Release v0.9.0

Web builds now get their version text automatically from the Cargo.toml

.gitea/workflows/check.yml

@@ -34,44 +34,6 @@ jobs:
           components: rustfmt
       - name: cargo fmt --check
         run: cargo fmt --check
-  clippy:
-    runs-on: ubuntu-latest
-    name: ${{ matrix.toolchain }} / clippy
-    permissions:
-      contents: read
-      checks: write
-    strategy:
-      fail-fast: false
-      matrix:
-        # Get early warning of new lints which are regularly introduced in beta channels.
-        toolchain: [stable, beta]
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          submodules: true
-      - name: Install ${{ matrix.toolchain }}
-        uses: dtolnay/rust-toolchain@master
-        with:
-          toolchain: ${{ matrix.toolchain }}
-          components: clippy
-      - name: cargo clippy
-        uses: giraffate/clippy-action@v1
-        with:
-          reporter: 'github-pr-check'
-          github_token: ${{ secrets.GITHUB_TOKEN }}
-  semver:
-    runs-on: ubuntu-latest
-    name: semver
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          submodules: true
-      - name: Install stable
-        uses: dtolnay/rust-toolchain@stable
-        with:
-          components: rustfmt
-      - name: cargo-semver-checks
-        uses: obi1kenobi/cargo-semver-checks-action@v2
   doc:
     # run docs generation on nightly rather than stable. This enables features like
     # https://doc.rust-lang.org/beta/unstable-book/language-features/doc-cfg.html which allows an
@@ -83,7 +45,7 @@ jobs:
         with:
           submodules: true
       - name: Install Dependencies
-        run: sudo apt-get update; sudo apt-get install -y --no-install-recommends libasound2-dev libudev-dev
+        run: sudo apt-get update; sudo apt-get install -y --no-install-recommends libasound2-dev libudev-dev libwayland-dev
       - name: Install nightly
         uses: dtolnay/rust-toolchain@nightly
       - name: cargo doc
@@ -100,7 +62,7 @@ jobs:
         with:
           submodules: true
       - name: Install Dependencies
-        run: sudo apt-get update; sudo apt-get install -y --no-install-recommends libasound2-dev libudev-dev cmake
+        run: sudo apt-get update; sudo apt-get install -y --no-install-recommends libasound2-dev libudev-dev libwayland-dev cmake
       - name: Install stable
         uses: dtolnay/rust-toolchain@stable
       - name: cargo install cargo-hack
@@ -116,14 +78,14 @@ jobs:
     # https://docs.github.com/en/actions/learn-github-actions/contexts#context-availability
     strategy:
       matrix:
-        msrv: ["1.79.0"]
+        msrv: ["1.88.0"]
     name: ubuntu / ${{ matrix.msrv }}
     steps:
       - uses: actions/checkout@v4
         with:
           submodules: true
       - name: Install Dependencies
-        run: sudo apt-get update; sudo apt-get install -y --no-install-recommends libasound2-dev libudev-dev
+        run: sudo apt-get update; sudo apt-get install -y --no-install-recommends libasound2-dev libudev-dev libwayland-dev
       - name: Install ${{ matrix.msrv }}
         uses: dtolnay/rust-toolchain@master
         with:

.gitignore

@@ -1 +1,2 @@
 /target
+/out

Cargo.toml

@@ -1,30 +1,14 @@
 [package]
 name = "another-boids-in-rust"
-version = "0.3.0"
+version = "0.9.0"
 edition = "2024"
+license = "AGPL-3.0-only"
+rust-version = "1.88.0"
 
 [dependencies]
-bevy = "0.16.0"
-
-# Grand-dependency pins
-# ab_glyph = "0.2.16"
-# fnv = "1.0.6"
-# gilrs = "0.10.5"
-# lazy_static = "1.0.2"
-# lock_api = "0.4.7"
-# miniz-sys = "0.1.10"
-# nonmax = "0.5.1"
-# rand = "0.8.0"
-
-# Use regular bevy_spatial on non-WASM builds
-[target.'cfg(not(target_arch = "wasm32"))'.dependencies]
-bevy_spatial = "0.11.0"
-
-# Use bevy_spatial *without* the kdtree_rayon feature when building for WASM.
-[target.'cfg(target_arch = "wasm32")'.dependencies.bevy_spatial]
-version = "0.11.0"
-default-features = false
-features = ["kdtree"]
+avian2d = "0.4"
+bevy = "0.17.0"
+bevy-inspector-egui = "0.34"
 
 [profile.dev]
 opt-level = 1

Dockerfile

@@ -1,19 +1,12 @@
 FROM rust:1.89 AS builder
 
 RUN apt-get update
-RUN apt-get install -y --no-install-recommends libasound2-dev libudev-dev
 RUN rustup target add wasm32-unknown-unknown
 RUN cargo install --locked wasm-bindgen-cli
 
-# Copy only the package manifest and source code. Otherwise changes to anything
-# will cause Docker to re-run `cargo build` even when the source hasn't changed.
-COPY src/ ./src
-COPY Cargo.toml ./Cargo.toml
-COPY Cargo.lock
+COPY . .
 
-RUN cargo build --locked --target wasm32-unknown-unknown --profile=wasm-release
-RUN wasm-bindgen --no-typescript --target web --out-dir ./out/ --out-name "boids" target/wasm32-unknown-unknown/wasm-release/another-boids-in-rust.wasm
-COPY www/index.html out/index.html
+RUN make -j
 
 FROM busybox:musl
 RUN mkdir -p /var/www

LICENSE

@@ -0,0 +1,661 @@
+                    GNU AFFERO GENERAL PUBLIC LICENSE
+                       Version 3, 19 November 2007
+
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+ Everyone is permitted to copy and distribute verbatim copies
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+
+  Nothing in this License shall be construed as excluding or limiting
+any implied license or other defenses to infringement that may
+otherwise be available to you under applicable patent law.
+
+  12. No Surrender of Others' Freedom.
+
+  If conditions are imposed on you (whether by court order, agreement or
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+
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+
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+
+  If you develop a new program, and you want it to be of the greatest
+possible use to the public, the best way to achieve this is to make it
+free software which everyone can redistribute and change under these terms.
+
+  To do so, attach the following notices to the program.  It is safest
+to attach them to the start of each source file to most effectively
+state the exclusion of warranty; and each file should have at least
+the "copyright" line and a pointer to where the full notice is found.
+
+    <one line to give the program's name and a brief idea of what it does.>
+    Copyright (C) <year>  <name of author>
+
+    This program is free software: you can redistribute it and/or modify
+    it under the terms of the GNU Affero General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU Affero General Public License for more details.
+
+    You should have received a copy of the GNU Affero General Public License
+    along with this program.  If not, see <https://www.gnu.org/licenses/>.
+
+Also add information on how to contact you by electronic and paper mail.
+
+  If your software can interact with users remotely through a computer
+network, you should also make sure that it provides a way for users to
+get its source.  For example, if your program is a web application, its
+interface could display a "Source" link that leads users to an archive
+of the code.  There are many ways you could offer source, and different
+solutions will be better for different programs; see section 13 for the
+specific requirements.
+
+  You should also get your employer (if you work as a programmer) or school,
+if any, to sign a "copyright disclaimer" for the program, if necessary.
+For more information on this, and how to apply and follow the GNU AGPL, see
+<https://www.gnu.org/licenses/>.

Makefile

@@ -0,0 +1,86 @@
+# This script produces a web build. If you aren't trying to do that, it is
+# entirely useless to you.
+
+# # # Configuration Variables # # #
+# (because I don't have a ./configure script)
+#
+# Patch these to select a different build profile or target.
+# This Makefile will build a web bundle so using a non-wasm target is basically
+# nonsense. Maybe WASM64, but I don't think that's useful (or stabilized yet).
+CARGO_TARGET := wasm32-unknown-unknown
+CARGO_PROFILE := wasm-release
+
+# Override DESTDIR to set a custom install path
+# E.g.: your web root
+# I use it via the Debian package build process (dpkg needs it)
+DESTDIR ?= .
+
+# # # Automatic Variables # # #
+# (meaning you shouldn't modify them yourself)
+#
+# These are for automatically finding information or files so that they can be
+# used somewhere in the build process.
+SRC_DIR = ./src
+SRCS := $(wildcard $(SRC_DIR)/**)
+CRATE_VERSION != sed -nre 's/^version = "(.*)"/\1/p' Cargo.toml
+
+.PHONY: clean full-clean install tarball tarball-standalone web web-standalone
+
+# "Standalone" version
+# (i.e., it includes an index.html so it can be placed on a server as-is)
+web-standalone: out/boids.js out/boids_bg.wasm.gz out/index.html
+
+# "Bundle-able" version. The host site must provide it's own HTML page.
+web: out/boids.js out/boids_bg.wasm.gz out/boids.html
+
+tarball: boids_web_root.tar
+
+tarball_standalone: boids_web_root_standalone.tar
+
+boids_web_root.tar: out/boids.js out/boids_bg.wasm.gz out/boids.html
+	tar -caf $@ $^
+
+boids_web_root_standalone.tar: out/boids.js out/boids_bg.wasm.gz out/index.html
+	tar -caf $@ $^
+
+target/$(CARGO_TARGET)/$(CARGO_PROFILE)/another-boids-in-rust.wasm: $(SRCS) Cargo.lock Cargo.toml
+	cargo build --profile $(CARGO_PROFILE) --target $(CARGO_TARGET)
+
+out:
+	mkdir $@
+
+# Both the JS and WASM files are generated by the wasm-bindgen call, so both
+# get to be on the target half of this recipe.
+out/boids.js out/boids_bg.wasm.gz &: target/$(CARGO_TARGET)/$(CARGO_PROFILE)/another-boids-in-rust.wasm | out
+	wasm-bindgen --no-typescript --target web --out-dir ./out/ --out-name boids target/$(CARGO_TARGET)/$(CARGO_PROFILE)/another-boids-in-rust.wasm
+	gzip -9 -f out/boids_bg.wasm
+
+# Copies the index page to the output
+out/index.html: www/index.html
+	cp -a $< $@
+	rm -f out/boids.html
+	sed -i -e "s/#CRATE_VERSION_PLACEHOLDER#/$(CRATE_VERSION)/" $@
+
+# Like `out/index.html`, but renames it for use in a larger site.
+out/boids.html: www/index.html
+	cp -a $< $@
+	rm -f out/index.html
+	sed -i -e "s/#CRATE_VERSION_PLACEHOLDER#/$(CRATE_VERSION)/" $@
+
+# Clean the web build, but not the Cargo cache. Cargo handles it's own caching
+# and I don't want to obliterate it all the time.
+clean:
+	rm -rf out/ boids_web_root.tar boids_web_root_standalone.tar
+
+# Delete everything, including the Cargo build cache. In case someone needs
+# this, I guess.
+full-clean: clean
+	cargo clean
+
+# Installation goal. It's meant to be a helper utility for moving the built
+# output into the web root. Only supports the "bundle-able" mode.
+install: web
+	install -dm0755 $(DESTDIR)
+	install -m0644 out/boids.js $(DESTDIR)/
+	install -m0644 out/boids_bg.wasm.gz $(DESTDIR)/
+	install -m0644 out/boids.html $(DESTDIR)/

README.md

@@ -0,0 +1,82 @@
+# Another Boids in Rust
+
+This is my implementation of the Boids flocking algorithm. It is written in Rust and built on the Bevy game engine.
+
+## Building & Running
+
+### Desktop/native
+
+You'll need a working Rust toolchain, of course. See the [rustup](https://rustup.rs/) site for the basics.
+
+```sh
+# Install system dependencies
+
+:~$ sudo apt install libasound2-dev libudev-dev pkg-config # Debian 13
+:~$ sudo yum install alsa-lib-devel libgudev-devel ppkgconf-pkg-config # Fedora 42
+
+# Build and run
+:~$ cargo build --release
+:~$ cargo run --release # Or skip the build and only run. Cargo will (re)build as-needed.
+```
+
+### Web
+
+This project creates a "static site," meaning a complete deployment of the site is simply copying the output folder onto a webserver. There are **two** ways to use this.
+
+1. A standalone application which can be quickly hosted as-is. This includes the WASM, it's JS glue, and an index.html page.
+2. A sub-page in a larger website. This is actually the same, but names it's HTML page "boids.html" so consumers (you) can provide their own index.html.
+    - I'm not using a JS Bundler at this time. If you're familiar with JS development, this probably looks like a dumb way to do it. Sorry about that.
+
+#### Standalone build:
+
+1. Build `make web-standalone`
+2. Serve `python3 -m http.server -d ./out`
+3. Visit site in browser: `http://localhost:8000`
+
+To quickly get a tarball, use `make tarball_standalone`. If you're trying to build and upload the program somewhere, this may provide a bit of convenience. Compressing it may be a good idea, too.
+
+#### "Bundle-able" build
+
+For a "bundle-able" build, you'll need to write your own index.html and link to the boids.html file.
+
+Basically, just throw in a hyperlink with `<a href="boids.html">Boids</a>`
+
+```html
+<!DOCTYPE html>
+<html>
+    <!-- your page content, etc -->
+    <body>
+        <a href="boids.html">Boids</a>
+    </body>
+    <!-- more page content, etc -->
+</html>
+```
+
+As mentioned in the option 2 description, I'm not using a JS Bundler. There is no "package.json" or anything to integrate properly with a JS framework. I plan to fix that at some point, but for now there are just a bunch of files to grab.
+
+---
+
+You can use any HTTP server you like. In the steps above, I'm using the Python3 built-in [http.server module](https://docs.python.org/3/library/http.server.html); which is **NOT** recommended for production use. Don't put that on the Internet! Alternatives include [Miniserve](https://crates.io/crates/miniserve) and [BusyBox](https://busybox.net/). The latter of which I'm using in the Docker image.
+
+### Web, but as a Docker Container
+
+You'll need a working Docker installation. See the [get-docker](https://docs.docker.com/get-started/get-docker/) page for details. The rest of the build and execution is self-contained in the container(s) and will not require additional host tools.
+
+```sh
+:~$ docker build -t boids-website .
+:~$ docker run -it --rm boids-website
+```
+
+You might have to open another terminal to `docker kill <the boids container>`. It doesn't seem to respond to `ctrl+c` and I don't plan to figure out why any time soon.
+
+You may also notice that the Dockerfile doesn't call on the Makefile. This is because the Dockerfile predates the Makefile and I haven't updated it to follow the manual process described above. The result is the same, only now it's in a container and using the BusyBox webserver.
+
+## Controls
+
+| Input | Effect |
+|-|-|
+| Mouse | The scanner circle is attached to the mouse cursor. Move it to scan boids within the radius. |
+| Left mouse button | Put scanner into center-of-mass mode |
+| Right mouse button | Put scanner into average velocity mode |
+
+**BUG:** On web builds, the right-click action will *both* switch the scanner mode and open the browser's context menu. You can work around this by closing the menu without left-clicking on the canvas -- click outside the canvas, or use the escape key, etc.

fly.toml

@@ -1,25 +0,0 @@
-# fly.toml app configuration file generated for boids-autumn-lake-5810 on 2025-09-03T16:02:00-05:00
-#
-# See https://fly.io/docs/reference/configuration/ for information about how to use this file.
-#
-
-app = 'boids-autumn-lake-5810'
-primary_region = 'ord'
-
-[build]
-
-[env]
-  PORT = '8080'
-
-[http_service]
-  internal_port = 8080
-  force_https = true
-  auto_stop_machines = 'stop'
-  auto_start_machines = true
-  min_machines_running = 0
-  processes = ['app']
-
-[[vm]]
-  memory = '256mb'
-  cpu_kind = 'shared'
-  cpus = 1

src/birdoids/mod.rs

@@ -1,62 +1,81 @@
 pub mod physics;
 
+use avian2d::prelude::*;
 use bevy::prelude::*;
-use bevy_spatial::{
-    AutomaticUpdate, SpatialAccess, SpatialStructure, TransformMode, kdtree::KDTree2,
-};
 
 use crate::birdoids::physics::{Force, Velocity, apply_velocity};
+use bevy_inspector_egui::{InspectorOptions, prelude::ReflectInspectorOptions};
 
 const BACKGROUND_COLOR: Color = Color::srgb(0.4, 0.4, 0.4);
-const PLAYERBOID_COLOR: Color = Color::srgb(1.0, 0.0, 0.0);
-const TURN_FACTOR: f32 = 1.0;
-const BOID_VIEW_RANGE: f32 = 15.0;
-const COHESION_FACTOR: f32 = 1.0;
-const SEPARATION_FACTOR: f32 = 10.0;
-const ALIGNMENT_FACTOR: f32 = 1.0;
-const SPACEBRAKES_COEFFICIENT: f32 = 0.5;
-const LOW_SPEED_THRESHOLD: f32 = 50.0;
-const HIGH_SPEED_THRESHOLD: f32 = 200.0;
 
 pub struct BoidsPlugin;
 
 impl Plugin for BoidsPlugin {
     fn build(&self, app: &mut App) {
-        app.add_plugins(
-            AutomaticUpdate::<TrackedByKdTree>::new()
-                // .with_frequency(Duration::from_secs_f32(0.3))
-                .with_transform(TransformMode::GlobalTransform)
-                .with_spatial_ds(SpatialStructure::KDTree2),
-        )
-        .insert_resource(ClearColor(BACKGROUND_COLOR))
-        .add_systems(Startup, (spawn_camera, spawn_boids))
-        .add_systems(
-            FixedUpdate,
-            (
-                apply_velocity,
-                turn_if_edge,
-                check_keyboard,
-                cohesion,
-                separation,
-                alignment,
-                speed_controller,
-            ),
-        );
+        app.insert_resource(ClearColor(BACKGROUND_COLOR))
+            .insert_resource(FlockingParameters::new())
+            .register_type::<FlockingParameters>()
+            .insert_resource(MiscParams::new())
+            .register_type::<MiscParams>()
+            .add_systems(Startup, (spawn_camera, spawn_boids))
+            .add_systems(
+                FixedUpdate,
+                (
+                    apply_velocity,
+                    turn_if_edge,
+                    cohesion,
+                    separation,
+                    alignment,
+                    speed_controller,
+                ),
+            );
+    }
+}
+
+#[derive(InspectorOptions, Reflect, Resource, Debug, Clone, Copy)]
+#[reflect(Resource, InspectorOptions)]
+pub(crate) struct FlockingParameters {
+    view_range: f32,
+    cohesion: f32,
+    separation: f32,
+    alignment: f32,
+}
+
+impl FlockingParameters {
+    pub(crate) fn new() -> Self {
+        Self {
+            view_range: 15.0,
+            cohesion: 1.0,
+            separation: 5.0,
+            alignment: 2.0,
+        }
+    }
+}
+
+#[derive(InspectorOptions, Reflect, Resource, Debug, Clone, Copy)]
+#[reflect(Resource, InspectorOptions)]
+pub(crate) struct MiscParams {
+    turn_factor: f32,
+    spacebrakes: f32,
+    minimum_speed: f32,
+    maximum_speed: f32,
+}
+
+impl MiscParams {
+    pub(crate) fn new() -> Self {
+        Self {
+            turn_factor: 1.0,
+            spacebrakes: 0.5,
+            minimum_speed: 50.0,
+            maximum_speed: 200.0,
+        }
     }
 }
 
 #[derive(Component)]
-#[require(Velocity, Force, TrackedByKdTree)]
+#[require(Velocity, Force)]
 pub(crate) struct Boid;
 
-// It's a Boid, but with an extra component so the player
-// can control it from the keyboard
-#[derive(Component)]
-struct PlayerBoid;
-
-#[derive(Component, Default)]
-pub struct TrackedByKdTree;
-
 fn spawn_camera(mut commands: Commands) {
     commands.spawn(Camera2d);
 }
@@ -76,26 +95,21 @@ 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),
         ));
     }
-
-    commands.spawn((
-        Boid,
-        PlayerBoid,
-        Mesh2d(meshes.add(Triangle2d::default())),
-        MeshMaterial2d(materials.add(PLAYERBOID_COLOR)),
-    ));
 }
 
 /// Controls the boid's minimum and maximum speed according to a low- and
 /// high-threshold. Boids moving too slow are sped up, and boids moving too
 /// fast are slowed down.
-fn speed_controller(mut mobs: Query<(&Velocity, &mut Force), With<Boid>>) {
+fn speed_controller(mut mobs: Query<(&Velocity, &mut Force), With<Boid>>, params: Res<MiscParams>) {
     for (vel, mut impulse) in &mut mobs {
-        if vel.0.length() < LOW_SPEED_THRESHOLD {
-            impulse.0 += vel.0 * SPACEBRAKES_COEFFICIENT;
-        } else if vel.0.length() > HIGH_SPEED_THRESHOLD {
-            impulse.0 += -vel.0 * SPACEBRAKES_COEFFICIENT;
+        if vel.0.length() < params.minimum_speed {
+            impulse.0 += vel.0 * params.spacebrakes;
+        } else if vel.0.length() > params.maximum_speed {
+            impulse.0 += -vel.0 * params.spacebrakes;
         }
     }
 }
@@ -103,21 +117,22 @@ fn speed_controller(mut mobs: Query<(&Velocity, &mut Force), With<Boid>>) {
 fn turn_if_edge(
     mut query: Query<(&mut Transform, &mut Velocity), With<Boid>>,
     window: Query<&Window>,
+    params: Res<MiscParams>,
 ) {
     if let Ok(window) = window.single() {
         let (width, height) = (window.resolution.width(), window.resolution.height());
         for (transform, mut velocity) in &mut query {
             let boid_pos = transform.translation.xy();
             if boid_pos.x <= -width / 2. + 50. {
-                velocity.x += TURN_FACTOR;
+                velocity.x += params.turn_factor;
             } else if boid_pos.x >= width / 2. - 50. {
-                velocity.x -= TURN_FACTOR;
+                velocity.x -= params.turn_factor;
             }
 
             if boid_pos.y <= -height / 2. + 50. {
-                velocity.y += TURN_FACTOR;
+                velocity.y += params.turn_factor;
             } else if boid_pos.y >= height / 2. - 50. {
-                velocity.y -= TURN_FACTOR;
+                velocity.y -= params.turn_factor;
             }
         }
     } else {
@@ -125,38 +140,12 @@ fn turn_if_edge(
     }
 }
 
-fn check_keyboard(
-    keyboard_input: Res<ButtonInput<KeyCode>>,
-    mut app_exit_events: ResMut<Events<bevy::app::AppExit>>,
-    mut query: Query<&mut Force, With<PlayerBoid>>,
-) {
-    if keyboard_input.just_pressed(KeyCode::KeyQ) {
-        app_exit_events.send(bevy::app::AppExit::Success);
-    }
-
-    let mut impulse = query
-        .single_mut()
-        .expect("[birdoids_plugin::check_keyboard()] ->> There seems to be more than one player... How did that happen?");
-    let mut dir = Vec2::ZERO;
-    if keyboard_input.pressed(KeyCode::ArrowLeft) {
-        dir.x -= 1.0;
-    }
-    if keyboard_input.pressed(KeyCode::ArrowRight) {
-        dir.x += 1.0;
-    }
-    if keyboard_input.pressed(KeyCode::ArrowDown) {
-        dir.y -= 1.0;
-    }
-    if keyboard_input.pressed(KeyCode::ArrowUp) {
-        dir.y += 1.0;
-    }
-
-    **impulse += dir.extend(0.0) * 50.0;
-}
-
 fn cohesion(
-    spatial_tree: Res<KDTree2<TrackedByKdTree>>,
+    spatial: SpatialQuery,
+    // TODO: Ensure this is logically sound. I think it will fail the "disjoint queries" requirement.
+    boid_locations: Query<&Transform, With<Boid>>,
     mut boids: Query<(Entity, &Transform, &mut Force), With<Boid>>,
+    props: Res<FlockingParameters>,
 ) {
     // for each boid
     // find neighbors
@@ -164,14 +153,23 @@ fn cohesion(
     // find vector from boid to flock CoM
     // apply force
     for (this_entt, transform, mut force) in &mut boids {
-        let (len, sum) = spatial_tree
-            .within_distance(transform.translation.xy(), BOID_VIEW_RANGE)
+        let (len, sum) = spatial
+            .shape_intersections(
+                &Collider::circle(props.view_range),
+                transform.translation.xy(),
+                0.0,
+                &SpatialQueryFilter::default(),
+            )
             .iter()
-            .filter_map(|(pos, entt)| {
+            .filter_map(|&entt| {
+                // extract neighbor's position
                 // Skip self-comparison. A boid should not try to separate from itself.
-                let entt = entt
-                    .expect("within_distance gave me an entity... with no entity ID... somehow");
-                if this_entt == entt { None } else { Some(pos) }
+                if this_entt == entt {
+                    None
+                } else {
+                    let tsfm = boid_locations.get(entt).unwrap();
+                    Some(tsfm.translation.xy())
+                }
             })
             .enumerate()
             .fold((0, Vec2::ZERO), |(_len, com), (idx, pos)| (idx, com + pos));
@@ -183,47 +181,56 @@ fn cohesion(
             continue;
         };
 
-        let impulse = cohesive_force(center_of_mass, transform.translation.xy()).expect("damn");
+        let impulse = cohesive_force(center_of_mass, transform.translation.xy(), props.view_range)
+            .expect("damn");
 
-        force.0 -= impulse.0 * COHESION_FACTOR;
+        force.0 -= impulse.0 * props.cohesion;
     }
 }
 
 fn separation(
-    spatial_tree: Res<KDTree2<TrackedByKdTree>>,
+    spatial: SpatialQuery,
+    boid_locations: Query<&Transform, With<Boid>>,
     mut boids: Query<(Entity, &Transform, &mut Force), With<Boid>>,
+    props: Res<FlockingParameters>,
 ) {
     // for each boid
     // find neighbors
     // sum force from neighbors
     // apply force
     for (this_entt, tsfm, mut force) in &mut boids {
-        let impulse = spatial_tree
-            .within_distance(tsfm.translation.xy(), BOID_VIEW_RANGE / 4.0)
+        let impulse = spatial
+            .shape_intersections(
+                &Collider::circle(props.view_range / 4.0),
+                tsfm.translation.xy(),
+                0.0,
+                &SpatialQueryFilter::default(),
+            )
             .iter()
-            .filter_map(|(pos, entt)| {
+            .filter_map(|&entt| {
                 // Skip self-comparison. A boid should not try to separate from itself.
-                let entt = entt
-                    .expect("within_distance gave me an entity... with no entity ID... somehow");
                 if this_entt == entt {
                     None
                 } else {
+                    let pos = boid_locations.get(entt).unwrap().translation.xy();
                     Some(pos.extend(0.0))
                 }
             })
             .fold(Vec3::ZERO, |acc, other| {
                 // let force = tsfm.translation - other;
-                let force = separation_force(tsfm.translation.xy(), other.xy()).expect("angy");
+                let force = separation_force(tsfm.translation.xy(), other.xy(), props.view_range)
+                    .expect("angy");
                 acc + force.0
             });
-        force.0 += impulse * SEPARATION_FACTOR;
+        force.0 += impulse * props.separation;
     }
 }
 
 fn alignment(
-    spatial_tree: Res<KDTree2<TrackedByKdTree>>,
+    spatial: SpatialQuery,
     mut boids: Query<(Entity, &Transform, &mut Force), With<Boid>>,
     boid_velocities: Query<&Velocity, With<Boid>>,
+    props: Res<FlockingParameters>,
 ) {
     // for each boid
     // find neighbors
@@ -233,14 +240,16 @@ fn alignment(
     // apply steering force
 
     for (this_entt, transform, mut force) in &mut boids {
-        let neighbors = spatial_tree.within_distance(transform.translation.xy(), BOID_VIEW_RANGE);
+        let neighbors = spatial.shape_intersections(
+            &Collider::circle(props.view_range),
+            transform.translation.xy(),
+            0.0,
+            &SpatialQueryFilter::default(),
+        );
         // averaging divides by length. Guard against an empty set of neighbors
         let (len, sum) = neighbors
             .iter()
-            // Extract the velocities by `get()`ing from another query param.
-            .filter_map(|(_pos, maybe_entt)| {
-                let entt = maybe_entt
-                    .expect("Neighbor boid has no Entity ID. I don't know what this means");
+            .filter_map(|&entt| {
                 if this_entt == entt {
                     None
                 } else {
@@ -261,7 +270,7 @@ fn alignment(
         };
 
         let boid_vel = boid_velocities.get(this_entt).unwrap();
-        force.0 += (avg.extend(0.0) - boid_vel.0) * ALIGNMENT_FACTOR;
+        force.0 += (avg.extend(0.0) - boid_vel.0) * props.alignment;
     }
 }
 
@@ -287,13 +296,13 @@ fn average_of_vec2s(points: impl Iterator<Item = Vec2>) -> Option<Vec2> {
 }
 
 // f(x) = 4((x-0.5)^3 + 0.125)
-fn cohesive_force(boid: Vec2, target: Vec2) -> Option<Force> {
+fn cohesive_force(boid: Vec2, target: Vec2, view_range: f32) -> Option<Force> {
     let deviation = target - boid;
     /*
     Scale deviation vector by the boid's view range. The curve is made to
     operate on the range (0, 1), so that needs to be the viewing circle.
     */
-    let scaled = deviation / BOID_VIEW_RANGE;
+    let scaled = deviation / view_range;
     let mag = scaled.length();
     if mag > 0.0 {
         let cube: f32 = (mag - 0.5).powf(3.0);
@@ -310,9 +319,9 @@ fn cohesive_force(boid: Vec2, target: Vec2) -> Option<Force> {
 }
 
 // f(x) = x^2 - 1
-fn separation_force(boid: Vec2, target: Vec2) -> Option<Force> {
+fn separation_force(boid: Vec2, target: Vec2, view_range: f32) -> Option<Force> {
     // Scale from BOID_VIEW_RANGE to unit space
-    let distance_unit = (target - boid) / BOID_VIEW_RANGE;
+    let distance_unit = (target - boid) / view_range;
     let mag = distance_unit.length();
     if mag > 0.0 {
         let force_mag = mag.powf(2.0) - 1.0;
@@ -329,14 +338,15 @@ mod tests {
 
     use crate::birdoids::{cohesive_force, separation_force};
 
-    use super::{BOID_VIEW_RANGE, physics::Force};
+    use super::{FlockingParameters, physics::Force};
 
     // forces are relative to the boid's view range, so all
     // distances need to be fractions of that
 
     #[test]
     fn check_cohesion_zero_zero() {
-        let force = cohesive_force(Vec2::ZERO, Vec2::ZERO);
+        let props = FlockingParameters::new();
+        let force = cohesive_force(Vec2::ZERO, Vec2::ZERO, props.view_range);
         assert!(force.is_none());
     }
 
@@ -347,36 +357,56 @@ mod tests {
     #[test]
     fn check_cohesion_midpoint_x_positive() {
         // Pull right 0.5 units
+        let props = FlockingParameters::new();
         assert_eq!(
             Some(Force(Vec3::new(0.5, 0.0, 0.0))),
-            cohesive_force(Vec2::new(0.0, 0.0), Vec2::new(0.5 * BOID_VIEW_RANGE, 0.0),)
+            cohesive_force(
+                Vec2::new(0.0, 0.0),
+                Vec2::new(0.5 * props.view_range, 0.0),
+                props.view_range
+            )
         );
     }
 
     #[test]
     fn check_cohesion_midpoint_x_negative() {
         // Pull left 0.5 units
+        let props = FlockingParameters::new();
         assert_eq!(
             Some(Force(Vec3::new(-0.5, 0.0, 0.0))),
-            cohesive_force(Vec2::new(0.0, 0.0), Vec2::new(-0.5 * BOID_VIEW_RANGE, 0.0),)
+            cohesive_force(
+                Vec2::new(0.0, 0.0),
+                Vec2::new(-0.5 * props.view_range, 0.0),
+                props.view_range
+            )
         );
     }
 
     #[test]
     fn check_cohesion_edge_x_positive() {
         // pull left 1.0 units
+        let props = FlockingParameters::new();
         assert_eq!(
             Some(Force(Vec3::new(1.0, 0.0, 0.0))),
-            cohesive_force(Vec2::new(0.0, 0.0), Vec2::new(1.0 * BOID_VIEW_RANGE, 0.0),)
+            cohesive_force(
+                Vec2::new(0.0, 0.0),
+                Vec2::new(1.0 * props.view_range, 0.0),
+                props.view_range
+            )
         );
     }
 
     #[test]
     fn check_cohesion_edge_x_negative() {
         // pull left 1.0 units
+        let props = FlockingParameters::new();
         assert_eq!(
             Some(Force(Vec3::new(-1.0, 0.0, 0.0))),
-            cohesive_force(Vec2::new(0.0, 0.0), Vec2::new(-1.0 * BOID_VIEW_RANGE, 0.0),)
+            cohesive_force(
+                Vec2::new(0.0, 0.0),
+                Vec2::new(-1.0 * props.view_range, 0.0),
+                props.view_range
+            )
         );
     }
 
@@ -387,43 +417,64 @@ mod tests {
     #[test]
     fn check_cohesion_midpoint_y_positive() {
         // Pull up 0.5 units
+        let props = FlockingParameters::new();
         assert_eq!(
             Some(Force(Vec3::new(0.0, 0.5, 0.0))),
-            cohesive_force(Vec2::new(0.0, 0.0), Vec2::new(0.0, 0.5 * BOID_VIEW_RANGE),)
+            cohesive_force(
+                Vec2::new(0.0, 0.0),
+                Vec2::new(0.0, 0.5 * props.view_range),
+                props.view_range
+            )
         );
     }
 
     #[test]
     fn check_cohesion_midpoint_y_negative() {
         // Pull down 0.5 units
+        let props = FlockingParameters::new();
         assert_eq!(
             Some(Force(Vec3::new(0.0, -0.5, 0.0))),
-            cohesive_force(Vec2::new(0.0, 0.0), Vec2::new(0.0, -0.5 * BOID_VIEW_RANGE),)
+            cohesive_force(
+                Vec2::new(0.0, 0.0),
+                Vec2::new(0.0, -0.5 * props.view_range),
+                props.view_range
+            )
         );
     }
 
     #[test]
     fn check_cohesion_edge_y_positive() {
         // Pull up 1.0 units
+        let props = FlockingParameters::new();
         assert_eq!(
             Some(Force(Vec3::new(0.0, 1.0, 0.0))),
-            cohesive_force(Vec2::new(0.0, 0.0), Vec2::new(0.0, 1.0 * BOID_VIEW_RANGE))
+            cohesive_force(
+                Vec2::new(0.0, 0.0),
+                Vec2::new(0.0, 1.0 * props.view_range),
+                props.view_range
+            )
         );
     }
 
     #[test]
     fn check_cohesion_edge_y_negative() {
         // pull down 0.2 units
+        let props = FlockingParameters::new();
         assert_eq!(
             Some(Force(Vec3::new(0.0, -1.0, 0.0))),
-            cohesive_force(Vec2::new(0.0, 0.0), Vec2::new(0.0, -1.0 * BOID_VIEW_RANGE),)
+            cohesive_force(
+                Vec2::new(0.0, 0.0),
+                Vec2::new(0.0, -1.0 * props.view_range),
+                props.view_range
+            )
         );
     }
 
     // Separation 0,0 test
     #[test]
     fn check_separation_zero_zero() {
-        let force = separation_force(Vec2::ZERO, Vec2::ZERO);
+        let props = FlockingParameters::new();
+        let force = separation_force(Vec2::ZERO, Vec2::ZERO, props.view_range);
         assert!(force.is_none());
     }
 
@@ -432,39 +483,53 @@ mod tests {
     // *********************
     #[test]
     fn check_separation_midpoint_x_positive() {
+        let props = FlockingParameters::new();
         assert_eq!(
             Some(Force(Vec3::new(0.75, 0.0, 0.0))), // expected force
             separation_force(
-                Vec2::new(0.5 * BOID_VIEW_RANGE, 0.0), // boid position
-                Vec2::ZERO,                            // obstacle position
+                Vec2::new(0.5 * props.view_range, 0.0), // boid position
+                Vec2::ZERO,                             // obstacle position
+                props.view_range
             )
         );
     }
 
     #[test]
     fn check_separation_midpoint_x_negative() {
+        let props = FlockingParameters::new();
         assert_eq!(
             Some(Force(Vec3::new(-0.75, 0.0, 0.0))), // expected force
             separation_force(
-                Vec2::new(-0.5 * BOID_VIEW_RANGE, 0.0), // boid position
-                Vec2::ZERO,                             // obstacle position
+                Vec2::new(-0.5 * props.view_range, 0.0), // boid position
+                Vec2::ZERO,                              // obstacle position
+                props.view_range
             )
         );
     }
 
     #[test]
     fn check_separation_edge_x_positive() {
+        let props = FlockingParameters::new();
         assert_eq!(
             Some(Force(Vec3::ZERO)),
-            separation_force(Vec2::new(1.0 * BOID_VIEW_RANGE, 0.0), Vec2::ZERO,),
+            separation_force(
+                Vec2::new(1.0 * props.view_range, 0.0),
+                Vec2::ZERO,
+                props.view_range
+            ),
         );
     }
 
     #[test]
     fn check_separation_edge_x_negative() {
+        let props = FlockingParameters::new();
         assert_eq!(
             Some(Force(Vec3::ZERO)),
-            separation_force(Vec2::new(-1.0 * BOID_VIEW_RANGE, 0.0), Vec2::ZERO,),
+            separation_force(
+                Vec2::new(-1.0 * props.view_range, 0.0),
+                Vec2::ZERO,
+                props.view_range
+            ),
         );
     }
 
@@ -473,33 +538,53 @@ mod tests {
     // *********************
     #[test]
     fn check_separation_midpoint_y_positive() {
+        let props = FlockingParameters::new();
         assert_eq!(
             Some(Force(Vec3::new(0.0, 0.75, 0.0))),
-            separation_force(Vec2::new(0.0, 0.5 * BOID_VIEW_RANGE), Vec2::ZERO,)
+            separation_force(
+                Vec2::new(0.0, 0.5 * props.view_range),
+                Vec2::ZERO,
+                props.view_range
+            )
         );
     }
 
     #[test]
     fn check_separation_midpoint_y_negative() {
+        let props = FlockingParameters::new();
         assert_eq!(
             Some(Force(Vec3::new(0.0, -0.75, 0.0))),
-            separation_force(Vec2::new(0.0, -0.5 * BOID_VIEW_RANGE), Vec2::ZERO,)
+            separation_force(
+                Vec2::new(0.0, -0.5 * props.view_range),
+                Vec2::ZERO,
+                props.view_range
+            )
         );
     }
 
     #[test]
     fn check_separation_edge_y_positive() {
+        let props = FlockingParameters::new();
         assert_eq!(
             Some(Force(Vec3::ZERO)),
-            separation_force(Vec2::new(0.0, 1.0 * BOID_VIEW_RANGE), Vec2::ZERO,)
+            separation_force(
+                Vec2::new(0.0, 1.0 * props.view_range),
+                Vec2::ZERO,
+                props.view_range
+            )
         )
     }
 
     #[test]
     fn check_separation_edge_y_negative() {
+        let props = FlockingParameters::new();
         assert_eq!(
             Some(Force(Vec3::ZERO)),
-            separation_force(Vec2::new(0.0, -1.0 * BOID_VIEW_RANGE), Vec2::ZERO,)
+            separation_force(
+                Vec2::new(0.0, -1.0 * props.view_range),
+                Vec2::ZERO,
+                props.view_range
+            )
         )
     }
 }

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;
@@ -106,15 +106,10 @@ fn update_scanner_mode(
     }
 }
 
-fn print_gizmo_config(query: Query<(&SelectionMode, &ScannerMode), With<Cursor>>) {
-    let (select, scan) = query.single().unwrap();
-    println!("Selection: {select:?}, Scanning: {scan:?}");
-}
-
 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,
 ) {
@@ -122,25 +117,35 @@ 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_intersections(
+                    &Collider::circle(SCANRADIUS),
+                    cursor_pos.translation.xy(),
+                    0.0,
+                    &SpatialQueryFilter::default(),
+                )
+                .into_iter()
+                .map(|entt| {
+                    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.
-                        // Map over it and extract only the Vec3's
-                        boids.iter().map(|item| item.0),
+                        // `center_of_boids` needs an Iterator<Item = Vec2>, so we map over
+                        // the output tuple to make one.
+                        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| {
-                        let entity_id = item.1.unwrap_or_else(|| panic!("Entity has no ID!"));
-                        let (_, vel, _) = boids_query
-                            .get(entity_id)
-                            .unwrap_or_else(|_| panic!("Boid has no Velocity component!"));
-                        (*vel).xy() * 1.0
-                    })) {
+                    if let Some(avg_velocity) =
+                        velocity_of_boids(boids.map(|item| (*item.1).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(
                             cursor_pos.translation.xy(),

src/main.rs

@@ -1,16 +1,20 @@
+use avian2d::prelude::*;
 use bevy::prelude::*;
 
 mod birdoids;
 mod debug_plugin;
 
+use bevy_inspector_egui::{bevy_egui::EguiPlugin, quick::ResourceInspectorPlugin};
 use birdoids::BoidsPlugin;
 use debug_plugin::BoidsDebugPlugin;
 
+use crate::birdoids::{FlockingParameters, MiscParams};
+
 fn main() {
     App::new()
         .add_plugins(DefaultPlugins.set(WindowPlugin {
             primary_window: Some(Window {
-                fit_canvas_to_parent: true,
+                canvas: Some("#boids-canvas".to_owned()),
                 prevent_default_event_handling: false,
                 ..default()
             }),
@@ -18,5 +22,9 @@ fn main() {
         }))
         .add_plugins(BoidsDebugPlugin)
         .add_plugins(BoidsPlugin)
+        .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();
 }

www/index.html

@@ -1,11 +1,121 @@
 <!doctype html>
 <html lang="en">
-
+  <head>
+    <meta charset="UTF-8">
+    <meta name="viewport" content="width=device-width, initial-scale=1.0">
+    <style>
+      body {
+        background-color: hsl(100, 10%, 60%);
+        color: hsl(0, 0%, 15%);
+      }
+      h1 {
+        background-color: rgb(72, 97, 72);
+        text-align: center;
+        margin: auto;
+        padding: 0.5em;
+      }
+      canvas {
+        margin-top: 1em;
+        margin-left: auto;
+        margin-right: auto;
+        display: block;
+        outline-color: hsl(100, 100%, 15%);
+        outline-style: outset;
+        border-radius: 8px;
+        background-color: rgb(40%, 40%, 40%);
+      }
+      main {
+        margin-left: auto;
+        margin-right: auto;
+        width: 70%;
+      }
+      table {
+        margin-bottom: 10px;
+        border-collapse: collapse;
+      }
+      th, td {
+        border: 1px solid;
+        padding: 0.1em 0.3em;
+      }
+    </style>
+  </head>
 <body style="margin: 0px;">
+  <h1>
+    Another Boids in Rust
+  </h1>
+  <canvas id="boids-canvas" width="1280" height="720"></canvas>
+  <main>
+    <article>
+      <h2>Description</h2>
+      <p>
+        This is my implementation of the Boids flocking algorithm. It is written in Rust, built on the Bevy game engine, and compiled to WASM to run in the browser.
+      </p>
+      <p>
+        The algorithm consists of just 3 rules:
+        <ul>
+          <li><strong>Separation</strong> - Boids steer apart to avoid colliding.</li>
+          <li><strong>Alignment</strong> - Boids fly in the same direction as their neighbors.</li>
+          <li><strong>Cohesion</strong> - Boids clump together so as not to fly off alone.</li>
+        </ul>
+        From these rules, the flocking behavior emerges naturally.
+      </p>
+      <p>
+        My version of this program has some extra rules governing speed. In short: things below some threshold are sped
+        up, and things above are slowed down. This is to keep an appropriate amount of kinetic energy in the system.
+        Since the boids start in a circle with the same speed, the sum of all velocity vectors is <code>vec2(0, 0)</code>.
+        Technically, floating-point rounding errors would likely mean the system always has some energy, but never
+        enough for an interesting simulation.
+      </p>
+    </article>
+    <article>
+      <h3>Controls</h3>
+      <table>
+        <thead>
+          <tr>
+            <th scope="col">Input</th>
+            <th scope="col">Effect</th>
+          </tr>
+        </thead>
+        <tr>
+          <td>Mouse</td>
+          <td>The scanner circle is attached to the mouse cursor. Move it to scan boids within the radius.</td>
+        </tr>
+        <tr>
+          <td>Left mouse button</td>
+          <td>Put scanner into center-of-mass mode</td>
+        </tr>
+        <tr>
+          <td>Right mouse button</td>
+          <td>Put scanner into average velocity mode. (There's a window focus bug. This button doesn't work quite right!)</td>
+        </tr>
+      </table>
+    </article>
+    <article>
+      <h3>Misc</h3>
+      <table>
+        <tr>
+          <td>Source code</td>
+          <td><a href=https://github.com/DerVerrater/another-boids-in-rust>https://github.com/DerVerrater/another-boids-in-rust</a></td>
+        </tr>
+        <tr>
+          <td>License</td>
+          <td><a href="https://www.gnu.org/licenses/agpl-3.0.txt">AGPL-3.0-only</a></td>
+        </tr>
+        <tr>
+          <td>Program Version</td>
+          <td><code>#CRATE_VERSION_PLACEHOLDER#</code></td>
+        </tr>
+      </table>
+    </article>
+  </main>
   <script type="module">
     import init from './boids.js'
 
-    init().catch((error) => {
+    let compressed = await fetch("./boids_bg.wasm.gz")
+    let wasm_stream = compressed.body.pipeThrough(new DecompressionStream("gzip"))
+    let blob = await new Response(wasm_stream).blob();
+
+    init(await blob.arrayBuffer()).catch((error) => {
       if (!error.message.startsWith("Using exceptions for control flow, don't mind me. This isn't actually an error!")) {
         throw error;
       }