bevy_elements 0.7.2

//! Trails: a walker and a four-wheeled vehicle press tracks into snow, sand or mud.
//!
//! `cargo run --release --example trails`
//!
//! `ELEMENTS_GROUND=snow` (default: the hills under forced snow; grow it before the first frame
//! with `ELEMENTS_GROW_HOURS=24`, then the sky clears), `sand` (the dunes preset, dry) or `mud`
//! (the hills after rain: `ELEMENTS_GROW_HOURS=6`). The walker
//! circles 6 m around the scene's centre, planting a foot every half second (an ellipse
//! 0.10 × 0.26 m, 760 N); the vehicle (four wheels, 0.20 × 0.32 m, 3400 N each) drives a 14 m loop
//! at 4 m/s. `ELEMENTS_HOUR` holds an hour (default 10.5), `ELEMENTS_EYE=x,y,z` places the camera
//! that many metres above the ground (default `0,2.2,-11`), `ELEMENTS_LOOK=x,z` aims it (default
//! the centre), `ELEMENTS_PRESET` replaces the weather after the ground is grown (e.g. `Snow` to
//! watch new snow fill the tracks, with `ELEMENTS_SCALE=600` for ten game minutes a second).
//! `ELEMENTS_TERRAIN=mesh` replaces the crate's terrain with a game's own: a hilly mesh in
//! `WeatheredMaterial` (`with_trails()`), described to the trails by a `TrailGround` of the same
//! height function, its snow and wetness `SurfaceWeathering`'s, no `Terrain` spawned
//! (`docs/research/trails-game-ground.md`). `ELEMENTS_DETAIL` and `ELEMENTS_FINEST_M` set
//! `TerrainLook`'s detail knobs (the route grain follows them). `ELEMENTS_FRAMES` and `ELEMENTS_SHOT` work as in the
//! other examples.

mod common;

use std::f32::consts::TAU;
use std::time::Duration;

use bevy::ecs::system::SystemParam;
use bevy::prelude::*;
use bevy_elements::*;
use common::{ExampleHarness, camera, terrain_look_env};

/// The loops' centre, world XZ.
const CENTRE: Vec2 = Vec2::new(0.0, 0.0);
const WALK_RADIUS_M: f32 = 6.0;
const WALK_SPEED_MS: f32 = 1.4;
const STEP_S: f32 = 0.5;
const STEP_WIDTH_M: f32 = 0.11;
const FOOT_HALF: Vec2 = Vec2::new(0.05, 0.13);
const FOOT_LOAD_N: f32 = 760.0;
const DRIVE_RADIUS_M: f32 = 14.0;
const DRIVE_SPEED_MS: f32 = 4.0;
const WHEELBASE_M: f32 = 2.6;
const TRACK_M: f32 = 1.5;
const WHEEL_HALF: Vec2 = Vec2::new(0.10, 0.16);
const WHEEL_LOAD_N: f32 = 3400.0;

#[derive(Clone, Copy, PartialEq)]
enum Ground {
    Snow,
    Sand,
    Mud,
}

#[derive(Resource)]
struct Scene {
    ground: Ground,
    preset: Option<WeatherPreset>,
    /// The ground is a game's own mesh, not the crate's terrain.
    mesh: bool,
}

/// The game's own ground under `ELEMENTS_TERRAIN=mesh`: gentle hills, world height at world XZ.
fn hills(xz: Vec2) -> f32 {
    1.6 * (0.07 * xz.x).sin() * (0.05 * xz.y).cos() + 0.5 * (0.19 * xz.x + 0.13 * xz.y).sin()
}

/// A grid mesh of `hills` over `extent` metres, a vertex every `step` metres, with analytic
/// normals.
fn hills_mesh(extent: f32, step: f32) -> Mesh {
    let n = (extent / step) as u32 + 1;
    let mut positions = Vec::with_capacity((n * n) as usize);
    let mut normals = Vec::with_capacity((n * n) as usize);
    let mut uvs = Vec::with_capacity((n * n) as usize);
    let e = 0.05;
    for j in 0..n {
        for i in 0..n {
            let xz = Vec2::new(i as f32, j as f32) * step - Vec2::splat(0.5 * extent);
            let y = hills(xz);
            let dx = (hills(xz + Vec2::X * e) - hills(xz - Vec2::X * e)) / (2.0 * e);
            let dz = (hills(xz + Vec2::Y * e) - hills(xz - Vec2::Y * e)) / (2.0 * e);
            positions.push([xz.x, y, xz.y]);
            normals.push(Vec3::new(-dx, 1.0, -dz).normalize().to_array());
            uvs.push([xz.x, xz.y]);
        }
    }
    let mut indices = Vec::with_capacity(((n - 1) * (n - 1) * 6) as usize);
    for j in 0..n - 1 {
        for i in 0..n - 1 {
            let a = j * n + i;
            let (b, c, d) = (a + 1, a + n, a + n + 1);
            indices.extend_from_slice(&[a, c, b, b, c, d]);
        }
    }
    Mesh::new(
        bevy::mesh::PrimitiveTopology::TriangleList,
        bevy::asset::RenderAssetUsages::default(),
    )
    .with_inserted_attribute(Mesh::ATTRIBUTE_POSITION, positions)
    .with_inserted_attribute(Mesh::ATTRIBUTE_NORMAL, normals)
    .with_inserted_attribute(Mesh::ATTRIBUTE_UV_0, uvs)
    .with_inserted_indices(bevy::mesh::Indices::U32(indices))
}

/// A foot of the walker: left (-1) or right (+1).
#[derive(Component)]
struct Foot(f32);

/// A wheel: (+1 front, -1 rear), (-1 left, +1 right).
#[derive(Component)]
struct Wheel(f32, f32);

#[derive(Component)]
struct Walker;

#[derive(Component)]
struct Vehicle;

fn env_f32(name: &str, default: f32) -> f32 {
    std::env::var(name)
        .ok()
        .and_then(|v| v.parse().ok())
        .unwrap_or(default)
}

fn env_vec(name: &str) -> Option<Vec<f32>> {
    std::env::var(name)
        .ok()
        .map(|v| v.split(',').filter_map(|s| s.trim().parse().ok()).collect())
}

fn main() {
    let ground = match std::env::var("ELEMENTS_GROUND").as_deref() {
        Ok("sand") => Ground::Sand,
        Ok("mud") => Ground::Mud,
        _ => Ground::Snow,
    };
    let mesh = std::env::var("ELEMENTS_TERRAIN").is_ok_and(|v| v.eq_ignore_ascii_case("mesh"));
    let preset = std::env::var("ELEMENTS_PRESET").ok().and_then(|name| {
        WeatherPreset::ALL
            .into_iter()
            .find(|p| format!("{p:?}").eq_ignore_ascii_case(&name))
    });
    // Snow in January; sand and mud in June, so the rain stays rain.
    let date = if ground == Ground::Snow {
        CivilDate::new(2026, 1, 15)
    } else {
        CivilDate::new(2026, 6, 15)
    };
    let clock = WorldClock::new(date)
        .at_hour(f64::from(env_f32("ELEMENTS_HOUR", 10.5)))
        .with_time_scale(env_f32("ELEMENTS_SCALE", 1.0));
    let mut app = App::new();
    if mesh {
        let trail_ground = TrailGround::new(hills);
        app.insert_resource(if ground == Ground::Sand {
            trail_ground.with_sand()
        } else {
            trail_ground
        });
    }
    if let Some(look) = terrain_look_env() {
        app.insert_resource(look);
    }
    app.add_plugins((DefaultPlugins, ElementsPlugins, ExampleHarness))
        .insert_resource(clock)
        .insert_resource(if ground == Ground::Sand {
            Climate::desert()
        } else {
            Climate::temperate()
        })
        .insert_resource(ErosionSettings {
            enabled: false,
            ..default()
        })
        .insert_resource(Scene {
            ground,
            preset,
            mesh,
        })
        .add_systems(Startup, (setup, lay_paths))
        .add_systems(Update, mark_paths.after(ElementsSystems::Readback))
        .add_systems(
            Update,
            (settle_weather, walk, drive).after(ElementsSystems::Readback),
        )
        .run();
}

fn setup(
    mut commands: Commands,
    scene: Res<Scene>,
    mut director: ResMut<WeatherDirector>,
    mut meshes: ResMut<Assets<Mesh>>,
    mut materials: ResMut<Assets<StandardMaterial>>,
    mut weathered: ResMut<Assets<WeatheredMaterial>>,
) {
    if scene.mesh {
        // The game's own ground: grass, soil or sand that draws the trails pressed into it.
        let color = match scene.ground {
            Ground::Snow => Color::srgb(0.30, 0.34, 0.22),
            Ground::Sand => Color::srgb(0.72, 0.62, 0.45),
            Ground::Mud => Color::srgb(0.30, 0.25, 0.18),
        };
        commands.spawn((
            Mesh3d(meshes.add(hills_mesh(160.0, 0.5))),
            MeshMaterial3d(weathered.add(WeatheredMaterial {
                base: StandardMaterial {
                    base_color: color,
                    perceptual_roughness: 0.9,
                    ..default()
                },
                extension: WeatheredExtension::default().with_trails(),
            })),
        ));
    } else {
        commands.spawn(Terrain::procedural(match scene.ground {
            Ground::Sand => ProceduralTerrain::dunes(7),
            _ => ProceduralTerrain::hills(42),
        }));
    }
    // The ground is grown under its weather (`ELEMENTS_GROW_HOURS` in the harness), then the
    // sky clears in `settle_weather`.
    director.force(
        match scene.ground {
            Ground::Snow => WeatherPreset::Snow,
            Ground::Sand => WeatherPreset::Clear,
            Ground::Mud => WeatherPreset::Rain,
        },
        Duration::ZERO,
    );
    let eye = env_vec("ELEMENTS_EYE").unwrap_or_else(|| vec![0.0, 2.2, -11.0]);
    let look = env_vec("ELEMENTS_LOOK").unwrap_or_else(|| vec![CENTRE.x, CENTRE.y]);
    let (eye, look) = (
        Vec3::new(eye[0], 100.0 + eye[1], eye[2]),
        Vec3::new(look[0], 100.0, look[1]),
    );
    commands.spawn((camera(eye, look), EyeHeight(eye.y - 100.0), Aim(look.xz())));

    let body = materials.add(StandardMaterial {
        base_color: Color::srgb(0.25, 0.27, 0.32),
        perceptual_roughness: 0.8,
        ..default()
    });
    commands.spawn((
        Walker,
        Mesh3d(meshes.add(Capsule3d::new(0.22, 1.2))),
        MeshMaterial3d(body.clone()),
        Transform::from_xyz(0.0, -100.0, 0.0),
    ));
    for side in [-1.0, 1.0] {
        commands.spawn((Foot(side), Imprint::new(FOOT_HALF, FOOT_LOAD_N)));
    }
    let paint = materials.add(StandardMaterial {
        base_color: Color::srgb(0.55, 0.12, 0.08),
        perceptual_roughness: 0.4,
        ..default()
    });
    commands.spawn((
        Vehicle,
        Mesh3d(meshes.add(Cuboid::new(1.7, 1.1, 3.6))),
        MeshMaterial3d(paint),
        Transform::from_xyz(0.0, -100.0, 0.0),
    ));
    for front in [-1.0, 1.0] {
        for side in [-1.0, 1.0] {
            commands.spawn((Wheel(front, side), Imprint::new(WHEEL_HALF, WHEEL_LOAD_N)));
        }
    }
}

/// The camera's height above the ground and the point it looks at, applied once the terrain's
/// heights are read back.
#[derive(Component)]
struct EyeHeight(f32);

#[derive(Component)]
struct Aim(Vec2);

/// The undisturbed ground the feet and wheels stand on.
#[derive(SystemParam)]
struct Surface<'w> {
    env: Environment<'w>,
    game: Option<Res<'w, TrailGround>>,
    snow: Option<Res<'w, SurfaceWeathering>>,
}

impl Surface<'_> {
    /// The surface's world height (ground plus snow) at XZ: the game's ground, or the terrain
    /// once read back.
    fn at(&self, xz: Vec2) -> Option<f32> {
        match &self.game {
            Some(g) => Some(g.height(xz) + self.snow.as_ref().map_or(0.0, |s| s.snow_depth_m)),
            None => Some(self.env.terrain_height(xz)? + self.env.snow_depth(xz).unwrap_or(0.0)),
        }
    }
}

/// Once the ground is grown: the camera settles, and the sky clears (or turns to
/// `ELEMENTS_PRESET`).
fn settle_weather(
    mut commands: Commands,
    surface: Surface,
    scene: Res<Scene>,
    mut director: ResMut<WeatherDirector>,
    mut cameras: Query<(Entity, &mut Transform, &EyeHeight, &Aim)>,
    mut done: Local<bool>,
    mut frames: Local<u32>,
) {
    // A game's ground is known at once, but the harness grows the weather over its first frames
    // (one an hour, `ELEMENTS_GROW_HOURS`): settle after a second, past any growth of up to two
    // days. The terrain is settled once read back, which comes later.
    *frames += 1;
    if scene.mesh && *frames < 60 {
        return;
    }
    for (entity, mut transform, eye, aim) in &mut cameras {
        let (Some(here), Some(there)) = (
            surface.at(transform.translation.xz()),
            surface.at(aim.0),
        ) else {
            continue;
        };
        transform.translation.y = here + eye.0;
        transform.look_at(Vec3::new(aim.0.x, there + 0.3, aim.0.y), Vec3::Y);
        commands.entity(entity).remove::<(EyeHeight, Aim)>();
        if !*done {
            *done = true;
            director.force(scene.preset.unwrap_or(WeatherPreset::Clear), Duration::ZERO);
        }
    }
}

/// A point on a circle of `radius` round the centre at arc length `s`, and the direction along it.
fn on_circle(radius: f32, s: f32) -> (Vec2, Vec2) {
    let a = s / radius;
    let (sin, cos) = a.sin_cos();
    (CENTRE + radius * Vec2::new(cos, sin), Vec2::new(-sin, cos))
}

/// The walker: each foot is planted for a step and swings through the next; a planted foot sits
/// 5 cm below the surface the readback reports, so it is in contact whatever the readback's lag.
fn walk(
    surface: Surface,
    time: Res<Time<Virtual>>,
    mut feet: Query<(&Foot, &mut Transform), Without<Walker>>,
    mut body: Query<&mut Transform, With<Walker>>,
) {
    let t = time.elapsed_secs();
    let s = WALK_SPEED_MS * t;
    let (centre, _) = on_circle(WALK_RADIUS_M, s);
    if let (Ok(mut b), Some(y)) = (body.single_mut(), surface.at(centre)) {
        b.translation = Vec3::new(centre.x, y + 0.85, centre.y);
    }
    let step = WALK_SPEED_MS * STEP_S;
    for (foot, mut transform) in &mut feet {
        // Left plants on even steps, right on odd ones; a foot plants where the body will be
        // half a step later, and swings over the next step.
        let phase = t / STEP_S + if foot.0 < 0.0 { 0.0 } else { 1.0 };
        let index = (phase / 2.0).floor();
        let within = phase - 2.0 * index;
        let planted = within < 1.0;
        let plant_s = (2.0 * index * STEP_S - if foot.0 < 0.0 { 0.0 } else { STEP_S })
            * WALK_SPEED_MS
            + 0.5 * step;
        let (at, along) = if planted {
            on_circle(WALK_RADIUS_M, plant_s)
        } else {
            let k = within - 1.0;
            on_circle(WALK_RADIUS_M, plant_s + 2.0 * step * k)
        };
        let side = Vec2::new(along.y, -along.x) * foot.0 * STEP_WIDTH_M;
        let xz = at + side;
        let Some(y) = surface.at(xz) else {
            continue;
        };
        let lift = if planted {
            -0.05
        } else {
            0.3 * (TAU * 0.5 * (within - 1.0)).sin().abs() + 0.3
        };
        *transform = Transform::from_xyz(xz.x, y + lift, xz.y)
            .looking_to(Vec3::new(along.x, 0.0, along.y), Vec3::Y);
    }
}

/// The vehicle: four wheels on a circle, each pressing where it is.
fn drive(
    surface: Surface,
    time: Res<Time<Virtual>>,
    mut wheels: Query<(&Wheel, &mut Transform), Without<Vehicle>>,
    mut body: Query<&mut Transform, With<Vehicle>>,
) {
    let s = DRIVE_SPEED_MS * time.elapsed_secs();
    let (centre, along) = on_circle(DRIVE_RADIUS_M, s);
    let side = Vec2::new(along.y, -along.x);
    if let (Ok(mut b), Some(y)) = (body.single_mut(), surface.at(centre)) {
        *b = Transform::from_xyz(centre.x, y + 0.85, centre.y)
            .looking_to(Vec3::new(along.x, 0.0, along.y), Vec3::Y);
    }
    for (wheel, mut transform) in &mut wheels {
        let xz = centre + along * wheel.0 * 0.5 * WHEELBASE_M + side * wheel.1 * 0.5 * TRACK_M;
        let Some(y) = surface.at(xz) else {
            continue;
        };
        *transform = Transform::from_xyz(xz.x, y - 0.05, xz.y)
            .looking_to(Vec3::new(along.x, 0.0, along.y), Vec3::Y);
    }
}

/// `ELEMENTS_PATHS`: the routes a game lays across this ground (`docs/research/paths.md`).
fn lay_paths(mut commands: Commands) {
    let Ok(which) = std::env::var("ELEMENTS_PATHS") else {
        return;
    };
    let which = which.to_ascii_lowercase();
    let all = which == "all";
    let mut paths = Vec::new();
    if all || which == "lane" {
        paths.push(Path::new(
            vec![
                Vec3::new(-24.0, 0.0, -18.0),
                Vec3::new(-9.0, 0.0, -6.0),
                Vec3::new(-2.0, 0.0, 2.0),
                Vec3::new(6.0, 0.0, 9.0),
                Vec3::new(20.0, 0.0, 15.0),
            ],
            0.35,
            PathKind::Earth,
        ));
    }
    if all || which == "track" {
        paths.push(
            Path::new(
                vec![
                    Vec3::new(-26.0, 0.0, 5.0),
                    Vec3::new(-12.0, 0.0, 4.0),
                    Vec3::new(0.0, 0.0, 3.0),
                    Vec3::new(13.0, 0.0, 6.0),
                    Vec3::new(26.0, 0.0, 10.0),
                ],
                1.0,
                PathKind::Earth,
            )
            .with_ruts(0.06),
        );
    }
    if all || which == "road" {
        paths.push(
            Path::new(
                vec![
                    Vec3::new(-30.0, 0.0, -24.0),
                    Vec3::new(-16.0, 0.0, -14.0),
                    Vec3::new(-4.0, 0.0, -10.0),
                    Vec3::new(10.0, 0.0, -12.0),
                    Vec3::new(26.0, 0.0, -20.0),
                ],
                2.5,
                PathKind::Gravel,
            )
            .with_ruts(0.03),
        );
    }
    if all || which == "stone" {
        paths.push(Path::new(
            vec![
                Vec3::new(-26.0, 0.0, 20.0),
                Vec3::new(-8.0, 0.0, 18.0),
                Vec3::new(8.0, 0.0, 19.0),
                Vec3::new(26.0, 0.0, 22.0),
            ],
            1.6,
            PathKind::Stone,
        ));
    }
    if all || which == "packed" {
        paths.push(Path::new(
            vec![
                Vec3::new(-26.0, 0.0, -2.0),
                Vec3::new(-8.0, 0.0, -1.0),
                Vec3::new(8.0, 0.0, -3.0),
                Vec3::new(26.0, 0.0, -1.0),
            ],
            1.2,
            PathKind::Snow,
        ));
    }
    if !paths.is_empty() {
        commands.insert_resource(PathNetwork::new(paths));
    }
    if std::env::var("ELEMENTS_PATHS_MARK").is_ok() {
        commands.insert_resource(PathMarks { placed: false });
    }
}

/// `ELEMENTS_PATHS_MARK=1`: posts placed by the crate's own query, each 2 m clear of the nearest
/// route's **edge** (`nearest_path`'s distance), so a capture shows the query and the drawn verge
/// agreeing (`docs/research/path-query.md` Validation 7).
#[derive(Resource)]
struct PathMarks {
    placed: bool,
}

fn mark_paths(
    mut commands: Commands,
    env: Environment,
    paths: Option<Res<PathNetwork>>,
    marks: Option<ResMut<PathMarks>>,
    mut meshes: ResMut<Assets<Mesh>>,
    mut materials: ResMut<Assets<StandardMaterial>>,
) {
    let Some(mut marks) = marks else {
        return;
    };
    let Some(network) = paths.as_deref() else {
        return;
    };
    if marks.placed {
        return;
    }
    let post = meshes.add(Cuboid::new(0.18, 2.4, 0.18));
    let white = materials.add(StandardMaterial {
        base_color: Color::srgb(0.95, 0.95, 0.98),
        perceptual_roughness: 0.7,
        ..default()
    });
    // The proof of Validation 7: walk each route's own centre line, ask the query for the point's
    // signed distance to the edge, and stand a post exactly 2 m beyond it. If the query and the
    // drawn verge agree, the posts trace every verge at one constant offset.
    let mut placed = 0;
    {
        for path in &network.paths {
            for pair in path.points.windows(2) {
                let (a, b) = (pair[0].xz(), pair[1].xz());
                let span = a.distance(b);
                let steps = (span / 3.0).ceil().max(1.0) as i32;
                for k in 0..=steps {
                    let on = a.lerp(b, k as f32 / steps as f32);
                    let Some(hit) = env.nearest_path(on) else {
                        continue;
                    };
                    // Away from the route, along the direction from its centre line to this point:
                    // the route's normal, from the query's own nearest point.
                    let normal = if on == hit.point {
                        let ab = (b - a).normalize_or_zero();
                        Vec2::new(-ab.y, ab.x)
                    } else {
                        (on - hit.point).normalize_or_zero()
                    };
                    let target = hit.point + normal * (hit.surface.half_width_m);
                    // The verge: 2 m beyond the edge the query just measured.
                    let Some(edge_hit) = env.nearest_path(target) else {
                        continue;
                    };
                    debug_assert!(edge_hit.distance_m.abs() < 0.35, "{edge_hit:?}");
                    let outside = target + normal * 2.0;
                    // The example's terrain readback covers its grid; a post beyond it stands at
                    // the crate's own ground query's answer or, failing that, the flat plane.
                    let ground = env.terrain_height(outside).unwrap_or(0.0);
                    commands.spawn((
                        Mesh3d(post.clone()),
                        MeshMaterial3d(white.clone()),
                        Transform::from_xyz(outside.x, ground + 1.2, outside.y),
                    ));
                    placed += 1;
                }
                let _ = span;
            }
        }
    }
    eprintln!("path marks: {placed} posts placed by nearest_path");
    // A diagnostic: the query at the road's own start point, and at a few known places.
    for probe in [
        Vec2::new(-30.0, -24.0),
        Vec2::new(-4.0, -10.0),
        Vec2::new(10.0, -12.0),
        Vec2::new(0.0, 0.0),
        Vec2::new(0.0, 3.0),
    ] {
        eprintln!("  at {probe:?}: {:?}", env.nearest_path(probe));
    }
    marks.placed = true;
}