapier systems
app.add_systems(
PostUpdate,
(
RapierPhysicsPlugin::<NoUserData>::get_systems(PhysicsSet::SyncBackend)
.in_set(PhysicsSet::SyncBackend),
(
RapierPhysicsPlugin::<NoUserData>::get_systems(PhysicsSet::StepSimulation),
// despawn_one_box,
)
.in_set(PhysicsSet::StepSimulation),
RapierPhysicsPlugin::<NoUserData>::get_systems(PhysicsSet::Writeback)
.in_set(PhysicsSet::Writeback),
),
);
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((
@@ -244,13 +279,21 @@ fn spawn_physics_hands(mut commands: Commands) {
PhysicsHandBone::LittleDistal,
PhysicsHandBone::LittleTip,
];
//lets just do the Right ThumbMetacarpal for now
//i dont understand the groups yet
let self_group = Group::GROUP_1;
let interaction_group = Group::ALL;
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((
@@ -268,8 +311,9 @@ fn spawn_physics_hands(mut commands: Commands) {
},
radius,
),
RigidBody::KinematicPositionBased,
// CollisionGroups::new(self_group, interaction_group),
RigidBody::Dynamic,
Velocity::default(),
CollisionGroups::new(hand_membership, Group::from_bits(0b0001).unwrap()),
// SolverGroups::new(self_group, interaction_group),
bone.clone(),
BoneInitState::False,
@@ -279,6 +323,11 @@ fn spawn_physics_hands(mut commands: Commands) {
}
}
pub enum MatchingType {
PositionMatching,
VelocityMatching,
}
fn update_physics_hands(
hands_res: Option<Res<HandsResource>>,
mut bone_query: Query<(
@@ -287,9 +336,13 @@ fn update_physics_hands(
&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) => {
@@ -316,12 +369,45 @@ fn update_physics_hands(
match *bone.3 {
BoneInitState::True => {
//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);
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?
@@ -459,7 +545,7 @@ fn cube_spawner(
mut materials: ResMut<Assets<StandardMaterial>>,
mut events: EventReader<SpawnCubeRequest>,
) {
for request in events.iter() {
for request in events.read() {
// cube
commands.spawn((
PbrBundle {

8
examples/demo/src/setup.rs
View File

@@ -6,9 +6,9 @@ use bevy::{
transform::TransformBundle,
utils::default,
};
use bevy_openxr::xr_input::interactions::{Touched, XRInteractable, XRInteractableState};
use bevy_oxr::xr_input::interactions::{Touched, XRInteractable, XRInteractableState};
use bevy_rapier3d::{
prelude::{Collider, RigidBody},
prelude::{Collider, RigidBody, Group, CollisionGroups},
render::ColliderDebugColor,
};
@@ -34,7 +34,9 @@ pub fn setup_scene(
transform: Transform::from_xyz(0.0, ground_height, 0.0),
..default()
},
RigidBody::Fixed,
Collider::cuboid(ground_size, ground_thickness, ground_size),
CollisionGroups::new(Group::GROUP_3, Group::ALL),
));
// cube
commands.spawn((
@@ -75,4 +77,4 @@ pub fn setup_scene(
),
..default()
},));
}
}