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lyra-engine
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scene: implement WorldTransform struct to simplify getting the world transform of scene nodes

This commit is contained in:
SeanOMik 2024-04-10 23:45:25 -04:00
parent 0668be06e2
commit 2daf617ba3
Signed by: SeanOMik
GPG Key ID: FEC9E2FC15235964
4 changed files with 224 additions and 139 deletions
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1
lyra-scene/Cargo.toml
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@ -6,5 +6,6 @@ edition = "2021"
# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
[dependencies]
anyhow = "1.0.81"
lyra-ecs = { path = "../lyra-ecs", features = [ "math" ] }
lyra-math = { path = "../lyra-math" }

170
lyra-scene/src/lib.rs
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@ -1,6 +1,11 @@
use std::collections::VecDeque;
mod node;
pub use node::*;
use lyra_ecs::{query::Entities, relation::ChildOf, Bundle, Component, Entity, World};
mod world_transform;
pub use world_transform::*;
use lyra_ecs::{query::{Entities, ViewOne}, relation::ChildOf, Bundle, Component, World};
use lyra_math::Transform;
// So we can use lyra_ecs::Component derive macro
pub(crate) mod lyra_engine {
@ -9,10 +14,6 @@ pub(crate) mod lyra_engine {
}
}
mod node;
use lyra_math::{Transform, Vec3};
pub use node::*;
/// A flag spawned on all scene node entities
#[derive(Component)]
pub struct SceneNodeFlag;
@ -41,7 +42,7 @@ impl SceneGraph {
/// Create a new SceneGraph inside an existing ECS World.
pub fn from_world(mut world: World) -> Self {
let root_en = world.spawn((Transform::from_translation(Vec3::new(0.0, 0.0, 0.0)), SceneNodeRoot));
let root_en = world.spawn((WorldTransform::default(), Transform::default(), SceneNodeRoot));
let root = SceneNode::new(None, root_en);
Self {
@ -50,70 +51,21 @@ impl SceneGraph {
}
}
/// Consume the SceneGraph, inserting its internal world into the provided world.
///
/// The `into` World will contain all nodes of the SceneGraph. You could iterate through the
/// SceneGraph manually if you'd like. The root entity has a [`SceneNodeRoot`] flag component,
/// and a Transform component. The children nodes have a [`SceneNodeFlag`] component and a
/// Transform component. The transforms of the children will be local, you must find its world
/// transform by traversing up the hierarchy of the scene manually with the `ChildOf` relation.
///
/// Returns: the Entity of the root node in the provided world.
pub fn into_world(mut self, into: &mut World) -> Entity {
// first insert the root entity into the World.
let v = self.world.view_one::<&Transform>(self.root_node.entity());
let pos = *v.get().unwrap();
let new_root = into.spawn((pos, SceneNodeRoot));
// now process the children of the root node.
Self::traverse_inserting_into(&mut self.world, self.root_node.entity(), new_root, into);
new_root
}
/// Recursively traverse the `from` world, starting at `node_en`, inserting the
/// children entity into the world.
///
/// Parameters:
/// * `scene_world` - The world that the SceneGraph exists in
/// * `scene_en` - The entity of the parent entity inside of the `scene_world`.
/// * `parent_en` - The entity of the parent entity inside of the `into` world.
/// * `into` - The world to insert the SceneGraph world into.
fn traverse_inserting_into(scene_world: &mut World, scene_en: Entity, parent_en: Entity, into: &mut World) {
let v = scene_world.view::<(Entities, &Transform)>()
.relates_to::<ChildOf>(scene_en);
// unfortunately, the borrow checker exists, and wasn't happy that `scene_world` was
// immutably borrowed with the view (v), and being mutably borrowed in the
// recursive call.
let mut child_entities = VecDeque::new();
for ((child_scene_en, pos), _rel) in v.iter() {
let into_en = into.spawn((*pos, SceneNodeFlag));
into.add_relation(into_en, ChildOf, parent_en);
child_entities.push_back((child_scene_en, into_en));
}
while let Some((child_scene_en, into_en)) = child_entities.pop_front() {
Self::traverse_inserting_into(scene_world, child_scene_en, into_en, into);
}
}
/// Adds a node to the root node of the SceneGraph.
///
/// The spawned entity will have a `ChildOf` relation targeting the root node, the
/// `SceneNodeFlag` component is also added to the entity.
pub fn add_node<B: Bundle>(&mut self, local_transform: Transform, bundle: B) -> SceneNode {
pub fn add_node<B: Bundle>(&mut self, bundle: B) -> SceneNode {
let node = self.root_node.clone();
self.add_node_under(&node, local_transform, bundle)
self.add_node_under(&node, bundle)
}
/// Add a node under a parent node.
///
/// The spawned entity will have a `ChildOf` relation targeting the provided parent node,
/// the `SceneNodeFlag` component is also added to the entity.
pub fn add_node_under<B: Bundle>(&mut self, parent: &SceneNode, local_transform: Transform, bundle: B) -> SceneNode {
world_add_child_node(&mut self.world, parent, local_transform, bundle)
pub fn add_node_under<B: Bundle>(&mut self, parent: &SceneNode, bundle: B) -> SceneNode {
world_add_child_node(&mut self.world, parent, bundle)
}
/// Insert a component bundle to a SceneNode.
@ -133,29 +85,32 @@ impl SceneGraph {
/// Traverses down the SceneGraph, calling `callback` with each SceneNode and its world transform.
///
/// The traversal does not include the root scene node.
pub fn traverse_down<F>(&self, mut callback: F)
pub fn traverse_down<F, Q>(&self, mut callback: F)
where
F: FnMut(&World, &SceneNode, Transform),
F: FnMut(&World, &SceneNode, ViewOne<Q::Query>),
Q: lyra_ecs::query::AsQuery,
{
self.traverse_down_from(self.root_node.clone(), &mut callback);
self.traverse_down_from::<F, Q>(self.root_node.clone(), &mut callback);
}
/// Recursively Traverses down the SceneGraph from a starting node, calling `callback` with each
/// SceneNode and its world transform.
fn traverse_down_from<F>(&self, start: SceneNode, callback: &mut F)
fn traverse_down_from<F, Q>(&self, start: SceneNode, callback: &mut F)
where
F: FnMut(&World, &SceneNode, Transform),
F: FnMut(&World, &SceneNode, ViewOne<Q::Query>),
Q: lyra_ecs::query::AsQuery,
{
let v = self.world
.view::<(Entities, &Transform)>()
.view::<Entities>()
.relates_to::<ChildOf>(start.entity());
for ((e, _), _rel) in v.iter() {
for (e, _rel) in v.iter() {
let node = SceneNode::new(Some(start.entity()), e);
let world_pos = node.world_transform(self);
callback(&self.world, &node, world_pos);
//let world_pos = node.world_transform(self);
let v = self.world.view_one::<Q>(e);
callback(&self.world, &node, v);
self.traverse_down_from(node, callback);
self.traverse_down_from::<F, Q>(node, callback);
}
}
@ -173,9 +128,9 @@ impl SceneGraph {
///
/// The spawned entity will have a `ChildOf` relation targeting the provided parent node,
/// the `SceneNodeFlag` component is also added to the entity.
pub(crate) fn world_add_child_node<B: Bundle>(world: &mut World, parent: &SceneNode, local_transform: Transform, bundle: B) -> SceneNode {
pub(crate) fn world_add_child_node<B: Bundle>(world: &mut World, parent: &SceneNode, bundle: B) -> SceneNode {
let e = world.spawn(bundle);
world.insert(e, (SceneNodeFlag, local_transform));
world.insert(e, (SceneNodeFlag,));
world.add_relation(e, ChildOf, parent.entity());
SceneNode::new(Some(parent.entity()), e)
@ -183,10 +138,10 @@ pub(crate) fn world_add_child_node<B: Bundle>(world: &mut World, parent: &SceneN
#[cfg(test)]
pub mod tests {
use lyra_ecs::Component;
use lyra_ecs::{query::{filter::{Has, Not}, Entities}, relation::{ChildOf, RelationOriginComponent}, Component};
use lyra_math::{Transform, Vec3};
use crate::{lyra_engine, SceneGraph};
use crate::{lyra_engine, WorldTransform, SceneGraph};
#[derive(Component)]
pub struct FakeMesh;
@ -195,7 +150,7 @@ pub mod tests {
fn single_node_hierarchy() {
let mut scene = SceneGraph::new();
let a = scene.add_node(Transform::from_translation(Vec3::new(10.0, 10.0, 10.0)), FakeMesh);
let a = scene.add_node((Transform::from_translation(Vec3::new(10.0, 10.0, 10.0)), FakeMesh));
assert!(a.parent(&scene).unwrap() == scene.root_node);
}
@ -203,10 +158,10 @@ pub mod tests {
fn double_node_hierarchy() {
let mut scene = SceneGraph::new();
let a = scene.add_node(Transform::from_translation(Vec3::new(10.0, 10.0, 10.0)), FakeMesh);
let a = scene.add_node((Transform::from_translation(Vec3::new(10.0, 10.0, 10.0)), FakeMesh));
assert!(a.parent(&scene).unwrap() == scene.root_node);
let b = a.add_node(&mut scene, Transform::from_translation(Vec3::new(50.0, 50.0, 50.0)), FakeMesh);
let b = a.add_node(&mut scene, (Transform::from_translation(Vec3::new(50.0, 50.0, 50.0)), FakeMesh));
assert!(b.parent(&scene).unwrap() == a);
}
@ -216,68 +171,25 @@ pub mod tests {
let mut scene = SceneGraph::new();
let a = scene.add_node(Transform::from_translation(v2s[0]), FakeMesh);
let a = scene.add_node((WorldTransform::default(), Transform::from_translation(v2s[0]), FakeMesh));
assert!(a.parent(&scene).unwrap() == scene.root_node);
let b = a.add_node(&mut scene, Transform::from_translation(v2s[1]), FakeMesh);
let b = a.add_node(&mut scene, (WorldTransform::default(), Transform::from_translation(v2s[1]), FakeMesh));
assert!(b.parent(&scene).unwrap() == a);
let view = scene.world.view::<(Entities, &mut WorldTransform, &Transform, Not<Has<RelationOriginComponent<ChildOf>>>)>();
crate::system_update_world_transforms(&scene.world, view).unwrap();
let mut idx = 0;
scene.traverse_down(|_, _, pos| {
scene.traverse_down::<_, &WorldTransform>(|_, _, v| {
let pos = v.get().unwrap();
if idx == 0 {
assert_eq!(pos, Transform::from_translation(v2s[idx]));
assert_eq!(**pos, Transform::from_translation(v2s[idx]));
} else if idx == 1 {
let t = v2s.iter().sum();
assert_eq!(pos, Transform::from_translation(t));
assert_eq!(**pos, Transform::from_translation(t));
}
idx += 1;
});
}
/* #[test]
fn inserting_and_from_world() {
let v2s = vec![Vec3::new(10.0, 10.0, 10.0), Vec3::new(50.0, 50.0, 50.0)];
let mut scene = SceneGraph::new();
let a = scene.add_node(Transform::from_translation(v2s[0]), FakeMesh);
assert!(a.parent(&scene).unwrap() == scene.root_node);
let b = a.add_node(&mut scene, Transform::from_translation(v2s[1]), FakeMesh);
assert!(b.parent(&scene).unwrap() == a);
let mut other_world = World::new();
let root = scene.into_world(&mut other_world);
// check all of the entities inside of the World
let (root_pos, _) = other_world.view_one::<(&Transform, &SceneNodeRoot)>(root).get().unwrap();
assert_eq!(*root_pos, Transform::from_xyz(0.0, 0.0, 0.0));
let ((child_en, child_pos), _) = other_world.view::<(Entities, &Transform)>()
.relates_to::<ChildOf>(root).iter().next().unwrap();
assert_eq!(*child_pos, Transform::from_translation(v2s[0]));
let ((_, childchild_pos), _) = other_world.view::<(Entities, &Transform)>()
.relates_to::<ChildOf>(child_en).iter().next().unwrap();
assert_eq!(*childchild_pos, Transform::from_translation(v2s[1]));
drop(root_pos);
drop(child_pos);
drop(childchild_pos);
// Now get the SceneGraph inside the World and use the nice utility tools to traverse it.
let scene = SceneGraph::from_world(&mut other_world, root)
.expect("Failed to get SceneGraph from World!");
let mut idx = 0;
scene.traverse_down(|_e, pos| {
if idx == 0 {
assert_eq!(pos, Transform::from_translation(v2s[idx]));
} else if idx == 1 {
let t = v2s.iter().sum();
assert_eq!(pos, Transform::from_translation(t));
}
idx += 1;
});
} */
}

24
lyra-scene/src/node.rs
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@ -1,5 +1,4 @@
use lyra_ecs::{query::Entities, relation::{ChildOf, RelationOriginComponent}, Bundle, Entity};
use lyra_math::Transform;
use crate::SceneGraph;
@ -52,11 +51,11 @@ impl SceneNode {
///
/// The spawned entity backing the scene node will have a `ChildOf` relation targeting
/// the provided parent node, the `SceneNodeFlag` component is also added to the entity.
pub fn add_node<B: Bundle>(&self, graph: &mut SceneGraph, local_transform: Transform, bundle: B) -> SceneNode {
graph.add_node_under(self, local_transform, bundle)
pub fn add_node<B: Bundle>(&self, graph: &mut SceneGraph, bundle: B) -> SceneNode {
graph.add_node_under(self, bundle)
}
pub fn local_transform(&self, graph: &SceneGraph) -> Transform {
/* pub fn local_transform(&self, graph: &SceneGraph) -> Transform {
let v = graph.world.view_one::<&Transform>(self.entity);
let t = v.get().expect("Somehow the SceneNode is missing its Transform!");
@ -76,26 +75,31 @@ impl SceneNode {
self.local_transform(graph)
}
}
}
} */
}
#[cfg(test)]
mod tests {
use lyra_ecs::{query::{filter::{Has, Not}, Entities}, relation::{ChildOf, RelationOriginComponent}};
use lyra_math::{Transform, Vec3};
use crate::{tests::FakeMesh, SceneGraph};
use crate::{tests::FakeMesh, WorldTransform, SceneGraph};
#[test]
fn node_world_transform() {
let mut scene = SceneGraph::new();
let a = scene.add_node(Transform::from_translation(Vec3::new(10.0, 10.0, 10.0)), FakeMesh);
let a = scene.add_node((WorldTransform::default(), Transform::from_translation(Vec3::new(10.0, 10.0, 10.0)), FakeMesh));
assert!(a.parent(&scene).unwrap() == scene.root_node);
let b = a.add_node(&mut scene, Transform::from_translation(Vec3::new(50.0, 50.0, 50.0)), FakeMesh);
let b = a.add_node(&mut scene, (WorldTransform::default(), Transform::from_translation(Vec3::new(50.0, 50.0, 50.0)), FakeMesh));
assert!(b.parent(&scene).unwrap() == a);
let wrld_tran = b.world_transform(&scene);
assert_eq!(wrld_tran, Transform::from_translation(Vec3::new(60.0, 60.0, 60.0)));
// update global transforms
let view = scene.world.view::<(Entities, &mut WorldTransform, &Transform, Not<Has<RelationOriginComponent<ChildOf>>>)>();
crate::system_update_world_transforms(&scene.world, view).unwrap();
let tran = scene.world.view_one::<&WorldTransform>(b.entity).get().unwrap();
assert_eq!(**tran, Transform::from_translation(Vec3::new(60.0, 60.0, 60.0)));
}
}

168
lyra-scene/src/world_transform.rs Normal file
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@ -0,0 +1,168 @@
use std::ops::Deref;
use lyra_ecs::{query::{filter::{Has, Not}, Entities, View}, relation::{ChildOf, RelationOriginComponent}, Component, Entity, World};
use lyra_math::Transform;
use crate::lyra_engine;
#[derive(Debug, Copy, Clone, PartialEq, Default, Component)]
pub struct WorldTransform(pub(crate) Transform);
impl Deref for WorldTransform {
type Target = Transform;
fn deref(&self) -> &Self::Target {
&self.0
}
}
/// A system that updates the [`WorldTransform`]'s for entities and their children.
///
/// For entities without parents, this will update world transform to match local transform.
/// For any children entities, their [`GlobalTransform`]s will be updated to reflect the changes
/// of its parent entity.
pub fn system_update_world_transforms(world: &World, view: View<(Entities, &mut WorldTransform, &Transform, Not<Has<RelationOriginComponent<ChildOf>>>)>) -> anyhow::Result<()> {
for (en, mut world_tran, tran, _) in view.into_iter() {
world_tran.0 = *tran;
println!("Found entity {:?} at {:?}", en, world_tran.translation);
recurse_update_trans(world, &world_tran, en);
}
Ok(())
}
fn recurse_update_trans(world: &World, parent_transform: &WorldTransform, entity: Entity) {
// store entities and their world transform to process outside of the view.
// it must be done after to avoid attempts of multiple mutable borrows to the archetype column
// with WorldTransform.
let mut next_entities = vec![];
for ((en, mut world_tran, tran), _) in
world.view::<(Entities, &mut WorldTransform, &Transform)>()
.relates_to::<ChildOf>(entity)
.into_iter()
{
world_tran.0 = parent_transform.0 + *tran;
next_entities.push((en, world_tran.0.clone()));
}
next_entities.reverse();
while let Some((en, pos)) = next_entities.pop() {
recurse_update_trans(world, &WorldTransform(pos), en);
}
}
#[cfg(test)]
mod tests {
use lyra_ecs::{query::{filter::{Has, Not}, Entities}, relation::{ChildOf, RelationOriginComponent}, World};
use lyra_math::Transform;
use crate::{system_update_world_transforms, WorldTransform};
#[test]
fn test_system() {
let mut world = World::new();
let parent = world.spawn((WorldTransform::default(), Transform::from_xyz(10.0, 10.0, 10.0)));
let child = world.spawn((WorldTransform::default(), Transform::from_xyz(15.0, 15.0, 15.0)));
world.add_relation(child, ChildOf, parent);
let view = world.view::<(Entities, &mut WorldTransform, &Transform, Not<Has<RelationOriginComponent<ChildOf>>>)>();
system_update_world_transforms(&world, view).unwrap();
let g = world.view_one::<&WorldTransform>(child).get().unwrap();
assert_eq!(**g, Transform::from_xyz(25.0, 25.0, 25.0));
}
#[test]
fn test_system_many_entities() {
let mut world = World::new();
let parent = world.spawn((WorldTransform::default(), Transform::from_xyz(10.0, 10.0, 10.0)));
let mut children = vec![];
let mut base_offset = 15.0;
for _ in 0..10 {
let en = world.spawn((WorldTransform::default(), Transform::from_xyz(base_offset, base_offset, base_offset)));
world.add_relation(en, ChildOf, parent);
base_offset += 10.0;
children.push(en);
}
let second_child = world.spawn((WorldTransform::default(), Transform::from_xyz(5.0, 3.0, 8.0)));
world.add_relation(second_child, ChildOf, parent);
let view = world.view::<(Entities, &mut WorldTransform, &Transform, Not<Has<RelationOriginComponent<ChildOf>>>)>();
system_update_world_transforms(&world, view).unwrap();
let mut base_offset = 25.0;
for child in children.into_iter() {
let g = world.view_one::<&WorldTransform>(child).get().unwrap();
println!("Child {:?} at {:?}", child, g.translation);
assert_eq!(**g, Transform::from_xyz(base_offset, base_offset, base_offset));
base_offset += 10.0;
}
}
#[test]
fn test_system_many_children() {
let mut world = World::new();
let parent = world.spawn((WorldTransform::default(), Transform::from_xyz(10.0, 10.0, 10.0)));
let first_child = world.spawn((WorldTransform::default(), Transform::from_xyz(15.0, 15.0, 15.0)));
world.add_relation(first_child, ChildOf, parent);
let sec_chi = world.spawn((WorldTransform::default(), Transform::from_xyz(155.0, 23.0, 6.0)));
world.add_relation(sec_chi, ChildOf, first_child);
let thir_chi = world.spawn((WorldTransform::default(), Transform::from_xyz(51.0, 85.0, 17.0)));
world.add_relation(thir_chi, ChildOf, sec_chi);
let four_child = world.spawn((WorldTransform::default(), Transform::from_xyz(24.0, 61.0, 65.0)));
world.add_relation(four_child, ChildOf, thir_chi);
let five_child = world.spawn((WorldTransform::default(), Transform::from_xyz(356.0, 54.0, 786.0)));
world.add_relation(five_child, ChildOf, four_child);
let view = world.view::<(Entities, &mut WorldTransform, &Transform, Not<Has<RelationOriginComponent<ChildOf>>>)>();
system_update_world_transforms(&world, view).unwrap();
let g = world.view_one::<&WorldTransform>(five_child).get().unwrap();
assert_eq!(**g, Transform::from_xyz(611.0, 248.0, 899.0));
}
#[test]
fn test_system_branched_children() {
let mut world = World::new();
let parent = world.spawn((WorldTransform::default(), Transform::from_xyz(10.0, 10.0, 10.0)));
let first_child = world.spawn((WorldTransform::default(), Transform::from_xyz(15.0, 15.0, 15.0)));
world.add_relation(first_child, ChildOf, parent);
let sec_chi = world.spawn((WorldTransform::default(), Transform::from_xyz(155.0, 23.0, 6.0)));
world.add_relation(sec_chi, ChildOf, first_child);
let thir_chi = world.spawn((WorldTransform::default(), Transform::from_xyz(51.0, 85.0, 17.0)));
world.add_relation(thir_chi, ChildOf, first_child);
let four_child = world.spawn((WorldTransform::default(), Transform::from_xyz(24.0, 61.0, 65.0)));
world.add_relation(four_child, ChildOf, thir_chi);
let five_child = world.spawn((WorldTransform::default(), Transform::from_xyz(356.0, 54.0, 786.0)));
world.add_relation(five_child, ChildOf, sec_chi);
let view = world.view::<(Entities, &mut WorldTransform, &Transform, Not<Has<RelationOriginComponent<ChildOf>>>)>();
system_update_world_transforms(&world, view).unwrap();
let g = world.view_one::<&WorldTransform>(five_child).get().unwrap();
assert_eq!(**g, Transform::from_xyz(536.0, 102.0, 817.0));
let g = world.view_one::<&WorldTransform>(thir_chi).get().unwrap();
assert_eq!(**g, Transform::from_xyz(76.0, 110.0, 42.0));
let g = world.view_one::<&WorldTransform>(four_child).get().unwrap();
assert_eq!(**g, Transform::from_xyz(100.0, 171.0, 107.0));
}
}