freECS

A high-performance, archetype-based Entity Component System (ECS) for Rust

Key Features:

• Zero-cost abstractions with static dispatch
• Multi-threaded parallel processing using Rayon
• Sparse set tags that don't fragment archetypes
• Command buffers for deferred structural changes
• Change detection for incremental updates
• Type-safe double-buffered event system

The ecs! macro generates the entire ECS at compile time. The core implementation is ~1,500 LOC, contains only plain data structures and functions, and uses zero unsafe code.

Quick Start

Add this to your Cargo.toml:

[dependencies]

freecs = "1.0.2"

And in main.rs:

use freecs::{ecs, Entity};

ecs! {
    World {
        position: Position => POSITION,
        velocity: Velocity => VELOCITY,
        health: Health => HEALTH,
    }
    Tags {
        player => PLAYER,
        enemy => ENEMY,
    }
    Events {
        collision: CollisionEvent,
    }
    Resources {
        delta_time: f32
    }
}

pub fn main() {
    let mut world = World::default();

    // Spawn entities with components
    let _entity = world.spawn_entities(POSITION | VELOCITY, 1)[0];

    // Or use the entity builder
    let entity = EntityBuilder::new()
        .with_position(Position { x: 1.0, y: 2.0 })
        .spawn(&mut world, 1)[0];

    // Read components using the generated methods
    let position = world.get_position(entity);
    println!("Position: {:?}", position);

    // Set components (adds if not present)
    world.set_position(entity, Position { x: 1.0, y: 2.0 });

    // Mutate a component
    if let Some(position) = world.get_position_mut(entity) {
        position.x += 1.0;
    }

    // Get an entity's component mask
    let _component_mask = world.component_mask(entity).unwrap();

    // Add a new component to an entity
    world.add_components(entity, HEALTH);

    // Or use the generated add method
    world.add_health(entity);

    // Query all entities
    let _entities = world.get_all_entities();

    // Query all entities with a specific component
    let _players = world.query_entities(POSITION | VELOCITY | HEALTH);

    // Query the first entity with a specific component,
    // returning early instead of checking remaining entities
    let _first_player_entity = world.query_first_entity(POSITION | VELOCITY | HEALTH);

    // Remove a component from an entity
    world.remove_components(entity, HEALTH);

    // Or use the generated remove method
    world.remove_health(entity);

    // Check if entity has components
    if world.entity_has_position(entity) {
        println!("Entity has position component");
    }

    // Add tags to entities (lightweight markers)
    world.add_player(entity);

    // Check if entity has a tag
    if world.has_player(entity) {
        println!("Entity is a player");
    }

    // Remove tags
    world.remove_player(entity);

    // Send events
    world.send_collision(CollisionEvent {
        entity_a: entity,
        entity_b: entity,
    });

    // Systems are functions that transform component data
    systems::run_systems(&mut world);

    // Despawn entities, freeing their table slots for reuse
    world.despawn_entities(&[entity]);
}

use components::*;
mod components {
    #[derive(Default, Debug, Clone, Copy)]
    pub struct Position {
        pub x: f32,
        pub y: f32,
    }

    #[derive(Default, Debug, Clone, Copy)]
    pub struct Velocity {
        pub x: f32,
        pub y: f32,
    }

    #[derive(Default, Debug, Clone, Copy)]
    pub struct Health {
        pub value: f32,
    }
}

use events::*;
mod events {
    use super::*;

    #[derive(Debug, Clone)]
    pub struct CollisionEvent {
        pub entity_a: Entity,
        pub entity_b: Entity,
    }
}

mod systems {
    use super::*;

    pub fn run_systems(world: &mut World) {
        // Systems use queries and component accessors
        example_system(world);
        update_positions_system(world);
        collision_handler_system(world);
        health_system(world);
    }

    fn example_system(world: &mut World) {
        for entity in world.query_entities(POSITION | VELOCITY) {
            if let Some(position) = world.get_position_mut(entity) {
                position.x += 1.0;
            }
        }
    }

    fn update_positions_system(world: &mut World) {
        let dt = world.resources.delta_time;

        // Collect entities with their velocities first to avoid borrow conflicts
        let updates: Vec<(Entity, Velocity)> = world
            .query_entities(POSITION | VELOCITY)
            .into_iter()
            .filter_map(|entity| {
                world.get_velocity(entity).map(|vel| (entity, *vel))
            })
            .collect();

        // Now update positions
        for (entity, vel) in updates {
            if let Some(pos) = world.get_position_mut(entity) {
                pos.x += vel.x * dt;
                pos.y += vel.y * dt;
            }
        }
    }

    fn collision_handler_system(world: &mut World) {
        // Process collision events
        for event in world.collect_collision() {
            println!("Collision detected between {:?} and {:?}", event.entity_a, event.entity_b);
        }
    }

    fn health_system(world: &mut World) {
        for entity in world.query_entities(HEALTH) {
            if let Some(health) = world.get_health_mut(entity) {
                health.value *= 0.98;
            }
        }
    }
}

Generated API

The ecs! macro generates type-safe methods for each component:

// For each component, you get:
world.get_position(entity)        // -> Option<&Position>
world.get_position_mut(entity)    // -> Option<&mut Position>
world.set_position(entity, pos)   // Sets or adds the component
world.add_position(entity)        // Adds with default value
world.remove_position(entity)     // Removes the component
world.entity_has_position(entity) // Checks if entity has component

Systems

Systems are functions that query entities and transform their components:

pub fn update_global_transforms_system(world: &mut World) {
    world
        .query_entities(LOCAL_TRANSFORM | GLOBAL_TRANSFORM)
        .into_iter()
        .for_each(|entity| {
            // The entities we queried for are guaranteed to have
            // a local transform and global transform here
            let new_global_transform = query_global_transform(world, entity);
            let global_transform = world.get_global_transform_mut(entity).unwrap();
            *global_transform = GlobalTransform(new_global_transform);
        });
}

pub fn query_global_transform(world: &World, entity: EntityId) -> nalgebra_glm::Mat4 {
    let Some(local_transform) = world.get_local_transform(entity) else {
        return nalgebra_glm::Mat4::identity();
    };
    if let Some(Parent(parent)) = world.get_parent(entity) {
        query_global_transform(world, *parent) * local_transform
    } else {
        local_transform
    }
}

Batched Processing

For performance-critical systems with large numbers of entities, you can batch process components:

fn batched_physics_system(world: &mut World) {
    let dt = world.resources.delta_time;
    
    // Collect entity data
    let mut entities: Vec<(Entity, Position, Velocity)> = world
        .query_entities(POSITION | VELOCITY)
        .into_iter()
        .filter_map(|entity| {
            match (world.get_position(entity), world.get_velocity(entity)) {
                (Some(pos), Some(vel)) => Some((entity, *pos, *vel)),
                _ => None
            }
        })
        .collect();
    
    // Process all entities
    for (_, pos, vel) in &mut entities {
        pos.x += vel.x * dt;
        pos.y += vel.y * dt;
    }
    
    // Write back results
    for (entity, new_pos, _) in entities {
        world.set_position(entity, new_pos);
    }
}

This approach minimizes borrowing conflicts and can improve performance by processing data in batches.

Events

Events provide a type-safe way to communicate between systems:

ecs! {
    World {
        position: Position => POSITION,
        velocity: Velocity => VELOCITY,
    }
    Events {
        collision: CollisionEvent,
        damage: DamageEvent,
    }
}

use events::*;
mod events {
    use super::*;

    #[derive(Debug, Clone)]
    pub struct CollisionEvent {
        pub entity_a: Entity,
        pub entity_b: Entity,
    }

    #[derive(Debug, Clone)]
    pub struct DamageEvent {
        pub entity: Entity,
        pub amount: f32,
    }
}

fn physics_system(world: &mut World) {
    for entity_a in world.query_entities(POSITION) {
        for entity_b in world.query_entities(POSITION) {
            if check_collision(entity_a, entity_b) {
                world.send_collision(CollisionEvent { entity_a, entity_b });
            }
        }
    }
}

fn damage_system(world: &mut World) {
    for event in world.collect_collision() {
        world.send_damage(DamageEvent {
            entity: event.entity_a,
            amount: 10.0
        });
    }
}

fn health_system(world: &mut World) {
    for event in world.collect_damage() {
        if let Some(health) = world.get_health_mut(event.entity) {
            health.value -= event.amount;
        }
    }
}

Each event type gets these generated methods:

• send_<event>(event) - Queue an event
• read_<event>() - Get an iterator over all queued events
• collect_<event>() - Collect events into a Vec (eliminates boilerplate)
• peek_<event>() - Get reference to first event without consuming
• drain_<event>() - Consume all events (takes ownership)
• update_<event>() - Swap buffers (old events cleared, current becomes previous)
• clear_<event>() - Immediately clear all events
• len_<event>() - Get count of all queued events
• is_empty_<event>() - Check if queue is empty

Game Loop Integration

Call world.step() at the end of each frame to handle event cleanup:

loop {
    input_system(&mut world);
    physics_system(&mut world);
    collision_system(&mut world);

    world.step();  // Cleans up events from previous frame
}

The step() method handles event lifecycle automatically. For fine-grained control, you can use update_<event>() to update individual event types.

Double Buffering

Events use double buffering to prevent systems from missing events in parallel execution. Events persist for 2 frames by default, then auto-clear on the next step() call. For immediate clearing, use clear_<event>().

High-Performance Features

Query Builder API

For maximum performance, use the query builder which provides direct table access:

fn physics_update_system(world: &mut World) {
    let dt = world.resources.delta_time;

    world.query()
        .with(POSITION | VELOCITY)
        .iter(|entity, table, idx| {
            table.position[idx].x += table.velocity[idx].x * dt;
            table.position[idx].y += table.velocity[idx].y * dt;
        });
}

This eliminates per-entity lookups and provides cache-friendly sequential access.

The query builder also supports filtering:

// Exclude entities with specific components
world.query()
    .with(POSITION | VELOCITY)
    .without(PLAYER)
    .iter(|entity, table, idx| {
        // Only processes entities that have position and velocity but NOT player
    });

You can also use the lower-level iteration methods directly:

// Mutable iteration
world.for_each_mut(POSITION | VELOCITY, 0, |entity, table, idx| {
    table.position[idx].x += table.velocity[idx].x;
});

// Read-only iteration
for entity in world.query_entities(POSITION | VELOCITY) {
    let pos = world.get_position(entity).unwrap();
    let vel = world.get_velocity(entity).unwrap();
    println!("Entity {:?} at ({}, {})", entity, pos.x, pos.y);
}

Batch Spawning

Spawn multiple entities efficiently (5.5x faster than individual spawns):

// Method 1: spawn_batch with initialization callback
let entities = world.spawn_batch(POSITION | VELOCITY, 1000, |table, idx| {
    table.position[idx] = Position { x: idx as f32, y: 0.0 };
    table.velocity[idx] = Velocity { x: 1.0, y: 0.0 };
});

// Method 2: spawn_entities (uses component defaults)
let entities = world.spawn_entities(POSITION | VELOCITY, 1000);

// Method 3: entity builder for small batches
let entities = EntityBuilder::new()
    .with_position(Position { x: 0.0, y: 0.0 })
    .with_velocity(Velocity { x: 1.0, y: 1.0 })
    .spawn(&mut world, 100);

Single-Component Iteration

Optimized iteration for single components:

world.for_each_position(|position| {
    position.x += 1.0;
});

world.for_each_position_mut(|position| {
    position.y *= 0.99;
});

Parallel Iteration

Process large entity counts across multiple CPU cores using Rayon:

use freecs::rayon::prelude::*;

fn parallel_physics_system(world: &mut World) {
    let dt = world.resources.delta_time;

    world.par_for_each_mut(POSITION | VELOCITY, 0, |entity, table, idx| {
        table.position[idx].x += table.velocity[idx].x * dt;
        table.position[idx].y += table.velocity[idx].y * dt;
    });
}

Best for 100K+ entities with non-trivial per-entity computation. For smaller entity counts, serial iteration may be more efficient due to parallelization overhead.

Sparse Set Tags

Tags are lightweight markers stored in sparse sets rather than archetypes. This means adding/removing tags doesn't trigger archetype migrations, avoiding fragmentation:

ecs! {
    World {
        position: Position => POSITION,
        velocity: Velocity => VELOCITY,
    }
    Tags {
        player => PLAYER,
        enemy => ENEMY,
        selected => SELECTED,
    }
}

// Adding tags doesn't move entities between archetypes
world.add_player(entity);
world.add_selected(entity);

// Check if entity has a tag
if world.has_player(entity) {
    println!("Entity is a player");
}

// Query entities by component and filter by tag
for entity in world.query_entities(POSITION | VELOCITY) {
    if world.has_enemy(entity) {
        // Process enemies
    }
}

// Remove tags
world.remove_player(entity);
world.remove_selected(entity);

Tags are perfect for:

• Runtime categorization (player, enemy, npc)
• Selection/highlighting states
• Temporary status flags
• Any marker that changes frequently

Command Buffers

Command buffers allow you to queue structural changes (spawn, despawn, add/remove components) during iteration, then apply them all at once. This avoids borrowing conflicts and archetype invalidation during queries:

fn death_system(world: &mut World) {
    // Queue despawns during iteration
    let entities_to_despawn: Vec<Entity> = world
        .query_entities(HEALTH)
        .filter(|&entity| {
            world.get_health(entity).map_or(false, |h| h.value <= 0.0)
        })
        .collect();

    for entity in entities_to_despawn {
        world.queue_despawn_entity(entity);
    }

    // Apply all queued commands at once
    world.apply_commands();
}

fn spawn_system(world: &mut World) {
    // Queue entity spawns
    for _ in 0..10 {
        world.queue_spawn(POSITION | VELOCITY);
    }

    // Queue component additions
    for entity in world.query_entities(POSITION) {
        if should_add_health(entity) {
            world.queue_add_components(entity, HEALTH);
        }
    }

    // Queue component removals
    for entity in world.query_entities(VELOCITY) {
        if should_stop(entity) {
            world.queue_remove_components(entity, VELOCITY);
        }
    }

    world.apply_commands();
}

Available command buffer operations:

• queue_spawn(mask) - Queue entity spawn
• queue_despawn_entity(entity) - Queue entity despawn
• queue_add_components(entity, mask) - Queue component addition
• queue_remove_components(entity, mask) - Queue component removal
• queue_set_component(entity, component) - Queue component set/update
• apply_commands() - Apply all queued commands

Change Detection

Track which components have been modified since a specific tick. Useful for incremental updates, networking, or rendering optimizations:

fn render_system(world: &mut World) {
    let current_tick = world.current_tick();

    // Process only entities whose position changed this frame
    world.query()
        .with(POSITION)
        .changed_since(current_tick - 1)
        .iter(|entity, table, idx| {
            update_sprite_position(&table.position[idx]);
        });

    // Increment the tick counter at the end of the frame
    world.increment_tick();
}

// You can also use for_each_mut_changed for direct iteration
world.for_each_mut_changed(POSITION | VELOCITY, last_tick, |entity, table, idx| {
    // Only processes entities where position OR velocity changed
    sync_to_physics_engine(entity, &table.position[idx], &table.velocity[idx]);
});

Change detection tracks modifications at the component table level. Any mutation via get_*_mut() or table access marks that component slot as changed for the current tick.

Performance note: Change detection adds a small overhead (~20 Melem/s vs normal iteration). Only use it when you need to track changes.

System Scheduling

Organize systems into a schedule for automatic execution:

use freecs::Schedule;

fn main() {
    let mut world = World::default();
    let mut schedule = Schedule::new();

    // Add systems in order
    schedule
        .add_system(input_system)
        .add_system(physics_system)
        .add_system(collision_system)
        .add_system(render_system);

    // Game loop
    loop {
        schedule.run(&mut world);
        world.step();
    }
}

fn input_system(world: &mut World) {
    // Handle input
}

fn physics_system(world: &mut World) {
    // Update physics
}

fn collision_system(world: &mut World) {
    // Check collisions
}

fn render_system(world: &mut World) {
    // Render entities
}

Systems in a schedule execute sequentially in the order they were added. This provides a simple way to organize your game loop without manually calling each system.

Entity Builder

An entity builder is generated automatically:

let mut world = World::default();

let entities = EntityBuilder::new()
    .with_position(Position { x: 1.0, y: 2.0 })
    .with_velocity(Velocity { x: 0.0, y: 1.0 })
    .spawn(&mut world, 2);

assert_eq!(world.get_position(entities[0]).unwrap().x, 1.0);
assert_eq!(world.get_position(entities[1]).unwrap().y, 2.0);

Advanced Features

Per-Component Iteration

For iterating over a single component type, specialized methods are generated:

// Read-only iteration
world.iter_position(|position| {
    println!("Position: ({}, {})", position.x, position.y);
});

// Mutable iteration
world.iter_position_mut(|position| {
    position.x += 1.0;
});

// Slice-based iteration (most efficient)
for slice in world.iter_position_slices() {
    for position in slice {
        println!("Position: ({}, {})", position.x, position.y);
    }
}

for slice in world.iter_position_slices_mut() {
    for position in slice {
        position.x *= 2.0;
    }
}

// Query entities with specific component
for entity in world.query_position() {
    println!("Entity with position: {:?}", entity);
}

Tag Queries

Query entities by specific tags:

// Get all entities with a specific tag
for entity in world.query_player() {
    println!("Player entity: {:?}", entity);
}

for entity in world.query_enemy() {
    if let Some(pos) = world.get_position(entity) {
        println!("Enemy at ({}, {})", pos.x, pos.y);
    }
}

Advanced Command Buffer Operations

Beyond the basic command buffer operations, you can queue additional operations:

// Queue batch spawns
world.queue_spawn_entities(POSITION | VELOCITY, 100);

// Queue batch despawns
let entities_to_remove = vec![entity1, entity2, entity3];
world.queue_despawn_entities(entities_to_remove);

// Queue component sets (generated per component)
world.queue_set_position(entity, Position { x: 10.0, y: 20.0 });
world.queue_set_velocity(entity, Velocity { x: 1.0, y: 0.0 });

// Queue tag operations
world.queue_add_player(entity);
world.queue_remove_enemy(entity);

// Check command buffer status
if world.command_count() > 100 {
    world.apply_commands();
}

// Clear pending commands without applying
world.clear_commands();

Query Builder (Advanced)

The query builder provides a fluent API for complex queries:

// Mutable query builder
world.query_mut()
    .with(POSITION | VELOCITY)
    .without(PLAYER)
    .iter(|entity, table, idx| {
        table.position[idx].x += table.velocity[idx].x;
    });

// Read-only query builder
world.query()
    .with(POSITION)
    .without(ENEMY)
    .iter(|entity, table, idx| {
        println!("Position: ({}, {})", table.position[idx].x, table.position[idx].y);
    });

Low-Level Iteration

For maximum control, use the low-level iteration methods:

// Read-only iteration with include/exclude masks
world.for_each(POSITION | VELOCITY, PLAYER, |entity, table, idx| {
    let pos = &table.position[idx];
    let vel = &table.velocity[idx];
    println!("Non-player entity at ({}, {})", pos.x, pos.y);
});

// Mutable iteration with include/exclude masks
world.for_each_mut(POSITION | VELOCITY, 0, |entity, table, idx| {
    table.position[idx].x += table.velocity[idx].x;
    table.position[idx].y += table.velocity[idx].y;
});

// Check if entity has multiple components
if world.entity_has_components(entity, POSITION | VELOCITY | HEALTH) {
    println!("Entity has all required components");
}

Tick Management

Advanced tick management for change detection:

let current = world.current_tick();
let previous = world.last_tick();

// Process only entities changed in the last frame
world.for_each_mut_changed(POSITION, previous, |entity, table, idx| {
    sync_transform(entity, &table.position[idx]);
});

// Manually increment tick
world.increment_tick();

Event Peeking

Preview events without consuming them:

// Peek at the first event
if let Some(event) = world.peek_collision() {
    println!("Next collision: {:?} and {:?}", event.entity_a, event.entity_b);
}

// Check if events exist
if !world.is_empty_collision() {
    let count = world.len_collision();
    println!("Processing {} collision events", count);
}

// Drain events (takes ownership)
for event in world.drain_collision() {
    process_collision(event);
}

License

This project is licensed under the MIT License - see the LICENSE file for details.