WIP: Debug tool scans using Avian2d shape casting

Working demonstration, but I'm not sure shape casting is the action I
want to be doing. I've just found a "shape_intersections" method in the
docs, but I'm saving my progress before making further changes.

Cargo.lock

@@ -105,6 +105,12 @@ dependencies = [
  "memchr",
 ]
 
+[[package]]
+name = "allocator-api2"
+version = "0.2.21"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "683d7910e743518b0e34f1186f92494becacb047c7b6bf616c96772180fef923"
+
 [[package]]
 name = "alsa"
 version = "0.9.1"
@@ -173,6 +179,7 @@ dependencies = [
 name = "another-boids-in-rust"
 version = "0.7.0"
 dependencies = [
+ "avian2d",
  "bevy",
  "bevy-inspector-egui",
  "bevy_spatial",
@@ -339,6 +346,39 @@ version = "1.5.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "c08606f8c3cbf4ce6ec8e28fb0014a2c086708fe954eaa885384a6165172e7e8"
 
+[[package]]
+name = "avian2d"
+version = "0.3.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7133547d9cc068d527d91fdcb8c8017c89b26ce05dbd30daef9f1ca64824495d"
+dependencies = [
+ "arrayvec",
+ "avian_derive",
+ "bevy",
+ "bevy_heavy",
+ "bevy_math",
+ "bevy_transform_interpolation",
+ "bitflags 2.10.0",
+ "derive_more",
+ "itertools 0.13.0",
+ "nalgebra",
+ "parry2d",
+ "parry2d-f64",
+ "thread_local",
+]
+
+[[package]]
+name = "avian_derive"
+version = "0.2.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "12b257f601a1535e0d4a7a7796f535e3a13de62fd422b16dff7c14d27f0d4048"
+dependencies = [
+ "proc-macro-error2",
+ "proc-macro2",
+ "quote",
+ "syn",
+]
+
 [[package]]
 name = "base64"
 version = "0.21.7"
@@ -796,6 +836,16 @@ dependencies = [
  "tracing",
 ]
 
+[[package]]
+name = "bevy_heavy"
+version = "0.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "34ccc861fea2ff58c67f4df119512e204050bd7631a3a9c65e1a5e9d162cce28"
+dependencies = [
+ "bevy_math",
+ "bevy_reflect",
+]
+
 [[package]]
 name = "bevy_image"
 version = "0.16.1"
@@ -1348,6 +1398,15 @@ dependencies = [
  "thiserror 2.0.17",
 ]
 
+[[package]]
+name = "bevy_transform_interpolation"
+version = "0.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "72c7c6c4e6a3d5415b3a29a17bd20c17cd0e2f068b96b24e263316d58d5346ea"
+dependencies = [
+ "bevy",
+]
+
 [[package]]
 name = "bevy_ui"
 version = "0.16.1"
@@ -2115,6 +2174,15 @@ dependencies = [
  "bytemuck",
 ]
 
+[[package]]
+name = "ena"
+version = "0.14.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3d248bdd43ce613d87415282f69b9bb99d947d290b10962dd6c56233312c2ad5"
+dependencies = [
+ "log",
+]
+
 [[package]]
 name = "encase"
 version = "0.10.0"
@@ -2410,7 +2478,7 @@ version = "1.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "1bd49230192a3797a9a4d6abe9b3eed6f7fa4c8a8a4947977c6f80025f92cbd8"
 dependencies = [
- "rustix 1.1.2",
+ "rustix 1.1.3",
  "windows-link",
 ]
 
@@ -2652,6 +2720,7 @@ version = "0.15.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "9229cfe53dfd69f0609a49f65461bd93001ea1ef889cd5529dd176593f5338a1"
 dependencies = [
+ "allocator-api2",
  "equivalent",
  "foldhash",
  "serde",
@@ -2999,6 +3068,16 @@ dependencies = [
  "regex-automata",
 ]
 
+[[package]]
+name = "matrixmultiply"
+version = "0.3.10"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a06de3016e9fae57a36fd14dba131fccf49f74b40b7fbdb472f96e361ec71a08"
+dependencies = [
+ "autocfg",
+ "rawpointer",
+]
+
 [[package]]
 name = "memchr"
 version = "2.7.6"
@@ -3098,6 +3177,34 @@ dependencies = [
  "unicode-ident",
 ]
 
+[[package]]
+name = "nalgebra"
+version = "0.33.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "26aecdf64b707efd1310e3544d709c5c0ac61c13756046aaaba41be5c4f66a3b"
+dependencies = [
+ "approx",
+ "glam",
+ "matrixmultiply",
+ "nalgebra-macros",
+ "num-complex",
+ "num-rational",
+ "num-traits",
+ "simba",
+ "typenum",
+]
+
+[[package]]
+name = "nalgebra-macros"
+version = "0.2.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "254a5372af8fc138e36684761d3c0cdb758a4410e938babcff1c860ce14ddbfc"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn",
+]
+
 [[package]]
 name = "ndk"
 version = "0.8.0"
@@ -3203,6 +3310,25 @@ dependencies = [
  "windows-sys 0.61.2",
 ]
 
+[[package]]
+name = "num-bigint"
+version = "0.4.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a5e44f723f1133c9deac646763579fdb3ac745e418f2a7af9cd0c431da1f20b9"
+dependencies = [
+ "num-integer",
+ "num-traits",
+]
+
+[[package]]
+name = "num-complex"
+version = "0.4.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "73f88a1307638156682bada9d7604135552957b7818057dcef22705b4d509495"
+dependencies = [
+ "num-traits",
+]
+
 [[package]]
 name = "num-derive"
 version = "0.4.2"
@@ -3214,6 +3340,26 @@ dependencies = [
  "syn",
 ]
 
+[[package]]
+name = "num-integer"
+version = "0.1.46"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7969661fd2958a5cb096e56c8e1ad0444ac2bbcd0061bd28660485a44879858f"
+dependencies = [
+ "num-traits",
+]
+
+[[package]]
+name = "num-rational"
+version = "0.4.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f83d14da390562dca69fc84082e73e548e1ad308d24accdedd2720017cb37824"
+dependencies = [
+ "num-bigint",
+ "num-integer",
+ "num-traits",
+]
+
 [[package]]
 name = "num-traits"
 version = "0.2.19"
@@ -3638,6 +3784,58 @@ dependencies = [
  "windows-link",
 ]
 
+[[package]]
+name = "parry2d"
+version = "0.17.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "87edd53b1639e011e4765eecfceb0fa2c486da696dcdcfbc9a38bfc3574fb7e0"
+dependencies = [
+ "approx",
+ "arrayvec",
+ "bitflags 2.10.0",
+ "downcast-rs 1.2.1",
+ "either",
+ "ena",
+ "log",
+ "nalgebra",
+ "num-derive",
+ "num-traits",
+ "ordered-float 4.6.0",
+ "rayon",
+ "rustc-hash 2.1.1",
+ "simba",
+ "slab",
+ "smallvec",
+ "spade",
+ "thiserror 1.0.69",
+]
+
+[[package]]
+name = "parry2d-f64"
+version = "0.17.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "42dadff562001ff51eed809d7c75ac6f185d8cffc575d7b45a8bdc6ea6f1bf30"
+dependencies = [
+ "approx",
+ "arrayvec",
+ "bitflags 2.10.0",
+ "downcast-rs 1.2.1",
+ "either",
+ "ena",
+ "log",
+ "nalgebra",
+ "num-derive",
+ "num-traits",
+ "ordered-float 4.6.0",
+ "rayon",
+ "rustc-hash 2.1.1",
+ "simba",
+ "slab",
+ "smallvec",
+ "spade",
+ "thiserror 1.0.69",
+]
+
 [[package]]
 name = "paste"
 version = "1.0.15"
@@ -3728,7 +3926,7 @@ dependencies = [
  "concurrent-queue",
  "hermit-abi",
  "pin-project-lite",
- "rustix 1.1.2",
+ "rustix 1.1.3",
  "windows-sys 0.61.2",
 ]
 
@@ -3790,6 +3988,28 @@ dependencies = [
  "toml_edit 0.23.10+spec-1.0.0",
 ]
 
+[[package]]
+name = "proc-macro-error-attr2"
+version = "2.0.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "96de42df36bb9bba5542fe9f1a054b8cc87e172759a1868aa05c1f3acc89dfc5"
+dependencies = [
+ "proc-macro2",
+ "quote",
+]
+
+[[package]]
+name = "proc-macro-error2"
+version = "2.0.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "11ec05c52be0a07b08061f7dd003e7d7092e0472bc731b4af7bb1ef876109802"
+dependencies = [
+ "proc-macro-error-attr2",
+ "proc-macro2",
+ "quote",
+ "syn",
+]
+
 [[package]]
 name = "proc-macro2"
 version = "1.0.103"
@@ -3908,6 +4128,12 @@ version = "0.6.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "20675572f6f24e9e76ef639bc5552774ed45f1c30e2951e1e99c59888861c539"
 
+[[package]]
+name = "rawpointer"
+version = "0.2.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "60a357793950651c4ed0f3f52338f53b2f809f32d83a07f72909fa13e4c6c1e3"
+
 [[package]]
 name = "rayon"
 version = "1.11.0"
@@ -4006,6 +4232,12 @@ version = "1.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "19b30a45b0cd0bcca8037f3d0dc3421eaf95327a17cad11964fb8179b4fc4832"
 
+[[package]]
+name = "robust"
+version = "1.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "4e27ee8bb91ca0adcf0ecb116293afa12d393f9c2b9b9cd54d33e8078fe19839"
+
 [[package]]
 name = "rodio"
 version = "0.20.1"
@@ -4061,9 +4293,9 @@ dependencies = [
 
 [[package]]
 name = "rustix"
-version = "1.1.2"
+version = "1.1.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "cd15f8a2c5551a84d56efdc1cd049089e409ac19a3072d5037a17fd70719ff3e"
+checksum = "146c9e247ccc180c1f61615433868c99f3de3ae256a30a43b49f67c2d9171f34"
 dependencies = [
  "bitflags 2.10.0",
  "errno",
@@ -4105,10 +4337,13 @@ dependencies = [
 ]
 
 [[package]]
-name = "ryu"
+name = "safe_arch"
-version = "1.0.21"
+version = "0.7.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "62049b2877bf12821e8f9ad256ee38fdc31db7387ec2d3b3f403024de2034aea"
+checksum = "96b02de82ddbe1b636e6170c21be622223aea188ef2e139be0a5b219ec215323"
+dependencies = [
+ "bytemuck",
+]
 
 [[package]]
 name = "same-file"
@@ -4188,15 +4423,15 @@ dependencies = [
 
 [[package]]
 name = "serde_json"
-version = "1.0.146"
+version = "1.0.147"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "217ca874ae0207aac254aa02c957ded05585a90892cc8d87f9e5fa49669dadd8"
+checksum = "6af14725505314343e673e9ecb7cd7e8a36aa9791eb936235a3567cc31447ae4"
 dependencies = [
  "itoa",
  "memchr",
- "ryu",
  "serde",
  "serde_core",
+ "zmij",
 ]
 
 [[package]]
@@ -4214,6 +4449,19 @@ version = "1.3.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "0fda2ff0d084019ba4d7c6f371c95d8fd75ce3524c3cb8fb653a3023f6323e64"
 
+[[package]]
+name = "simba"
+version = "0.9.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c99284beb21666094ba2b75bbceda012e610f5479dfcc2d6e2426f53197ffd95"
+dependencies = [
+ "approx",
+ "num-complex",
+ "num-traits",
+ "paste",
+ "wide",
+]
+
 [[package]]
 name = "simd-adler32"
 version = "0.3.8"
@@ -4285,6 +4533,18 @@ dependencies = [
  "serde",
 ]
 
+[[package]]
+name = "spade"
+version = "2.15.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "fb313e1c8afee5b5647e00ee0fe6855e3d529eb863a0fdae1d60006c4d1e9990"
+dependencies = [
+ "hashbrown 0.15.5",
+ "num-traits",
+ "robust",
+ "smallvec",
+]
+
 [[package]]
 name = "spin"
 version = "0.9.8"
@@ -4894,7 +5154,7 @@ checksum = "673a33c33048a5ade91a6b139580fa174e19fb0d23f396dca9fa15f2e1e49b35"
 dependencies = [
  "cc",
  "downcast-rs 1.2.1",
- "rustix 1.1.2",
+ "rustix 1.1.3",
  "scoped-tls",
  "smallvec",
  "wayland-sys",
@@ -4907,7 +5167,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "c66a47e840dc20793f2264eb4b3e4ecb4b75d91c0dd4af04b456128e0bdd449d"
 dependencies = [
  "bitflags 2.10.0",
- "rustix 1.1.2",
+ "rustix 1.1.3",
  "wayland-backend",
  "wayland-scanner",
 ]
@@ -4929,7 +5189,7 @@ version = "0.31.11"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "447ccc440a881271b19e9989f75726d60faa09b95b0200a9b7eb5cc47c3eeb29"
 dependencies = [
- "rustix 1.1.2",
+ "rustix 1.1.3",
  "wayland-client",
  "xcursor",
 ]
@@ -5131,6 +5391,16 @@ dependencies = [
  "web-sys",
 ]
 
+[[package]]
+name = "wide"
+version = "0.7.33"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0ce5da8ecb62bcd8ec8b7ea19f69a51275e91299be594ea5cc6ef7819e16cd03"
+dependencies = [
+ "bytemuck",
+ "safe_arch",
+]
+
 [[package]]
 name = "winapi"
 version = "0.3.9"
@@ -5729,7 +5999,7 @@ dependencies = [
  "libc",
  "libloading",
  "once_cell",
- "rustix 1.1.2",
+ "rustix 1.1.3",
  "x11rb-protocol",
 ]
 
@@ -5802,6 +6072,12 @@ dependencies = [
  "syn",
 ]
 
+[[package]]
+name = "zmij"
+version = "0.1.8"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f1dccf46b25b205e4bebe1d5258a991df1cc17801017a845cb5b3fe0269781aa"
+
 [[package]]
 name = "zune-core"
 version = "0.4.12"

Cargo.toml

@@ -6,6 +6,7 @@ license = "AGPL-3.0-only"
 rust-version = "1.88.0"
 
 [dependencies]
+avian2d = "0.3"
 bevy = "0.16.0"
 bevy-inspector-egui = "0.32"
 

src/birdoids/mod.rs

@@ -1,5 +1,6 @@
 pub mod physics;
 
+use avian2d::prelude::*;
 use bevy::prelude::*;
 use bevy_spatial::{
     AutomaticUpdate, SpatialAccess, SpatialStructure, TransformMode, kdtree::KDTree2,
@@ -106,6 +107,8 @@ fn spawn_boids(
             Mesh2d(meshes.add(Circle::new(1.0))),
             MeshMaterial2d(materials.add(Color::srgb(1.0, 1.0, 1.0))),
             Transform::from_translation(vel * 20.0),
+            // RigidBody::Dynamic,
+            Collider::circle(1.0),
         ));
     }
 }

src/debug_plugin.rs

@@ -1,8 +1,8 @@
+use avian2d::prelude::*;
 use bevy::{prelude::*, window::PrimaryWindow};
-use bevy_spatial::{SpatialAccess, kdtree::KDTree2};
 
 use crate::birdoids::{
-    Boid, TrackedByKdTree, center_of_boids, physics::Force, physics::Velocity, velocity_of_boids,
+    Boid, center_of_boids, physics::Force, physics::Velocity, velocity_of_boids,
 };
 
 const SCANRADIUS: f32 = 50.0;
@@ -109,7 +109,7 @@ fn update_scanner_mode(
 fn do_scan(
     boids_query: Query<(&Transform, &Velocity, &Force), With<Boid>>,
     scanner_query: Query<(&Transform, &SelectionMode, &ScannerMode), With<Cursor>>,
-    spatial_tree: Res<KDTree2<TrackedByKdTree>>,
+    spatial: SpatialQuery,
     /* Push info to summary somewhere */
     mut gizmos: Gizmos,
 ) {
@@ -117,24 +117,36 @@ fn do_scan(
     match select_mode {
         SelectionMode::NearestSingle => todo!(),
         SelectionMode::CircularArea => {
-            let boids = spatial_tree.within_distance(cursor_pos.translation.xy(), SCANRADIUS);
+            let boids = spatial.shape_hits(
+                &Collider::circle(SCANRADIUS),
+                cursor_pos.translation.xy(),
+                0.0,
+                Dir2::Y,
+                64,
+                &ShapeCastConfig::from_max_distance(100.0),
+                &SpatialQueryFilter::default()
+            ).into_iter()
+                .map(|shape_hit| {
+                    let entt = shape_hit.entity;
+                    let (tsfm, vel, _) = boids_query
+                        .get(entt)
+                        .expect("Debugger scanned a Boid missing one of it's components!");
+                    (tsfm, vel)
+                });
+            
             match scan_mode {
                 ScannerMode::CenterOfMass => {
                     if let Some(center_mass) = center_of_boids(
-                        // boids returns too many things.
+                        // `center_of_boids` needs an Iterator<Item = Vec2>, so we map over
-                        // Map over it and extract only the Vec3's
+                        // the output tuple to make one.
-                        boids.iter().map(|item| item.0),
+                        boids.map(|item| item.0.translation.xy()),
                     ) {
                         gizmos.circle_2d(center_mass, 1.0, bevy::color::palettes::css::RED);
                     }
                 }
                 ScannerMode::Velocity => {
-                    if let Some(avg_velocity) = velocity_of_boids(boids.iter().map(|item| {
+                    if let Some(avg_velocity) = velocity_of_boids(boids.map(|item| {
-                        let entity_id = item.1.unwrap_or_else(|| panic!("Entity has no ID!"));
+                        (*item.1).xy() * 1.0
-                        let (_, vel, _) = boids_query
-                            .get(entity_id)
-                            .unwrap_or_else(|_| panic!("Boid has no Velocity component!"));
-                        (*vel).xy() * 1.0
                     })) {
                         // cursor_pos.translation is already in world space, so I can skip the window -> world transform like in update_cursor()
                         gizmos.line_2d(

src/main.rs

@@ -1,3 +1,4 @@
+use avian2d::prelude::*;
 use bevy::prelude::*;
 
 mod birdoids;
@@ -24,5 +25,6 @@ fn main() {
         .add_plugins(EguiPlugin::default())
         .add_plugins(ResourceInspectorPlugin::<FlockingParameters>::new()) // TODO: monitor only the flocking params resource (once it exists)
         .add_plugins(ResourceInspectorPlugin::<MiscParams>::new())
+        .add_plugins(PhysicsPlugins::default())
         .run();
 }