[WIP] add agent_radius to aabb obstacles

examples/auto_navmesh_avian3d.rs

@@ -1,7 +1,16 @@
 use std::time::Duration;
 
 use avian3d::{math::*, prelude::*};
-use bevy::{color::palettes, math::vec2, prelude::*, time::common_conditions::on_timer};
+use bevy::{
+    color::palettes,
+    math::vec2,
+    prelude::*,
+    render::{
+        settings::{Backends, PowerPreference, RenderCreation, WgpuSettings},
+        RenderPlugin,
+    },
+    time::common_conditions::on_timer,
+};
 
 use vleue_navigator::prelude::*;
 
@@ -11,14 +20,23 @@ struct Obstacle;
 fn main() {
     let mut app = App::new();
     app.add_plugins((
-        DefaultPlugins.set(WindowPlugin {
-            primary_window: Some(Window {
-                title: "Navmesh with Polyanya".to_string(),
-                fit_canvas_to_parent: true,
+        DefaultPlugins
+            .set(WindowPlugin {
+                primary_window: Some(Window {
+                    title: "Navmesh with Polyanya".to_string(),
+                    fit_canvas_to_parent: true,
+                    ..default()
+                }),
+                ..default()
+            })
+            .set(RenderPlugin {
+                render_creation: RenderCreation::Automatic(WgpuSettings {
+                    backends: Some(Backends::DX12),
+                    power_preference: PowerPreference::HighPerformance,
+                    ..default()
+                }),
                 ..default()
             }),
-            ..default()
-        }),
         PhysicsPlugins::default().with_length_unit(20.0),
         VleueNavigatorPlugin,
         NavmeshUpdaterPlugin::<Collider, Obstacle>::default(),
@@ -189,9 +207,10 @@ fn setup(
                 build_timeout: Some(1.0),
                 simplify: 0.005,
                 merge_steps: 0,
+                agent_radius: 2.0,
                 ..default()
             },
-            update_mode: NavMeshUpdateMode::Direct,
+            update_mode: NavMeshUpdateMode::Debounced(0.5),
             transform: Transform::from_xyz(0.0, idx as f32 * height_step + 0.1, 0.0)
                 .with_rotation(Quat::from_rotation_x(FRAC_PI_2)),
             handle: Handle::<NavMesh>::weak_from_u128(idx as u128),

examples/demo.rs

@@ -148,12 +148,8 @@ fn life_of_obstacle(
             if cachable.remove(&entity) {
                 commands.entity(entity).remove::<CachableObstacle>();
             }
-        } else {
-            if example_settings.cache_enabled {
-                if cachable.insert(entity) {
-                    commands.entity(entity).insert(CachableObstacle);
-                }
-            }
+        } else if example_settings.cache_enabled && cachable.insert(entity) {
+            commands.entity(entity).insert(CachableObstacle);
         }
     }
 }

examples/helpers/ui.rs

@@ -5,6 +5,7 @@ use vleue_navigator::prelude::*;
 pub enum UiSettings {
     Simplify,
     MergeSteps,
+    AgentRadius,
     Cache,
 }
 
@@ -14,6 +15,8 @@ pub enum UiSettingsButtons {
     SimplifyDec,
     MergeStepsInc,
     MergeStepsDec,
+    AgentRadiusInc,
+    AgentRadiusDec,
     ToggleCache,
 }
 
@@ -137,6 +140,36 @@ pub fn setup_settings<const WITH_CACHE: bool>(mut commands: Commands) {
                     button(" - ", UiSettingsButtons::MergeStepsDec, parent);
                     button(" + ", UiSettingsButtons::MergeStepsInc, parent);
                 });
+            parent
+                .spawn(NodeBundle { ..default() })
+                .with_children(|parent| {
+                    parent.spawn((
+                        TextBundle {
+                            text: Text::from_sections(
+                                [("Agent Radius: ", 30.0), ("{}", 30.0)].into_iter().map(
+                                    |(text, font_size): (&str, f32)| {
+                                        TextSection::new(
+                                            text,
+                                            TextStyle {
+                                                font_size,
+                                                ..default()
+                                            },
+                                        )
+                                    },
+                                ),
+                            ),
+                            style: Style {
+                                margin: UiRect::all(Val::Px(12.0)),
+                                ..default()
+                            },
+                            ..default()
+                        }
+                        .with_text_justify(JustifyText::Right),
+                        UiSettings::AgentRadius,
+                    ));
+                    button(" - ", UiSettingsButtons::AgentRadiusDec, parent);
+                    button(" + ", UiSettingsButtons::AgentRadiusInc, parent);
+                });
             if WITH_CACHE {
                 parent
                     .spawn((
@@ -187,6 +220,9 @@ pub fn display_settings(
                 UiSettings::MergeSteps => {
                     text.sections[1].value = format!("{}", settings.merge_steps)
                 }
+                UiSettings::AgentRadius => {
+                    text.sections[1].value = format!("{}", settings.agent_radius)
+                }
                 UiSettings::Cache => (),
             }
         }
@@ -196,6 +232,7 @@ pub fn display_settings(
             match param {
                 UiSettings::Simplify => (),
                 UiSettings::MergeSteps => (),
+                UiSettings::AgentRadius => (),
                 UiSettings::Cache => {
                     *color = if example_settings.cache_enabled {
                         palettes::tailwind::GREEN_400.into()
@@ -233,6 +270,12 @@ pub fn update_settings<const STEP: u32>(
                     UiSettingsButtons::MergeStepsInc => {
                         settings.merge_steps = (settings.merge_steps + 1).min(5);
                     }
+                    UiSettingsButtons::AgentRadiusDec => {
+                        settings.agent_radius = (settings.agent_radius - 0.5).max(0.0);
+                    }
+                    UiSettingsButtons::AgentRadiusInc => {
+                        settings.agent_radius = (settings.agent_radius + 0.5).min(10.0);
+                    }
                     UiSettingsButtons::ToggleCache => {
                         example_settings.cache_enabled = !example_settings.cache_enabled;
                     }

src/obstacles/aabb.rs

@@ -14,6 +14,7 @@ impl ObstacleSource for Aabb {
         obstacle_transform: &GlobalTransform,
         navmesh_transform: &Transform,
         (up, _shift): (Dir3, f32),
+        agent_radius: f32,
     ) -> Vec<Vec2> {
         let transform = obstacle_transform.compute_transform();
         let world_to_mesh = world_to_mesh(navmesh_transform);

src/obstacles/avian2d.rs

@@ -21,10 +21,14 @@ impl ObstacleSource for Collider {
         obstacle_transform: &GlobalTransform,
         navmesh_transform: &Transform,
         up: (Dir3, f32),
+        agent_radius: f32,
     ) -> Vec<Vec2> {
-        self.shape_scaled()
-            .as_typed_shape()
-            .get_polygon(obstacle_transform, navmesh_transform, up)
+        self.shape_scaled().as_typed_shape().get_polygon(
+            obstacle_transform,
+            navmesh_transform,
+            up,
+            agent_radius,
+        )
     }
 }