use std::{f32::consts::FRAC_PI_2, time::Duration};
use avian3d::{math::Vector, prelude::*};
use bevy::{
color::palettes,
math::{vec2, vec3},
prelude::*,
time::common_conditions::on_timer,
};
use polyanya::Triangulation;
use rand::Rng;
use vleue_navigator::prelude::*;
const MESH_UNIT: u32 = 100;
#[derive(Component)]
struct Obstacle(Timer);
fn main() {
let mut app = App::new();
app.insert_resource(ClearColor(palettes::css::BLACK.into()))
.add_plugins((
DefaultPlugins.set(WindowPlugin {
primary_window: Some(Window {
title: "Navmesh with Polyanya".to_string(),
fit_canvas_to_parent: true,
..default()
}),
..default()
}),
PhysicsPlugins::default().with_length_unit(2.0),
VleueNavigatorPlugin,
NavmeshUpdaterPlugin::<Collider, Obstacle>::default(),
))
.insert_resource(Gravity(Vector::NEG_Y * 9.81 * 10.0))
.add_systems(Startup, setup)
.add_systems(Update, despawn_obstacles)
.add_systems(PostUpdate, display_path)
.add_systems(
Update,
spawn_obstacles.run_if(on_timer(Duration::from_secs_f32(0.5))),
);
let mut config_store = app
.world_mut()
.get_resource_mut::<GizmoConfigStore>()
.unwrap();
for (_, config, _) in config_store.iter_mut() {
config.depth_bias = -1.0;
}
app.run();
}
fn setup(
mut commands: Commands,
mut meshes: ResMut<Assets<Mesh>>,
mut materials: ResMut<Assets<StandardMaterial>>,
) {
commands.spawn((
Camera3d::default(),
Transform::from_xyz(0.0, MESH_UNIT as f32 * 2.2, MESH_UNIT as f32).looking_at(
vec3(MESH_UNIT as f32 * 0.85, 0.0, MESH_UNIT as f32),
Vec3::Y,
),
));
commands.spawn((
DirectionalLight {
illuminance: 3000.0,
shadows_enabled: true,
..default()
},
Transform::default().looking_at(Vec3::new(-1.0, -2.5, -1.5), Vec3::Y),
));
commands
.spawn((
Transform::from_rotation(Quat::from_rotation_x(FRAC_PI_2)),
Visibility::Visible,
))
.with_children(|p| {
p.spawn((
NavMeshSettings {
fixed: Triangulation::from_outer_edges(&[
vec2(0.0, 0.0),
vec2(MESH_UNIT as f32, 0.0),
vec2(MESH_UNIT as f32, MESH_UNIT as f32 * 2.0),
vec2(0.0, MESH_UNIT as f32 * 2.0),
]),
simplify: 0.001,
merge_steps: 3,
upward_shift: 1.0,
layer: Some(0),
stitches: vec![(
(0, 1),
[
vec2(MESH_UNIT as f32, 0.0),
vec2(MESH_UNIT as f32, MESH_UNIT as f32 * 2.0),
],
)],
..default()
},
NavMeshUpdateMode::Direct,
NavMeshDebug(palettes::tailwind::YELLOW_600.into()),
));
p.spawn((
Mesh3d(meshes.add(Plane3d::new(
-Vec3::Z,
Vec2::new(MESH_UNIT as f32 / 2.0, MESH_UNIT as f32),
))),
MeshMaterial3d(materials.add(StandardMaterial::from(Color::Srgba(
palettes::tailwind::SLATE_900,
)))),
Transform::from_xyz(MESH_UNIT as f32 / 2.0, MESH_UNIT as f32, 0.0),
RigidBody::Static,
Collider::cuboid(MESH_UNIT as f32, MESH_UNIT as f32 * 2.0, 0.01),
Restitution::ZERO,
));
});
commands
.spawn((
Transform::from_translation(vec3(MESH_UNIT as f32, 0.0, 0.0))
.with_rotation(Quat::from_rotation_x(FRAC_PI_2)),
Visibility::Visible,
))
.with_children(|p| {
p.spawn((
NavMeshSettings {
fixed: Triangulation::from_outer_edges(&[
vec2(0.0, 0.0),
vec2(MESH_UNIT as f32, 0.0),
vec2(MESH_UNIT as f32, MESH_UNIT as f32 * 2.0),
vec2(0.0, MESH_UNIT as f32 * 2.0),
]),
simplify: 0.001,
merge_steps: 3,
upward_shift: 1.0,
layer: Some(1),
stitches: vec![(
(0, 1),
[
vec2(MESH_UNIT as f32, 0.0),
vec2(MESH_UNIT as f32, MESH_UNIT as f32 * 2.0),
],
)],
..default()
},
NavMeshUpdateMode::Direct,
NavMeshDebug(palettes::tailwind::LIME_600.into()),
));
p.spawn((
Mesh3d(meshes.add(Plane3d::new(
-Vec3::Z,
Vec2::new(MESH_UNIT as f32 / 2.0, MESH_UNIT as f32),
))),
MeshMaterial3d(materials.add(StandardMaterial::from(Color::Srgba(
palettes::tailwind::SLATE_900,
)))),
Transform::from_xyz(MESH_UNIT as f32 / 2.0, MESH_UNIT as f32, 0.0),
RigidBody::Static,
Collider::cuboid(MESH_UNIT as f32, MESH_UNIT as f32 * 2.0, 0.01),
Restitution::ZERO,
));
});
commands.spawn((
Mesh3d(meshes.add(Capsule3d::new(2.0, 2.0).mesh())),
MeshMaterial3d(materials.add(StandardMaterial::from(Color::Srgba(
palettes::tailwind::RED_600,
)))),
Transform::from_translation(vec3(MESH_UNIT as f32 / 10.0, 0.0, MESH_UNIT as f32 / 10.0)),
RigidBody::Static,
Collider::capsule(2.0, 2.0),
));
commands.spawn((
Mesh3d(meshes.add(Capsule3d::new(2.0, 2.0).mesh())),
MeshMaterial3d(materials.add(StandardMaterial::from(Color::Srgba(
palettes::tailwind::RED_600,
)))),
Transform::from_translation(vec3(
MESH_UNIT as f32 * 2.0 - MESH_UNIT as f32 / 10.0,
0.0,
MESH_UNIT as f32 * 2.0 - MESH_UNIT as f32 / 10.0,
)),
RigidBody::Static,
Collider::capsule(2.0, 2.0),
));
commands.spawn((
Mesh3d(meshes.add(Capsule3d::new(2.0, 2.0).mesh())),
MeshMaterial3d(materials.add(StandardMaterial::from(Color::Srgba(
palettes::tailwind::RED_600,
)))),
Transform::from_translation(vec3(
MESH_UNIT as f32 / 10.0,
0.0,
MESH_UNIT as f32 * 2.0 - MESH_UNIT as f32 / 10.0,
)),
RigidBody::Static,
Collider::capsule(2.0, 2.0),
));
commands.spawn((
Mesh3d(meshes.add(Capsule3d::new(2.0, 2.0).mesh())),
MeshMaterial3d(materials.add(StandardMaterial::from(Color::Srgba(
palettes::tailwind::RED_600,
)))),
Transform::from_translation(vec3(
MESH_UNIT as f32 * 2.0 - MESH_UNIT as f32 / 10.0,
0.0,
MESH_UNIT as f32 / 10.0,
)),
RigidBody::Static,
Collider::capsule(2.0, 2.0),
));
}
fn spawn_obstacles(
mut commands: Commands,
mut meshes: ResMut<Assets<Mesh>>,
mut materials: ResMut<Assets<StandardMaterial>>,
navmeshes: Res<Assets<NavMesh>>,
) {
let cube_size = rand::thread_rng().gen_range(5.0..10.0);
loop {
let x = rand::thread_rng().gen_range(-(MESH_UNIT as f32 * 3.0)..(MESH_UNIT as f32 * 3.0));
let z = rand::thread_rng().gen_range(-(MESH_UNIT as f32 * 3.0)..(MESH_UNIT as f32 * 3.0));
if navmeshes.iter().any(|(_, nm)| nm.is_in_mesh(vec2(x, z))) {
commands.spawn((
Mesh3d(meshes.add(Cuboid::new(cube_size, cube_size, cube_size))),
MeshMaterial3d(materials.add(Color::srgb(0.2, 0.7, 0.9))),
Transform::from_xyz(x, 50.0, z).looking_to(
Vec3::new(
rand::thread_rng().gen_range(-1.0..1.0),
rand::thread_rng().gen_range(-1.0..1.0),
rand::thread_rng().gen_range(-1.0..1.0),
)
.normalize(),
Vec3::Y,
),
RigidBody::Dynamic,
Collider::cuboid(cube_size, cube_size, cube_size),
Restitution::ZERO,
Obstacle(Timer::from_seconds(30.0, TimerMode::Once)),
));
return;
}
}
}
fn despawn_obstacles(
mut commands: Commands,
time: Res<Time>,
mut query: Query<(Entity, &mut Obstacle)>,
) {
for (entity, mut obstacle) in &mut query {
if obstacle.0.tick(time.delta()).just_finished() {
commands.entity(entity).despawn();
}
}
}
fn display_path(navmeshes: Res<Assets<NavMesh>>, mut gizmos: Gizmos) {
let Some(navmesh) = navmeshes.get(&ManagedNavMesh::get_single()) else {
return;
};
for points in [
(
vec2(MESH_UNIT as f32 / 10.0, MESH_UNIT as f32 / 10.0),
vec2(
MESH_UNIT as f32 * 2.0 - MESH_UNIT as f32 / 10.0,
MESH_UNIT as f32 * 2.0 - MESH_UNIT as f32 / 10.0,
),
),
(
vec2(
MESH_UNIT as f32 * 2.0 - MESH_UNIT as f32 / 10.0,
MESH_UNIT as f32 / 10.0,
),
vec2(
MESH_UNIT as f32 / 10.0,
MESH_UNIT as f32 * 2.0 - MESH_UNIT as f32 / 10.0,
),
),
] {
let Some(path) = navmesh.path(points.0, points.1) else {
continue;
};
let mut path = path
.path
.iter()
.map(|v| vec3(v.x, 0.5, v.y))
.collect::<Vec<_>>();
path.insert(0, vec3(points.0.x, 0.5, points.0.y));
gizmos.linestrip(path, palettes::tailwind::RED_600);
}
}