bevy/examples/animation/custom_skinned_mesh.rs

//! Skinned mesh example with mesh and joints data defined in code.
//! Example taken from <https://github.com/KhronosGroup/glTF-Tutorials/blob/master/gltfTutorial/gltfTutorial_019_SimpleSkin.md>

use std::f32::consts::*;

use bevy::{
    math::ops,
    prelude::*,
    render::{
        mesh::{
            skinning::{SkinnedMesh, SkinnedMeshInverseBindposes},
            Indices, PrimitiveTopology, VertexAttributeValues,
        },
        render_asset::RenderAssetUsages,
    },
};
use rand::{Rng, SeedableRng};
use rand_chacha::ChaCha8Rng;

fn main() {
    App::new()
        .add_plugins(DefaultPlugins)
        .insert_resource(AmbientLight {
            brightness: 3000.0,
            ..default()
        })
        .add_systems(Startup, setup)
        .add_systems(Update, joint_animation)
        .run();
}

/// Used to mark a joint to be animated in the [`joint_animation`] system.
#[derive(Component)]
struct AnimatedJoint(isize);

/// Construct a mesh and a skeleton with 2 joints for that mesh,
///   and mark the second joint to be animated.
/// It is similar to the scene defined in `models/SimpleSkin/SimpleSkin.gltf`
fn setup(
    mut commands: Commands,
    asset_server: Res<AssetServer>,
    mut meshes: ResMut<Assets<Mesh>>,
    mut materials: ResMut<Assets<StandardMaterial>>,
    mut skinned_mesh_inverse_bindposes_assets: ResMut<Assets<SkinnedMeshInverseBindposes>>,
) {
    // Create a camera
    commands.spawn((
        Camera3d::default(),
        Transform::from_xyz(2.5, 2.5, 9.0).looking_at(Vec3::ZERO, Vec3::Y),
    ));

    // Create inverse bindpose matrices for a skeleton consists of 2 joints
    let inverse_bindposes = skinned_mesh_inverse_bindposes_assets.add(vec![
        Mat4::from_translation(Vec3::new(-0.5, -1.0, 0.0)),
        Mat4::from_translation(Vec3::new(-0.5, -1.0, 0.0)),
    ]);

    // Create a mesh
    let mesh = Mesh::new(
        PrimitiveTopology::TriangleList,
        RenderAssetUsages::RENDER_WORLD,
    )
    // Set mesh vertex positions
    .with_inserted_attribute(
        Mesh::ATTRIBUTE_POSITION,
        vec![
            [0.0, 0.0, 0.0],
            [1.0, 0.0, 0.0],
            [0.0, 0.5, 0.0],
            [1.0, 0.5, 0.0],
            [0.0, 1.0, 0.0],
            [1.0, 1.0, 0.0],
            [0.0, 1.5, 0.0],
            [1.0, 1.5, 0.0],
            [0.0, 2.0, 0.0],
            [1.0, 2.0, 0.0],
        ],
    )
    // Add UV coordinates that map the left half of the texture since its a 1 x
    // 2 rectangle.
    .with_inserted_attribute(
        Mesh::ATTRIBUTE_UV_0,
        vec![
            [0.0, 0.00],
            [0.5, 0.00],
            [0.0, 0.25],
            [0.5, 0.25],
            [0.0, 0.50],
            [0.5, 0.50],
            [0.0, 0.75],
            [0.5, 0.75],
            [0.0, 1.00],
            [0.5, 1.00],
        ],
    )
    // Set mesh vertex normals
    .with_inserted_attribute(Mesh::ATTRIBUTE_NORMAL, vec![[0.0, 0.0, 1.0]; 10])
    // Set mesh vertex joint indices for mesh skinning.
    // Each vertex gets 4 indices used to address the `JointTransforms` array in the vertex shader
    //  as well as `SkinnedMeshJoint` array in the `SkinnedMesh` component.
    // This means that a maximum of 4 joints can affect a single vertex.
    .with_inserted_attribute(
        Mesh::ATTRIBUTE_JOINT_INDEX,
        // Need to be explicit here as [u16; 4] could be either Uint16x4 or Unorm16x4.
        VertexAttributeValues::Uint16x4(vec![
            [0, 0, 0, 0],
            [0, 0, 0, 0],
            [0, 1, 0, 0],
            [0, 1, 0, 0],
            [0, 1, 0, 0],
            [0, 1, 0, 0],
            [0, 1, 0, 0],
            [0, 1, 0, 0],
            [0, 1, 0, 0],
            [0, 1, 0, 0],
        ]),
    )
    // Set mesh vertex joint weights for mesh skinning.
    // Each vertex gets 4 joint weights corresponding to the 4 joint indices assigned to it.
    // The sum of these weights should equal to 1.
    .with_inserted_attribute(
        Mesh::ATTRIBUTE_JOINT_WEIGHT,
        vec![
            [1.00, 0.00, 0.0, 0.0],
            [1.00, 0.00, 0.0, 0.0],
            [0.75, 0.25, 0.0, 0.0],
            [0.75, 0.25, 0.0, 0.0],
            [0.50, 0.50, 0.0, 0.0],
            [0.50, 0.50, 0.0, 0.0],
            [0.25, 0.75, 0.0, 0.0],
            [0.25, 0.75, 0.0, 0.0],
            [0.00, 1.00, 0.0, 0.0],
            [0.00, 1.00, 0.0, 0.0],
        ],
    )
    // Tell bevy to construct triangles from a list of vertex indices,
    //  where each 3 vertex indices form an triangle.
    .with_inserted_indices(Indices::U16(vec![
        0, 1, 3, 0, 3, 2, 2, 3, 5, 2, 5, 4, 4, 5, 7, 4, 7, 6, 6, 7, 9, 6, 9, 8,
    ]));

    let mesh = meshes.add(mesh);

    // We're seeding the PRNG here to make this example deterministic for testing purposes.
    // This isn't strictly required in practical use unless you need your app to be deterministic.
    let mut rng = ChaCha8Rng::seed_from_u64(42);

    for i in -5..5 {
        // Create joint entities
        let joint_0 = commands
            .spawn(Transform::from_xyz(
                i as f32 * 1.5,
                0.0,
                // Move quads back a small amount to avoid Z-fighting and not
                // obscure the transform gizmos.
                -(i as f32 * 0.01).abs(),
            ))
            .id();
        let joint_1 = commands.spawn((AnimatedJoint(i), Transform::IDENTITY)).id();

        // Set joint_1 as a child of joint_0.
        commands.entity(joint_0).add_children(&[joint_1]);

        // Each joint in this vector corresponds to each inverse bindpose matrix in `SkinnedMeshInverseBindposes`.
        let joint_entities = vec![joint_0, joint_1];

        // Create skinned mesh renderer. Note that its transform doesn't affect the position of the mesh.
        commands.spawn((
            Mesh3d(mesh.clone()),
            MeshMaterial3d(materials.add(StandardMaterial {
                base_color: Color::srgb(
                    rng.gen_range(0.0..1.0),
                    rng.gen_range(0.0..1.0),
                    rng.gen_range(0.0..1.0),
                ),
                base_color_texture: Some(asset_server.load("textures/uv_checker_bw.png")),
                ..default()
            })),
            SkinnedMesh {
                inverse_bindposes: inverse_bindposes.clone(),
                joints: joint_entities,
            },
        ));
    }
}

/// Animate the joint marked with [`AnimatedJoint`] component.
fn joint_animation(
    time: Res<Time>,
    mut query: Query<(&mut Transform, &AnimatedJoint)>,
    mut gizmos: Gizmos,
) {
    for (mut transform, animated_joint) in &mut query {
        match animated_joint.0 {
            -5 => {
                transform.rotation =
                    Quat::from_rotation_x(FRAC_PI_2 * ops::sin(time.elapsed_secs()));
            }
            -4 => {
                transform.rotation =
                    Quat::from_rotation_y(FRAC_PI_2 * ops::sin(time.elapsed_secs()));
            }
            -3 => {
                transform.rotation =
                    Quat::from_rotation_z(FRAC_PI_2 * ops::sin(time.elapsed_secs()));
            }
            -2 => {
                transform.scale.x = ops::sin(time.elapsed_secs()) + 1.0;
            }
            -1 => {
                transform.scale.y = ops::sin(time.elapsed_secs()) + 1.0;
            }
            0 => {
                transform.translation.x = 0.5 * ops::sin(time.elapsed_secs());
                transform.translation.y = ops::cos(time.elapsed_secs());
            }
            1 => {
                transform.translation.y = ops::sin(time.elapsed_secs());
                transform.translation.z = ops::cos(time.elapsed_secs());
            }
            2 => {
                transform.translation.x = ops::sin(time.elapsed_secs());
            }
            3 => {
                transform.translation.y = ops::sin(time.elapsed_secs());
                transform.scale.x = ops::sin(time.elapsed_secs()) + 1.0;
            }
            _ => (),
        }
        // Show transform
        let mut axis = *transform;
        axis.translation.x += animated_joint.0 as f32 * 1.5;
        gizmos.axes(axis, 1.0);
    }
}