Super rough hit-testing logic for rotator rings

Cargo.lock

@@ -698,6 +698,19 @@ version = "0.11.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "72c7586401a46f7d8e436028225c1df5288f2e0082d066b247a82466fea155c6"
 
+[[package]]
+name = "bevy_rapier3d"
+version = "0.22.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "12402872b857ba490f1040ab6212915bd9bf25f8584b31f2c43cef41b33f3be4"
+dependencies = [
+ "bevy",
+ "bitflags 1.3.2",
+ "log",
+ "nalgebra",
+ "rapier3d",
+]
+
 [[package]]
 name = "bevy_reflect"
 version = "0.11.3"
@@ -1337,6 +1350,20 @@ dependencies = [
  "cfg-if",
 ]
 
+[[package]]
+name = "crossbeam"
+version = "0.8.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "2801af0d36612ae591caa9568261fddce32ce6e08a7275ea334a06a4ad021a2c"
+dependencies = [
+ "cfg-if",
+ "crossbeam-channel",
+ "crossbeam-deque",
+ "crossbeam-epoch",
+ "crossbeam-queue",
+ "crossbeam-utils",
+]
+
 [[package]]
 name = "crossbeam-channel"
 version = "0.5.8"
@@ -1347,6 +1374,40 @@ dependencies = [
  "crossbeam-utils",
 ]
 
+[[package]]
+name = "crossbeam-deque"
+version = "0.8.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ce6fd6f855243022dcecf8702fef0c297d4338e226845fe067f6341ad9fa0cef"
+dependencies = [
+ "cfg-if",
+ "crossbeam-epoch",
+ "crossbeam-utils",
+]
+
+[[package]]
+name = "crossbeam-epoch"
+version = "0.9.15"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ae211234986c545741a7dc064309f67ee1e5ad243d0e48335adc0484d960bcc7"
+dependencies = [
+ "autocfg",
+ "cfg-if",
+ "crossbeam-utils",
+ "memoffset",
+ "scopeguard",
+]
+
+[[package]]
+name = "crossbeam-queue"
+version = "0.3.8"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d1cfb3ea8a53f37c40dea2c7bedcbd88bdfae54f5e2175d6ecaff1c988353add"
+dependencies = [
+ "cfg-if",
+ "crossbeam-utils",
+]
+
 [[package]]
 name = "crossbeam-utils"
 version = "0.8.16"
@@ -1391,6 +1452,12 @@ version = "1.2.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "9ea835d29036a4087793836fa931b08837ad5e957da9e23886b29586fb9b6650"
 
+[[package]]
+name = "either"
+version = "1.9.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a26ae43d7bcc3b814de94796a5e736d4029efb0ee900c12e2d54c993ad1a1e07"
+
 [[package]]
 name = "encase"
 version = "0.6.1"
@@ -2033,6 +2100,12 @@ dependencies = [
  "windows-sys 0.48.0",
 ]
 
+[[package]]
+name = "libm"
+version = "0.2.8"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "4ec2a862134d2a7d32d7983ddcdd1c4923530833c9f2ea1a44fc5fa473989058"
+
 [[package]]
 name = "libudev-sys"
 version = "0.1.4"
@@ -2086,12 +2159,31 @@ dependencies = [
  "regex-automata 0.1.10",
 ]
 
+[[package]]
+name = "matrixmultiply"
+version = "0.3.8"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7574c1cf36da4798ab73da5b215bbf444f50718207754cb522201d78d1cd0ff2"
+dependencies = [
+ "autocfg",
+ "rawpointer",
+]
+
 [[package]]
 name = "memchr"
 version = "2.6.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "8f232d6ef707e1956a43342693d2a31e72989554d58299d7a88738cc95b0d35c"
 
+[[package]]
+name = "memoffset"
+version = "0.9.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "5a634b1c61a95585bd15607c6ab0c4e5b226e695ff2800ba0cdccddf208c406c"
+dependencies = [
+ "autocfg",
+]
+
 [[package]]
 name = "metal"
 version = "0.24.0"
@@ -2175,6 +2267,34 @@ dependencies = [
  "unicode-ident",
 ]
 
+[[package]]
+name = "nalgebra"
+version = "0.32.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "307ed9b18cc2423f29e83f84fd23a8e73628727990181f18641a8b5dc2ab1caa"
+dependencies = [
+ "approx",
+ "glam",
+ "matrixmultiply",
+ "nalgebra-macros",
+ "num-complex",
+ "num-rational",
+ "num-traits",
+ "simba",
+ "typenum",
+]
+
+[[package]]
+name = "nalgebra-macros"
+version = "0.2.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "91761aed67d03ad966ef783ae962ef9bbaca728d2dd7ceb7939ec110fffad998"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 1.0.109",
+]
+
 [[package]]
 name = "ndk"
 version = "0.7.0"
@@ -2274,6 +2394,15 @@ dependencies = [
  "winapi",
 ]
 
+[[package]]
+name = "num-complex"
+version = "0.4.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1ba157ca0885411de85d6ca030ba7e2a83a28636056c7c699b07c8b6f7383214"
+dependencies = [
+ "num-traits",
+]
+
 [[package]]
 name = "num-derive"
 version = "0.3.3"
@@ -2313,6 +2442,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "f30b0abd723be7e2ffca1272140fac1a2f084c77ec3e123c192b66af1ee9e6c2"
 dependencies = [
  "autocfg",
+ "libm",
 ]
 
 [[package]]
@@ -2449,6 +2579,12 @@ version = "1.18.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "dd8b5dd2ae5ed71462c540258bedcb51965123ad7e7ccf4b9a8cafaa4a63576d"
 
+[[package]]
+name = "optional"
+version = "0.5.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "978aa494585d3ca4ad74929863093e87cac9790d81fe7aba2b3dc2890643a0fc"
+
 [[package]]
 name = "orbclient"
 version = "0.3.46"
@@ -2502,6 +2638,27 @@ dependencies = [
  "windows-targets 0.48.5",
 ]
 
+[[package]]
+name = "parry3d"
+version = "0.13.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b55dc0e6db79bddbc5fd583569f7356cdcc63e1e9b2b93a9ab70dd8e717160e0"
+dependencies = [
+ "approx",
+ "arrayvec",
+ "bitflags 1.3.2",
+ "downcast-rs",
+ "either",
+ "nalgebra",
+ "num-derive",
+ "num-traits",
+ "rustc-hash",
+ "simba",
+ "slab",
+ "smallvec",
+ "spade",
+]
+
 [[package]]
 name = "paste"
 version = "1.0.14"
@@ -2610,12 +2767,39 @@ version = "0.1.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "9c8a99fddc9f0ba0a85884b8d14e3592853e787d581ca1816c91349b10e4eeab"
 
+[[package]]
+name = "rapier3d"
+version = "0.17.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "62a8a0bd9d3135f7b4eb45d0796540e7bab47b6b7c974f90567ccc5a0454f42b"
+dependencies = [
+ "approx",
+ "arrayvec",
+ "bit-vec",
+ "bitflags 1.3.2",
+ "crossbeam",
+ "downcast-rs",
+ "instant",
+ "nalgebra",
+ "num-derive",
+ "num-traits",
+ "parry3d",
+ "rustc-hash",
+ "simba",
+]
+
 [[package]]
 name = "raw-window-handle"
 version = "0.5.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "f2ff9a1f06a88b01621b7ae906ef0211290d1c8a168a15542486a8f61c0833b9"
 
+[[package]]
+name = "rawpointer"
+version = "0.2.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "60a357793950651c4ed0f3f52338f53b2f809f32d83a07f72909fa13e4c6c1e3"
+
 [[package]]
 name = "rectangle-pack"
 version = "0.4.2"
@@ -2681,6 +2865,12 @@ version = "1.0.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "216080ab382b992234dda86873c18d4c48358f5cfcb70fd693d7f6f2131b628b"
 
+[[package]]
+name = "robust"
+version = "0.2.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e5864e7ef1a6b7bcf1d6ca3f655e65e724ed3b52546a0d0a663c991522f552ea"
+
 [[package]]
 name = "rodio"
 version = "0.17.1"
@@ -2732,6 +2922,15 @@ version = "1.0.15"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "1ad4cc8da4ef723ed60bced201181d83791ad433213d8c24efffda1eec85d741"
 
+[[package]]
+name = "safe_arch"
+version = "0.7.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f398075ce1e6a179b46f51bd88d0598b92b00d3551f1a2d4ac49e771b56ac354"
+dependencies = [
+ "bytemuck",
+]
+
 [[package]]
 name = "same-file"
 version = "1.0.6"
@@ -2793,6 +2992,19 @@ version = "1.2.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "a7cee0529a6d40f580e7a5e6c495c8fbfe21b7b52795ed4bb5e62cdf92bc6380"
 
+[[package]]
+name = "simba"
+version = "0.8.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "061507c94fc6ab4ba1c9a0305018408e312e17c041eb63bef8aa726fa33aceae"
+dependencies = [
+ "approx",
+ "num-complex",
+ "num-traits",
+ "paste",
+ "wide",
+]
+
 [[package]]
 name = "simd-adler32"
 version = "0.3.7"
@@ -2835,6 +3047,18 @@ dependencies = [
  "serde",
 ]
 
+[[package]]
+name = "spade"
+version = "2.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "88e65803986868d2372c582007c39ba89936a36ea5f236bf7a7728dc258f04f9"
+dependencies = [
+ "num-traits",
+ "optional",
+ "robust",
+ "smallvec",
+]
+
 [[package]]
 name = "spirv"
 version = "0.2.0+1.5.4"
@@ -2856,6 +3080,7 @@ name = "studio"
 version = "0.1.0"
 dependencies = [
  "bevy",
+ "bevy_rapier3d",
  "bitflags 2.4.0",
  "console_error_panic_hook",
  "parking_lot",
@@ -3096,6 +3321,12 @@ dependencies = [
  "static_assertions",
 ]
 
+[[package]]
+name = "typenum"
+version = "1.17.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "42ff0bf0c66b8238c6f3b578df37d0b7848e55df8577b3f74f92a69acceeb825"
+
 [[package]]
 name = "unicode-ident"
 version = "1.0.12"
@@ -3351,6 +3582,16 @@ dependencies = [
  "web-sys",
 ]
 
+[[package]]
+name = "wide"
+version = "0.7.12"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ebecebefc38ff1860b4bc47550bbfa63af5746061cf0d29fcd7fa63171602598"
+dependencies = [
+ "bytemuck",
+ "safe_arch",
+]
+
 [[package]]
 name = "widestring"
 version = "1.0.2"

studio/Cargo.toml

@@ -13,13 +13,15 @@ name = "studio-standalone"
 path = "src/main.rs"
 
 [dependencies]
-wasm-bindgen = { version = "0.2.84" }
+bevy = { workspace = true }
+bevy_rapier3d = { version = "0.22.0" }
 console_error_panic_hook = { version = "0.1.7", optional = true }
-parking_lot = "0.12.1"
 bitflags = "2.4.0"
+parking_lot = "0.12.1"
+wasm-bindgen = { version = "0.2.84" }
 
 [features]
-wasm = ["dep:console_error_panic_hook"]
+wasm = [
-
+	"dep:console_error_panic_hook",
-[dependencies.bevy]
+	"bevy_rapier3d/wasm-bindgen",
-workspace = true
+]

studio/src/interaction/gizmos/controller.rs

@@ -0,0 +1,193 @@
+use core::fmt;
+use std::f32::consts;
+
+use bevy::{prelude::*, window::PrimaryWindow};
+use bevy_rapier3d::prelude::*;
+
+use crate::{math::NearlyEq, orbit_cam::OrbitCam};
+
+use super::{
+    model::{self, Axes, Control, Gizmo, Hovered},
+    InteractionMode, TransformSpace, TransformType,
+};
+
+#[derive(Component, Deref, DerefMut, Clone, Copy, Debug)]
+pub(super) struct GizmoController(pub Control);
+
+pub(super) fn update_spawns(
+    mut cmd: Commands,
+    q_needs_spawn: Query<(Entity, &Gizmo), Without<GizmoController>>,
+    q_needs_despawn: Query<Entity, (With<GizmoController>, Without<Gizmo>)>,
+    mode: Res<InteractionMode>,
+) {
+    for (ent, gizmo) in q_needs_spawn.iter() {
+        let mut ent_cmd = cmd.entity(ent);
+
+        ent_cmd.insert((RigidBody::KinematicPositionBased, Sensor));
+
+        if mode.transform.contains(TransformType::ROTATE) {
+            ent_cmd.insert(GizmoController(Control::Rotation(Axes::XYZ)));
+
+            let Some(radius) = gizmo.iter().find_map(|el| match el.control {
+                Control::Rotation(axes) if !axes.contains(Axes::SCREEN) => match el.shape {
+                    model::Shape::Ring(ring) => Some(ring.radius),
+                    _ => None,
+                },
+                _ => None,
+            }) else {
+                return;
+            };
+
+            ent_cmd.insert(Collider::ball(radius));
+        }
+    }
+
+    for ent in q_needs_despawn.iter() {
+        cmd.entity(ent)
+            .remove::<(GizmoController, RigidBody, Sensor)>();
+    }
+}
+
+pub(super) fn update(mut q_collider: Query<(&mut Collider, &Gizmo, &GizmoController)>) {
+    for (mut collider, gizmo, ctrl) in q_collider.iter_mut() {
+        match **ctrl {
+            Control::Rotation(_) => {
+                let Some(radius) = gizmo.iter().find_map(|el| match el.control {
+                    Control::Rotation(axes) if !axes.contains(Axes::SCREEN) => match el.shape {
+                        model::Shape::Ring(ring) => Some(ring.radius),
+                        _ => None,
+                    },
+                    _ => None,
+                }) else {
+                    continue;
+                };
+
+                let Some(mut ball) = collider.as_ball_mut() else {
+                    continue;
+                };
+
+                ball.set_radius(radius);
+            }
+            _ => {
+                // TODO
+            }
+        }
+    }
+}
+
+pub(super) fn hit_test(
+    mut cmd: Commands,
+    q_gizmo: Query<(Entity, &GlobalTransform, &GizmoController)>,
+    q_window: Query<&Window, With<PrimaryWindow>>,
+    q_camera: Query<(&Camera, &GlobalTransform), With<OrbitCam>>,
+    rapier_cx: Res<RapierContext>,
+    mode: Res<InteractionMode>,
+) {
+    let win = q_window.single();
+    let (cam, cam_xform) = q_camera.single();
+
+    if let Some(ray) = win
+        .cursor_position()
+        .and_then(|pos| cam.viewport_to_world(cam_xform, pos))
+    {
+        if let Some((ent, t)) = rapier_cx.cast_ray(
+            ray.origin,
+            ray.direction,
+            f32::MAX,
+            false,
+            QueryFilterFlags::EXCLUDE_SOLIDS.into(),
+        ) {
+            let hit_pos = ray.get_point(t);
+
+            if let Ok((_, world_xform, _gizmo_ctrl)) = q_gizmo.get(ent) {
+                let cam_xform = cam_xform.compute_transform();
+                let world_xform_mat = world_xform.compute_matrix();
+                let world_xform = Transform::from_matrix(world_xform_mat);
+                let basis = match mode.space {
+                    TransformSpace::Local => world_xform_mat,
+                    TransformSpace::World => Mat4::from_translation(world_xform.translation),
+                };
+
+                let normal = (hit_pos - world_xform.translation).normalize();
+                let to_camera = (cam_xform.translation - world_xform.translation).normalize();
+
+                let perpendicularity = 1. - Vec3::dot(to_camera, normal).abs();
+                let threshold = (perpendicularity * (consts::PI / 5.)).max(2_f32.to_radians());
+
+                let local_pos = basis.inverse().transform_point3(hit_pos);
+                let coords = SphericalCoords::from(local_pos);
+
+                let mut proximity_results = [
+                    (coords.heading.abs(), Axes::X),
+                    (coords.pitch.abs(), Axes::Y),
+                    ((90_f32.to_radians() - coords.heading.abs()).abs(), Axes::Z),
+                ];
+                proximity_results
+                    .sort_by(|(prox_a, _), (prox_b, _)| prox_a.partial_cmp(prox_b).unwrap());
+
+                let (prox, axis) = proximity_results[0];
+                let hit_axes = if prox < threshold { axis } else { Axes::XYZ };
+
+                cmd.entity(ent).insert(Hovered(Control::Rotation(hit_axes)));
+            }
+        } else {
+            for (ent, _, _) in q_gizmo.iter() {
+                cmd.entity(ent).remove::<Hovered>();
+            }
+        }
+    }
+}
+
+struct SphericalCoords {
+    radius: f32,
+    heading: f32,
+    pitch: f32,
+}
+
+impl Default for SphericalCoords {
+    fn default() -> Self {
+        Self {
+            radius: 0.,
+            heading: 0.,
+            pitch: 0.,
+        }
+    }
+}
+
+impl From<Vec3> for SphericalCoords {
+    fn from(value: Vec3) -> Self {
+        let Vec3 { x, y, z } = value;
+
+        let radius = value.length();
+        if radius.nearly_eq(0.) {
+            return Self::default();
+        }
+
+        let pitch = f32::asin(-y / radius);
+        let heading = if (pitch - 90_f32.to_radians()).abs() < 1e-3_f32 {
+            0.
+        } else {
+            f32::atan2(x, z)
+        };
+
+        Self {
+            radius,
+            heading,
+            pitch,
+        }
+    }
+}
+
+impl fmt::Display for SphericalCoords {
+    fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
+        let precision = f.precision().unwrap_or(3);
+        write!(
+            f,
+            "(r {:.3$}, h {:.3$}°, p {:.3$}°)",
+            self.radius,
+            self.heading.to_degrees(),
+            self.pitch.to_degrees(),
+            precision,
+        )
+    }
+}

studio/src/interaction/gizmos/mod.rs

@@ -1,8 +1,10 @@
 mod composition;
+mod controller;
 mod model;
 mod view;
 
 use bevy::prelude::*;
+use bevy_rapier3d::prelude::{NoUserData, RapierPhysicsPlugin};
 
 use super::{InteractionMode, Selected, TransformSpace, TransformType};
 
@@ -11,8 +13,19 @@ pub(super) struct StudioGizmosPlugin;
 impl Plugin for StudioGizmosPlugin {
     fn build(&self, app: &mut App) {
         app.insert_resource(StudioGizmoConfig::default())
-            .add_systems(PreUpdate, (model::update_spawns, view::configure))
+            .add_plugins(RapierPhysicsPlugin::<NoUserData>::default())
-            .add_systems(Update, model::update)
+            .add_systems(
+                PreUpdate,
+                (
+                    model::update_spawns,
+                    controller::update_spawns,
+                    view::configure,
+                ),
+            )
+            .add_systems(
+                Update,
+                (model::update, controller::update, controller::hit_test),
+            )
             .add_systems(PostUpdate, view::draw);
     }
 }

studio/src/interaction/gizmos/model.rs

@@ -57,6 +57,9 @@ pub(super) fn update(
 #[derive(Component, Deref, DerefMut, Clone, Default, Debug)]
 pub(super) struct Gizmo(pub Vec<GizmoElement>);
 
+#[derive(Component, Deref, DerefMut, Clone, Debug)]
+pub(super) struct Hovered(pub Control);
+
 #[derive(Clone, Copy, Debug)]
 pub(super) struct GizmoElement {
     pub shape: Shape,

studio/src/interaction/gizmos/view.rs

@@ -2,10 +2,10 @@ use std::f32::consts;
 
 use bevy::{prelude::*, window::PrimaryWindow};
 
-use crate::math::Lerp;
+use crate::math::{Lerp, NearlyEq};
 
 use super::{
-    model::{Arc, Axes, Control, Gizmo, GizmoColor, Ring, Shape},
+    model::{Arc, Axes, Control, Gizmo, GizmoColor, Hovered, Ring, Shape},
     InteractionMode, StudioGizmoConfig, TransformSpace, TransformType,
 };
 
@@ -22,14 +22,14 @@ pub(super) fn configure(
 }
 
 pub(super) fn draw(
-    q_gizmo: Query<(&Gizmo, &GlobalTransform)>,
+    q_gizmo: Query<(&Gizmo, &GlobalTransform, Option<&Hovered>)>,
     q_camera_xform: Query<&Transform, With<Camera>>,
     mut gizmos: Gizmos,
     mode: Res<InteractionMode>,
 ) {
     let cam_xform = q_camera_xform.single();
 
-    let Ok((gizmo, world_xform)) = q_gizmo.get_single() else {
+    let Ok((gizmo, world_xform, hovered)) = q_gizmo.get_single() else {
         return;
     };
 
@@ -40,10 +40,25 @@ pub(super) fn draw(
             (
                 Shape::Ring(ring),
                 GizmoColor::Single(color),
-                Control::Rotation(Axes::X | Axes::Y | Axes::Z),
+                Control::Rotation(axis @ (Axes::X | Axes::Y | Axes::Z)),
             ) => {
+                let front_color = match hovered {
+                    Some(Hovered(Control::Rotation(hovered_axes)))
+                        if hovered_axes.intersects(axis) =>
+                    {
+                        color * 2.
+                    }
+                    _ => color,
+                };
+
                 let (front, back) = bisect_rotator_ring(&ring, cam_xform);
-                gizmos.arc(front.center, front.axis, front.start, front.length, color);
+                gizmos.arc(
+                    front.center,
+                    front.axis,
+                    front.start,
+                    front.length,
+                    front_color,
+                );
 
                 if !mode.transform.intersects(TransformType::TRANSLATE) {
                     gizmos.arc(