de_index: Prep for faster indexing alternative

Cargo.toml

@@ -136,6 +136,7 @@ glam = "0.24"
 gltf = "1.0"
 itertools = "0.11.0"
 iyes_progress = "0.9.0"
+kiddo = "2.1.2"
 log = "0.4.17"
 nalgebra = { version = "0.32.3", features = ["convert-glam024"] }
 nix = "0.26.2"

crates/index/src/lib.rs

@@ -1,26 +1,12 @@
 #![allow(rustdoc::private_intra_doc_links)]
-//! This module implements 2D object partitioning for fast geometric lookup,
-//! for example ray casting.
-//!
-//! The core structure is a square tile grid which points to Bevy ECS entities.
-//! Newly spawned entities are automatically added, despawned entities removed
-//! and moved entities updated by systems added by
-//! [`self::IndexPlugin`].
-mod aabb;
-mod collider;
-mod grid;
-mod index;
-mod range;
-mod segment;
-mod systems;
 
-use bevy::{app::PluginGroupBuilder, prelude::PluginGroup};
-use systems::IndexPlugin;
+mod precise;
 
-pub use self::{
-    collider::{ColliderWithCache, LocalCollider, QueryCollider},
-    index::{EntityIndex, RayEntityIntersection, SpatialQuery},
-    systems::IndexSet,
+use bevy::{app::PluginGroupBuilder, prelude::PluginGroup};
+use precise::PreciseIndexPlugin;
+pub use precise::{
+    ColliderWithCache, EntityIndex, PreciseIndexSet, LocalCollider, QueryCollider, RayEntityIntersection,
+    SpatialQuery,
 };
 
 /// Size (in world-space) of a single square tile where entities are kept.
@@ -30,6 +16,6 @@ pub struct IndexPluginGroup;
 
 impl PluginGroup for IndexPluginGroup {
     fn build(self) -> PluginGroupBuilder {
-        PluginGroupBuilder::start::<Self>().add(IndexPlugin)
+        PluginGroupBuilder::start::<Self>().add(PreciseIndexPlugin)
     }
 }

crates/index/src/aabb.rs → crates/index/src/precise/aabb.rs

@@ -2,10 +2,10 @@ use ahash::AHashSet;
 use bevy::prelude::Entity;
 use parry3d::bounding_volume::Aabb;
 
-use crate::{grid::TileGrid, range::TileRange};
+use super::{grid::TileGrid, range::TileRange};
 
 /// An iterator over unique entity IDs withing a box.
-pub(crate) struct AabbCandidates<'a> {
+pub(super) struct AabbCandidates<'a> {
     grid: &'a TileGrid,
     tiles: TileRange,
     row: Option<i32>,
@@ -16,7 +16,7 @@ pub(crate) struct AabbCandidates<'a> {
 impl<'a> AabbCandidates<'a> {
     /// Creates a new iterator of entities potentially colliding with a given
     /// AABB.
-    pub(crate) fn new(grid: &'a TileGrid, aabb: &Aabb) -> Self {
+    pub(super) fn new(grid: &'a TileGrid, aabb: &Aabb) -> Self {
         Self {
             grid,
             tiles: TileRange::from_aabb(aabb),

crates/index/src/collider.rs → crates/index/src/precise/collider.rs

@@ -43,20 +43,20 @@ impl LocalCollider {
     }
 
     /// Updates position of cached world-space AABB of the collider.
-    pub(crate) fn update_position(&mut self, position: Isometry<f32>) {
+    pub(super) fn update_position(&mut self, position: Isometry<f32>) {
         self.world_aabb = self.local_aabb.transform_by(&position);
         self.position = position;
     }
 
-    pub(crate) fn cast_ray(&self, ray: &Ray, max_toi: f32) -> Option<f32> {
+    pub(super) fn cast_ray(&self, ray: &Ray, max_toi: f32) -> Option<f32> {
         if self.world_aabb.intersects_local_ray(ray, max_toi) {
             self.object_collider.cast_ray(&self.position, ray, max_toi)
         } else {
             None
         }
     }
 
-    pub(crate) fn intersects(&self, rhs: &impl ColliderWithCache) -> bool {
+    pub(super) fn intersects(&self, rhs: &impl ColliderWithCache) -> bool {
         if self.query_aabb(rhs.world_aabb()) {
             self.object_collider
                 .intersects(&self.position, rhs.inner(), rhs.position())
@@ -67,7 +67,7 @@ impl LocalCollider {
 
     /// Returns true if world-space axis-aligned bounding boxes of the two
     /// colliders intersect.
-    pub(crate) fn query_aabb(&self, aabb: &Aabb) -> bool {
+    pub(super) fn query_aabb(&self, aabb: &Aabb) -> bool {
         self.world_aabb.intersects(aabb)
     }
 }

crates/index/src/grid.rs → crates/index/src/precise/grid.rs

@@ -6,20 +6,20 @@ use bevy::prelude::Entity;
 use glam::IVec2;
 use parry3d::bounding_volume::Aabb;
 
-use crate::range::TileRange;
+use super::range::TileRange;
 
 /// Rectangular (2D) grid of sets of Bevy ECS entities.
 ///
 /// Only non-empty sets are kept (a hash map mapping 2D tile coordinates to
 /// Entity sets is used under the hood). Each set contains entities whose
 /// absolute AABB intersects with the tile.
-pub(crate) struct TileGrid {
+pub(super) struct TileGrid {
     tiles: AHashMap<IVec2, AHashSet<Entity>>,
 }
 
 impl TileGrid {
     /// Creates a new empty grid.
-    pub(crate) fn new() -> Self {
+    pub(super) fn new() -> Self {
         Self {
             tiles: AHashMap::new(),
         }
@@ -36,7 +36,7 @@ impl TileGrid {
     /// # Panics
     ///
     /// Might panic if the entity is already present in the grid.
-    pub(crate) fn insert(&mut self, entity: Entity, aabb: &Aabb) {
+    pub(super) fn insert(&mut self, entity: Entity, aabb: &Aabb) {
         for tile in TileRange::from_aabb(aabb) {
             self.insert_to_tile(entity, tile);
         }
@@ -56,7 +56,7 @@ impl TileGrid {
     ///
     /// Might panic if the entity is not stored in the grid or if the last used
     /// update / insertion AABB differs from the one passed as an argument.
-    pub(crate) fn remove(&mut self, entity: Entity, aabb: &Aabb) {
+    pub(super) fn remove(&mut self, entity: Entity, aabb: &Aabb) {
         for tile in TileRange::from_aabb(aabb) {
             self.remove_from_tile(entity, tile);
         }
@@ -77,7 +77,7 @@ impl TileGrid {
     ///
     /// Might panic if the entity is not present in the grid or if `old_aabb`
     /// differs from the last used update / insert AABB.
-    pub(crate) fn update(&mut self, entity: Entity, old_aabb: &Aabb, new_aabb: &Aabb) {
+    pub(super) fn update(&mut self, entity: Entity, old_aabb: &Aabb, new_aabb: &Aabb) {
         let old_tiles = TileRange::from_aabb(old_aabb);
         let new_tiles = TileRange::from_aabb(new_aabb);
 
@@ -107,7 +107,7 @@ impl TileGrid {
     /// # Arguments
     ///
     /// `tile_coords` - coordinates of the tile.
-    pub(crate) fn get_tile_entities(&self, tile_coords: IVec2) -> Option<&AHashSet<Entity>> {
+    pub(super) fn get_tile_entities(&self, tile_coords: IVec2) -> Option<&AHashSet<Entity>> {
         self.tiles.get(&tile_coords)
     }
 

crates/index/src/index.rs → crates/index/src/precise/index.rs

@@ -18,8 +18,10 @@ use parry3d::{
     shape::Segment,
 };
 
-use super::{collider::LocalCollider, grid::TileGrid, segment::SegmentCandidates};
-use crate::{aabb::AabbCandidates, collider::ColliderWithCache};
+use super::{
+    aabb::AabbCandidates, collider::ColliderWithCache, collider::LocalCollider, grid::TileGrid,
+    segment::SegmentCandidates,
+};
 
 /// 2D rectangular grid based spatial index of entities.
 #[derive(Resource)]
@@ -47,15 +49,15 @@ impl EntityIndex {
         self.colliders.insert(entity, collider);
     }
 
-    pub(crate) fn remove(&mut self, entity: Entity) {
+    pub(super) fn remove(&mut self, entity: Entity) {
         let collider = self
             .colliders
             .remove(&entity)
             .expect("Tried to remove non-existent entity.");
         self.grid.remove(entity, collider.world_aabb());
     }
 
-    pub(crate) fn update(&mut self, entity: Entity, position: Isometry<f32>) {
+    pub(super) fn update(&mut self, entity: Entity, position: Isometry<f32>) {
         let collider = self
             .colliders
             .get_mut(&entity)
@@ -107,7 +109,7 @@ impl Default for EntityIndex {
 /// System parameter implementing various spatial queries.
 ///
 /// Only entities automatically indexed by systems from
-/// [`super::systems::IndexPlugin`] could be retrieved.
+/// [`super::PreciseIndexPlugin`] could be retrieved.
 #[derive(SystemParam)]
 pub struct SpatialQuery<'w, 's, Q, F = ()>
 where
@@ -124,7 +126,7 @@ where
     F: ReadOnlyWorldQuery + Sync + Send + 'static,
 {
     /// Returns closest entity whose shape, as indexed by systems registered by
-    /// [`super::systems::IndexPlugin`], intersects a given ray.
+    /// [`super::PreciseIndexPlugin`], intersects a given ray.
     ///
     /// # Arguments
     ///
@@ -173,7 +175,7 @@ where
     }
 
     /// Returns true if queried solid object on the map, as indexed by
-    /// [`super::systems::IndexPlugin`], intersects with the given collider.
+    /// [`super::PreciseIndexPlugin`], intersects with the given collider.
     pub fn collides(&self, collider: &impl ColliderWithCache) -> bool {
         let candidate_sets = self.index.query_aabb(collider.world_aabb());
         candidate_sets.flatten().any(|candidate| {

crates/index/src/systems.rs → crates/index/src/precise/mod.rs

@@ -1,6 +1,9 @@
-//! Module with systems and a Bevy plugin for automatic entity indexing of
-//! solid entities.
-
+//! This module implements 2D object partitioning for fast but precise object
+//! collider geometry lookup, for example ray casting.
+//!
+//! The core structure is a square tile grid which points to Bevy ECS entities.
+//! Newly spawned entities are automatically added, despawned entities removed
+//! and moved entities updated by systems added by [`PreciseIndexPlugin`].
 use bevy::prelude::*;
 use de_core::{
     gamestate::GameState,
@@ -11,8 +14,17 @@ use de_core::{
 use de_objects::SolidObjects;
 use parry3d::math::Isometry;
 
-use super::index::EntityIndex;
-use crate::collider::LocalCollider;
+pub use self::{
+    collider::{ColliderWithCache, LocalCollider, QueryCollider},
+    index::{EntityIndex, RayEntityIntersection, SpatialQuery},
+};
+
+mod aabb;
+mod collider;
+mod grid;
+mod index;
+mod range;
+mod segment;
 
 type SolidEntityQuery<'w, 's> = Query<
     'w,
@@ -38,29 +50,29 @@ type MovedQuery<'w, 's> =
 /// insert newly spawned solid entities to the index, update their position
 /// when [`bevy::prelude::Transform`] is changed and remove the entities from
 /// the index when they are de-spawned.
-pub(crate) struct IndexPlugin;
+pub(super) struct PreciseIndexPlugin;
 
-impl Plugin for IndexPlugin {
+impl Plugin for PreciseIndexPlugin {
     fn build(&self, app: &mut App) {
         app.add_systems(OnEnter(AppState::InGame), setup)
             .add_systems(OnExit(AppState::InGame), cleanup)
             .add_systems(
                 PostUpdate,
                 (insert, remove)
                     .run_if(in_state(GameState::Playing))
-                    .in_set(IndexSet::Index),
+                    .in_set(PreciseIndexSet::Index),
             )
             .add_systems(
                 PostMovement,
                 update
                     .run_if(in_state(GameState::Playing))
-                    .in_set(IndexSet::Index),
+                    .in_set(PreciseIndexSet::Index),
             );
     }
 }
 
 #[derive(Clone, Copy, PartialEq, Eq, Hash, Debug, SystemSet)]
-pub enum IndexSet {
+pub enum PreciseIndexSet {
     Index,
 }
 

crates/index/src/range.rs → crates/index/src/precise/range.rs

@@ -8,7 +8,7 @@ use crate::TILE_SIZE;
 ///
 /// The tiles are iterated row-by-row, for example: (1, 1) -> (2, 1) -> (1, 2)
 /// -> (2, 2).
-pub(crate) struct TileRange {
+pub(super) struct TileRange {
     a: IVec2,
     b: IVec2,
     x: i32,
@@ -21,7 +21,7 @@ impl TileRange {
     ///
     /// Tiles are assumed to be topologically closed. In other words, both
     /// touching and intersecting tiles are included in the range.
-    pub(crate) fn from_aabb(aabb: &Aabb) -> Self {
+    pub(super) fn from_aabb(aabb: &Aabb) -> Self {
         let aabb = aabb.to_flat();
         let min_flat: Vec2 = aabb.mins.into();
         let max_flat: Vec2 = aabb.maxs.into();
@@ -35,7 +35,7 @@ impl TileRange {
     /// * `a` - inclusive range start.
     ///
     /// * `b` - inclusive range end.
-    pub(crate) fn new(a: IVec2, b: IVec2) -> Self {
+    pub(super) fn new(a: IVec2, b: IVec2) -> Self {
         Self {
             a,
             b,
@@ -46,12 +46,12 @@ impl TileRange {
     }
 
     /// Returns true if the given point is not contained in the tile range.
-    pub(crate) fn excludes(&self, point: IVec2) -> bool {
+    pub(super) fn excludes(&self, point: IVec2) -> bool {
         self.a.cmpgt(point).any() || self.b.cmplt(point).any()
     }
 
     /// Returns intersecting tile range. The result might be empty.
-    pub(crate) fn intersection(&self, other: &TileRange) -> TileRange {
+    pub(super) fn intersection(&self, other: &TileRange) -> TileRange {
         Self::new(self.a.max(other.a), self.b.min(other.b))
     }
 }

crates/index/src/segment.rs → crates/index/src/precise/segment.rs

@@ -6,7 +6,8 @@ use de_types::projection::ToFlat;
 use glam::{IVec2, Vec2};
 use parry3d::shape::Segment;
 
-use super::{grid::TileGrid, TILE_SIZE};
+use super::grid::TileGrid;
+use crate::TILE_SIZE;
 
 /// An iterator over sets of entities from tiles intersecting a given line
 /// segment.
@@ -18,14 +19,14 @@ use super::{grid::TileGrid, TILE_SIZE};
 /// The tiles (and thus the yielded sets) are iterated by increasing distance
 /// between point `a` of the given line segment and the intersection of the
 /// tile with the line segment.
-pub(crate) struct SegmentCandidates<'a> {
+pub(super) struct SegmentCandidates<'a> {
     grid: &'a TileGrid,
     tiles: TileIterator,
     encountered: Option<&'a AHashSet<Entity>>,
 }
 
 impl<'a> SegmentCandidates<'a> {
-    pub(crate) fn new(grid: &'a TileGrid, segment: Segment) -> Self {
+    pub(super) fn new(grid: &'a TileGrid, segment: Segment) -> Self {
         Self {
             grid,
             tiles: TileIterator::new(segment),
@@ -172,7 +173,6 @@ mod tests {
     use parry3d::{bounding_volume::Aabb, math::Point, shape::Segment};
 
     use super::*;
-    use crate::grid::TileGrid;
 
     #[test]
     fn test_segment_candidates() {

crates/spawner/src/draft.rs

@@ -12,7 +12,7 @@ use de_core::{
     objects::{MovableSolid, ObjectTypeComponent, StaticSolid},
     state::AppState,
 };
-use de_index::{ColliderWithCache, IndexSet, QueryCollider, SpatialQuery};
+use de_index::{ColliderWithCache, PreciseIndexSet, QueryCollider, SpatialQuery};
 use de_map::size::MapBounds;
 use de_objects::{AssetCollection, SceneType, Scenes, SolidObjects, EXCLUSION_OFFSET};
 use de_types::{
@@ -42,7 +42,7 @@ impl Plugin for DraftPlugin {
                 PostUpdate,
                 (update_draft, check_draft_loaded, update_draft_colour)
                     .run_if(in_state(GameState::Playing))
-                    .after(IndexSet::Index),
+                    .after(PreciseIndexSet::Index),
             );
     }
 }