Release v0.9.0

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

.gitea/workflows/check.yml

@@ -45,7 +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
@@ -62,7 +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
@@ -78,14 +78,14 @@ jobs:
     # https://docs.github.com/en/actions/learn-github-actions/contexts#context-availability
     strategy:
       matrix:
-        msrv: ["1.87.0"]
+        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:

Cargo.toml

@@ -1,31 +1,14 @@
 [package]
 name = "another-boids-in-rust"
-version = "0.6.0"
+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

Makefile

@@ -1,17 +1,28 @@
 # This script produces a web build. If you aren't trying to do that, it is
 # entirely useless to you.
 
-# Patch these to select a different build profile or target
-# The target shouldn't change any time soon. WASM64, I guess. Other targets
-# aren't aimed at the web, so you shouldn't be using this makefile.
+# # # 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 (such as your web root)
+# 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
 
@@ -48,11 +59,13 @@ out/boids.js out/boids_bg.wasm.gz &: target/$(CARGO_TARGET)/$(CARGO_PROFILE)/ano
 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.

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

@@ -1,11 +1,15 @@
+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 {
@@ -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

@@ -103,8 +103,7 @@
         </tr>
         <tr>
           <td>Program Version</td>
-          <!-- This version text is completely unchecked. I'll need to do something about that. -->
-          <td><code>v0.6.0</code></td>
+          <td><code>#CRATE_VERSION_PLACEHOLDER#</code></td>
         </tr>
       </table>
     </article>