feat: robot arm ik

crates/beet_examples/src/components/keyboard_controller.rs

@@ -0,0 +1,41 @@
+use bevy::prelude::*;
+
+#[derive(Component, Reflect)]
+#[reflect(Default, Component)]
+pub struct KeyboardController {
+	pub speed: f32,
+}
+
+impl Default for KeyboardController {
+	fn default() -> Self { Self { speed: 3. } }
+}
+
+pub fn keyboard_controller(
+	time: Res<Time>,
+	keys: Res<ButtonInput<KeyCode>>,
+	mut query: Populated<(&mut Transform, &KeyboardController)>,
+) {
+	for (mut transform, controller) in query.iter_mut() {
+		let mut direction = Vec3::ZERO;
+		if keys.pressed(KeyCode::KeyW) {
+			direction -= Vec3::Z;
+		}
+		if keys.pressed(KeyCode::KeyS) {
+			direction += Vec3::Z;
+		}
+		if keys.pressed(KeyCode::KeyA) {
+			direction -= Vec3::X;
+		}
+		if keys.pressed(KeyCode::KeyD) {
+			direction += Vec3::X;
+		}
+		if keys.pressed(KeyCode::KeyR) {
+			direction += Vec3::Y;
+		}
+		if keys.pressed(KeyCode::KeyF) {
+			direction -= Vec3::Y;
+		}
+		transform.translation +=
+			direction * controller.speed * time.delta_seconds();
+	}
+}

crates/beet_examples/src/components/mod.rs

@@ -10,6 +10,9 @@ pub use self::collectable::*;
 pub mod follow_cursor;
 #[allow(unused_imports)]
 pub use self::follow_cursor::*;
+pub mod keyboard_controller;
+#[allow(unused_imports)]
+pub use self::keyboard_controller::*;
 pub mod randomize_position;
 #[allow(unused_imports)]
 pub use self::randomize_position::*;

crates/beet_examples/src/plugins/beet_example_plugin.rs

@@ -1,5 +1,5 @@
-use crate::prelude::*;
 use crate::beet::prelude::*;
+use crate::prelude::*;
 use beetmash::prelude::*;
 use bevy::prelude::*;
 
@@ -81,9 +81,10 @@ fn plugin_2d(app: &mut App) {
 fn plugin_3d(app: &mut App) {
 	app.add_systems(
 			Update,
-			(follow_cursor_3d, camera_distance, rotate_collectables),
+			(follow_cursor_3d, camera_distance, rotate_collectables,keyboard_controller),
 		)
 		.register_type::<FollowCursor3d>()
+		.register_type::<KeyboardController>()
 		.register_type::<CameraDistance>()
 		/*-*/;
 }

crates/beet_examples/src/scenes/spatial/inverse_kinematics.rs

@@ -1,70 +1,117 @@
-use crate::prelude::FollowCursor3d;
-use beet_spatial::prelude::Ik2Dof;
-use beet_spatial::prelude::Ik2DofTransforms;
-use beet_spatial::prelude::IkSegment;
-// use crate::beet::prelude::*;
-// use beetmash::core::scenes::Foxie;
+use crate::beet::prelude::*;
+use crate::prelude::*;
 use beetmash::prelude::*;
-// use bevy::animation::RepeatAnimation;
-use bevy::{
-	color::palettes::tailwind,
-	prelude::*,
-};
-// use std::time::Duration;
+use bevy::color::palettes::tailwind;
+use bevy::prelude::*;
 
 
 pub fn inverse_kinematics(mut commands: Commands) {
-	let ik_solver = Ik2Dof::new(IkSegment::DEG_360, IkSegment::DEG_360);
-	let arm_width = 0.1;
-
 	commands.spawn((
 		Name::new("Camera"),
 		BundlePlaceholder::Camera3d,
-		Transform::from_xyz(0., 0., 5.0).looking_at(Vec3::ZERO, Vec3::Y),
+		Transform::from_xyz(0., 7., 7.).looking_at(Vec3::ZERO, Vec3::Y),
+	));
+	spawn_arm(commands);
+}
+pub fn spawn_arm(mut commands: Commands) {
+	let target = spawn_target(&mut commands);
+
+	commands.spawn((
+		Name::new("scene"),
+		BundlePlaceholder::Gltf("robot-arm/robot-arm.glb".into()),
+		Transform::from_scale(Vec3::splat(10.)),
+		TargetAgent(target),
+		IkSpawner::default(),
 	));
-	let target = commands
+}
+
+fn spawn_target(commands: &mut Commands) -> Entity {
+	commands
 		.spawn((
-			Name::new("Mouse"),
-			FollowCursor3d::ORIGIN_Z,
-			Transform::default().looking_to(-Vec3::Z, Vec3::Y),
+			Name::new("Target"),
+			KeyboardController::default(),
+			// FollowCursor3d::ORIGIN_Z,
+			Transform::from_xyz(2.5, 1., 0.).looking_to(-Vec3::Z, Vec3::Y),
 			BundlePlaceholder::Pbr {
-				mesh: Circle::new(0.2).into(),
+				mesh: Sphere::new(0.2).into(),
 				material: MaterialPlaceholder::unlit(tailwind::BLUE_500),
 			},
 		))
-		.id();
+		.id()
+}
 
 
+pub fn spawn_test_arm(mut commands: Commands) {
+	let target = spawn_target(&mut commands);
+
+	let ik_solver = IkArm4Dof::new(
+		0.,
+		IkSegment::DEG_360,
+		IkSegment::DEG_360,
+		IkSegment::DEG_360.with_len(0.2),
+	);
+	let arm_width = 0.1;
+
 	let root = commands
 		.spawn((
 			Name::new("IK Root"),
 			Transform::default().looking_to(Vec3::X, Vec3::Y),
 		))
 		.id();
-	let mut entity1 = Entity::PLACEHOLDER;
-	let mut entity2 = Entity::PLACEHOLDER;
+	let mut entity_base = Entity::PLACEHOLDER;
+	let mut entity_segment1 = Entity::PLACEHOLDER;
+	let mut entity_segment2 = Entity::PLACEHOLDER;
+	let mut entity_segment3 = Entity::PLACEHOLDER;
 
 	commands.entity(root).with_children(|parent| {
-		entity1 = ik_segment(
+		entity_base = parent
+			.spawn((Transform::default(), BundlePlaceholder::Pbr {
+				mesh: Cylinder::new(0.2, 0.1).into(),
+				material: MaterialPlaceholder::unlit(tailwind::AMBER_100),
+			}))
+			.id();
+	});
+
+	commands.entity(entity_base).with_children(|parent| {
+		entity_segment1 = ik_segment(
 			&mut parent.spawn_empty(),
 			&ik_solver.segment1,
 			Transform::default(),
 			arm_width,
+			tailwind::AMBER_300,
+		);
+	});
+
+	commands.entity(entity_segment1).with_children(|parent| {
+		entity_segment2 = ik_segment(
+			&mut parent.spawn_empty(),
+			&ik_solver.segment2,
+			Transform::from_xyz(0., 0., -ik_solver.segment1.len),
+			arm_width,
+			tailwind::AMBER_500,
 		);
 	});
 
-	commands.entity(entity1).with_children(|parent| {
-		entity2 = ik_segment(
+	commands.entity(entity_segment2).with_children(|parent| {
+		entity_segment3 = ik_segment(
 			&mut parent.spawn_empty(),
 			&ik_solver.segment2,
 			Transform::from_xyz(0., 0., -ik_solver.segment1.len),
 			arm_width,
+			tailwind::AMBER_700,
 		);
 	});
 
 	commands.spawn((
 		Name::new("IK Solver"),
-		Ik2DofTransforms::new(ik_solver, target, entity1, entity2),
+		IkArm4DofTransforms::new(
+			ik_solver,
+			target,
+			entity_base,
+			entity_segment1,
+			entity_segment2,
+			entity_segment3,
+		),
 	));
 }
 
@@ -74,6 +121,7 @@ pub fn ik_segment(
 	seg: &IkSegment,
 	transform: Transform,
 	arm_width: f32,
+	color: Srgba,
 ) -> Entity {
 	commands
 		.insert((Name::new("Segment"), transform, Visibility::Visible))
@@ -83,7 +131,7 @@ pub fn ik_segment(
 				Transform::from_xyz(0., 0., -seg.len * 0.5),
 				BundlePlaceholder::Pbr {
 					mesh: Cuboid::new(arm_width, arm_width, seg.len).into(),
-					material: MaterialPlaceholder::unlit(tailwind::AMBER_500),
+					material: MaterialPlaceholder::unlit(color),
 				},
 			));
 		})