POC: Rapier picking for posable characters

Cargo.lock

@@ -5392,6 +5392,7 @@ dependencies = [
  "parry3d",
  "rustc-hash",
  "simba",
+ "vec_map",
 ]
 
 [[package]]

studio/Cargo.toml

@@ -20,7 +20,7 @@ path = "src/main-headless.rs"
 [dependencies]
 bevy-inspector-egui = "0.23.0"
 bevy_mod_raycast = "0.17.0"
-bevy_rapier3d = "0.25.0"
+bevy_rapier3d = { version = "0.25.0", features = ["simd-stable", "debug-render-3d"] }
 bevy_mod_outline = "0.7.0"
 bevy_web_asset = "0.8.0"
 bitflags = "2.4.0"

studio/src/anim/mod.rs

@@ -3,10 +3,15 @@ use bevy::{
     math::Affine3A,
     prelude::*,
     render::{mesh::skinning::SkinnedMesh, view::NoFrustumCulling},
+    utils::HashMap,
 };
-use space_editor::space_prefab::editor_registry::EditorRegistryExt;
+use bevy_rapier3d::geometry::Collider;
+use space_editor::{prelude::PrefabMarker, space_prefab::editor_registry::EditorRegistryExt};
 
-use crate::{hierarchy, scene::SceneElement};
+use crate::{
+    hierarchy,
+    scene::{SceneElement, SceneState},
+};
 pub use retargeting::*;
 
 mod retargeting;
@@ -34,6 +39,69 @@ impl Plugin for AnimPlugin {
             retargeting::RetargetingPlugin,
             timeline_animation::TimelinePlugin,
         ));
+
+        {
+            // TODO
+            app.register_type::<TempCharacterCollidersProcessed>();
+            app.editor_registry::<TempCharacterCollidersProcessed>();
+
+            use ColliderShape::*;
+
+            app.insert_resource(TempCharacterCollidersConfig(
+                [
+                    (
+                        "DEF-spine",
+                        vec![TempCharacterColliderConfig {
+                            shape: Capsule {
+                                radius: 0.108191,
+                                length: 0.135549,
+                                alignment: BoneAlignment::X,
+                            },
+                            transform: Transform::from_xyz(0., 0.117, -0.001),
+                        }],
+                    ),
+                    (
+                        "DEF-spine.001",
+                        vec![TempCharacterColliderConfig {
+                            shape: Capsule {
+                                radius: 0.091,
+                                length: 0.095,
+                                alignment: BoneAlignment::X,
+                            },
+                            transform: Transform::from_xyz(0., 0.068, 0.),
+                        }],
+                    ),
+                    (
+                        "DEF-spine.002",
+                        vec![
+                            TempCharacterColliderConfig {
+                                shape: Capsule {
+                                    radius: 0.082,
+                                    length: 0.062,
+                                    alignment: BoneAlignment::X,
+                                },
+                                transform: Transform::from_xyz(0., 0.006, 0.),
+                            },
+                            TempCharacterColliderConfig {
+                                shape: Capsule {
+                                    radius: 0.0823,
+                                    length: 0.03661,
+                                    alignment: BoneAlignment::X,
+                                },
+                                transform: Transform::from_xyz(0., 0.088, 0.010),
+                            },
+                        ],
+                    ),
+                ]
+                .into_iter()
+                .collect(),
+            ));
+
+            app.add_systems(
+                Update,
+                temp_attach_colliders_to_character.run_if(in_state(SceneState::Active)),
+            );
+        }
     }
 }
 
@@ -144,3 +212,93 @@ fn process_skinned_meshes(
         }
     }
 }
+
+#[derive(Resource, Clone, Default, Deref)]
+struct TempCharacterCollidersConfig(HashMap<&'static str, Vec<TempCharacterColliderConfig>>);
+
+#[derive(Debug, Clone, Copy)]
+enum BoneAlignment {
+    X,
+    Y,
+    Z,
+}
+
+#[derive(Debug, Clone, Copy)]
+enum ColliderShape {
+    Capsule {
+        radius: f32,
+        length: f32,
+        alignment: BoneAlignment,
+    },
+    Box {
+        x: f32,
+        y: f32,
+        z: f32,
+    },
+}
+
+#[derive(Debug, Clone, Copy)]
+struct TempCharacterColliderConfig {
+    shape: ColliderShape,
+    transform: Transform,
+}
+
+#[derive(Component, Reflect, Default, Clone, Copy)]
+#[reflect(Component)]
+struct TempCharacterCollidersProcessed;
+
+fn temp_attach_colliders_to_character(
+    mut cmd: Commands,
+    r_colliders_map: Res<TempCharacterCollidersConfig>,
+    q_named_prefabs: Query<
+        (Entity, &Name),
+        (With<PrefabMarker>, Without<TempCharacterCollidersProcessed>),
+    >,
+    q_named_joints: Query<(Entity, &Name), With<SkeletalJoint>>,
+    q_children: Query<&Children>,
+) {
+    for target in q_named_prefabs.iter().filter_map(|(ent, name)| {
+        if name.as_str() == "base-human-female.glb" {
+            Some(ent)
+        } else {
+            None
+        }
+    }) {
+        for (joint, name) in q_children
+            .iter_descendants(target)
+            .filter_map(|ent| q_named_joints.get(ent).ok())
+        {
+            if let Some(colliders) = r_colliders_map.get(&name.as_str()) {
+                info!("Processing colliders for bone: '{name}'");
+
+                for TempCharacterColliderConfig { shape, transform } in colliders.iter().copied() {
+                    cmd.entity(joint).with_children(|cmd| {
+                        cmd.spawn((
+                            TransformBundle::from_transform(transform),
+                            match shape {
+                                ColliderShape::Capsule {
+                                    radius,
+                                    length,
+                                    alignment,
+                                } => match alignment {
+                                    BoneAlignment::X => Collider::capsule_x(length / 2., radius),
+                                    BoneAlignment::Y => Collider::capsule_x(length / 2., radius),
+                                    BoneAlignment::Z => Collider::capsule_x(length / 2., radius),
+                                },
+                                ColliderShape::Box { x, y, z } => {
+                                    Collider::cuboid(x / 2., y / 2., z / 2.)
+                                }
+                            },
+                            // SceneElement::Collider,
+                            bevy_mod_picking::PickableBundle::default(),
+                        ));
+                    });
+                }
+            } else {
+                warn!("No collider config found for bone: '{name}'");
+            }
+        }
+
+        cmd.entity(target).insert(TempCharacterCollidersProcessed);
+    }
+}

studio/src/interaction/selection.rs

@@ -6,6 +6,7 @@ use bevy_mod_outline::{
 };
 use bevy_mod_picking::PickableBundle;
 use bevy_mod_raycast::prelude::{Raycast, RaycastSettings};
+use bevy_rapier3d::{pipeline::QueryFilter, plugin::RapierContext};
 use space_editor::prelude::space_undo::{self, NewChange, RemovedEntity};
 
 use crate::{
@@ -130,6 +131,7 @@ fn update_selection(
     q_selectables: Query<&Selectable>,
     q_pickables: Query<&bevy_mod_picking::prelude::Pickable>,
     q_camera: Query<(&Camera, &GlobalTransform), With<MainCamera>>,
+    r_rapier_context: Option<Res<RapierContext>>,
 ) {
     for SelectionAction(lifecycle, action) in er_selection.read() {
         match (lifecycle, action) {
@@ -139,26 +141,51 @@ fn update_selection(
             (_, input::Selection::Single(mouse_pos)) | (_, input::Selection::Multi(mouse_pos)) => {
                 let is_multi = matches!(action, input::Selection::Multi(_));
 
-                // Raycast to find the pickable entity under the cursor
+                // Cast a camera-to-world ray...
                 let (cam, cam_xform) = q_camera.single();
                 let ray = cam.viewport_to_world(cam_xform, *mouse_pos).unwrap();
-                let hits = raycast.cast_ray(
+
+                // Hit test against standard meshes...
+                let raycast_hits = raycast.cast_ray(
                     ray,
                     &RaycastSettings {
                         filter: &|ent: Entity| q_pickables.contains(ent),
                         ..default()
                     },
                 );
+                // And also against Rapier colliders
+                let rapier_hit = r_rapier_context.as_ref().and_then(|ctx| {
+                    ctx.cast_ray(
+                        ray.origin,
+                        *ray.direction,
+                        f32::MAX,
+                        false,
+                        QueryFilter::default(),
+                    )
+                });
 
-                if hits.is_empty() {
+                // Combine both sets of hit results and bail early if it's empty
+                let mut combined_hits = raycast_hits
+                    .iter()
+                    .map(|(ent, data)| (*ent, data.distance()))
+                    .chain(rapier_hit)
+                    .collect::<Vec<_>>();
+
+                if combined_hits.is_empty() {
                     if !is_multi {
                         cmd.remove_resource::<Selection>();
                     }
                     continue;
                 }
 
-                let (ent, _) = &hits[0];
-                if let Some(ent) = nearest_selectable_parent(*ent, &q_parents, &q_selectables) {
+                // Sort by distance from the camera and look for a `Selectable`
+                // parent among the results
+                combined_hits.sort_unstable_by(|(_, a), (_, b)| a.partial_cmp(b).unwrap());
+
+                if let Some(ent) = combined_hits
+                    .into_iter()
+                    .find_map(|(ent, _)| nearest_selectable_parent(ent, &q_parents, &q_selectables))
+                {
                     cmd.insert_resource(Selection(ent));
                 } else {
                     cmd.remove_resource::<Selection>();

studio/src/lib.rs

@@ -2,6 +2,10 @@
 
 use bevy::{app::PluginGroupBuilder, asset::AssetMetaCheck, prelude::*};
 use bevy_mod_picking::DefaultPickingPlugins;
+use bevy_rapier3d::{
+    plugin::{NoUserData, RapierPhysicsPlugin},
+    render::RapierDebugRenderPlugin,
+};
 use bevy_web_asset::WebAssetPlugin;
 use scene::ImportSceneEvent;
 
@@ -171,7 +175,12 @@ pub fn start(init: InitParams, mode: StudioMode, window_config: Option<Window>)
     ));
 
     if matches!(mode, StudioMode::Editor) {
-        app.add_plugins((DefaultPickingPlugins, EditorPlugins));
+        app.add_plugins((
+            DefaultPickingPlugins,
+            RapierPhysicsPlugin::<NoUserData>::default(),
+            RapierDebugRenderPlugin::default(),
+            EditorPlugins,
+        ));
 
         // Only for registering components for undo
         use space_editor::prelude::space_undo::AppAutoUndo;