Add physics crate with rapier3d
This commit is contained in:
parent
a3d3f641cd
commit
8c9c310198
13 changed files with 756 additions and 102 deletions
349
Cargo.lock
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349
Cargo.lock
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@ -55,6 +55,12 @@ dependencies = [
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"equator",
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"equator",
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]
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]
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[[package]]
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name = "allocator-api2"
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version = "0.2.21"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "683d7910e743518b0e34f1186f92494becacb047c7b6bf616c96772180fef923"
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[[package]]
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[[package]]
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name = "android-activity"
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name = "android-activity"
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version = "0.6.0"
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version = "0.6.0"
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@ -73,7 +79,7 @@ dependencies = [
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"ndk-context",
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"ndk-context",
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"ndk-sys",
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"ndk-sys",
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"num_enum",
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"num_enum",
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"thiserror",
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"thiserror 1.0.69",
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]
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]
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[[package]]
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[[package]]
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@ -88,6 +94,15 @@ version = "1.0.98"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "e16d2d3311acee920a9eb8d33b8cbc1787ce4a264e85f964c2404b969bdcd487"
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checksum = "e16d2d3311acee920a9eb8d33b8cbc1787ce4a264e85f964c2404b969bdcd487"
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[[package]]
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name = "approx"
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version = "0.5.1"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "cab112f0a86d568ea0e627cc1d6be74a1e9cd55214684db5561995f6dad897c6"
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dependencies = [
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"num-traits",
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]
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[[package]]
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[[package]]
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name = "arbitrary"
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name = "arbitrary"
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version = "1.4.1"
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version = "1.4.1"
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@ -179,6 +194,12 @@ version = "0.13.1"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "9e1b586273c5702936fe7b7d6896644d8be71e6314cfe09d3167c95f712589e8"
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checksum = "9e1b586273c5702936fe7b7d6896644d8be71e6314cfe09d3167c95f712589e8"
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[[package]]
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name = "bit-vec"
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version = "0.8.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "5e764a1d40d510daf35e07be9eb06e75770908c27d411ee6c92109c9840eaaf7"
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[[package]]
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[[package]]
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name = "bit_field"
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name = "bit_field"
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version = "0.10.2"
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version = "0.10.2"
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@ -259,7 +280,7 @@ dependencies = [
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"polling",
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"polling",
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"rustix 0.38.44",
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"rustix 0.38.44",
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"slab",
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"slab",
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"thiserror",
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"thiserror 1.0.69",
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]
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]
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[[package]]
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[[package]]
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@ -402,6 +423,28 @@ dependencies = [
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"cfg-if",
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"cfg-if",
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]
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]
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[[package]]
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name = "crossbeam"
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version = "0.8.4"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "1137cd7e7fc0fb5d3c5a8678be38ec56e819125d8d7907411fe24ccb943faca8"
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dependencies = [
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"crossbeam-channel",
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"crossbeam-deque",
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"crossbeam-epoch",
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"crossbeam-queue",
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"crossbeam-utils",
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]
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[[package]]
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name = "crossbeam-channel"
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version = "0.5.15"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "82b8f8f868b36967f9606790d1903570de9ceaf870a7bf9fbbd3016d636a2cb2"
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dependencies = [
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"crossbeam-utils",
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]
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[[package]]
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[[package]]
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name = "crossbeam-deque"
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name = "crossbeam-deque"
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version = "0.8.6"
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version = "0.8.6"
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@ -421,6 +464,15 @@ dependencies = [
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"crossbeam-utils",
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"crossbeam-utils",
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]
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]
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[[package]]
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name = "crossbeam-queue"
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version = "0.3.12"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "0f58bbc28f91df819d0aa2a2c00cd19754769c2fad90579b3592b1c9ba7a3115"
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dependencies = [
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"crossbeam-utils",
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]
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[[package]]
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[[package]]
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name = "crossbeam-utils"
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name = "crossbeam-utils"
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version = "0.8.21"
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version = "0.8.21"
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@ -470,6 +522,12 @@ version = "1.2.1"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "75b325c5dbd37f80359721ad39aca5a29fb04c89279657cffdda8736d0c0b9d2"
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checksum = "75b325c5dbd37f80359721ad39aca5a29fb04c89279657cffdda8736d0c0b9d2"
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[[package]]
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name = "downcast-rs"
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version = "2.0.1"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "ea8a8b81cacc08888170eef4d13b775126db426d0b348bee9d18c2c1eaf123cf"
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[[package]]
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[[package]]
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name = "dpi"
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name = "dpi"
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version = "0.1.2"
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version = "0.1.2"
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@ -482,6 +540,15 @@ version = "1.15.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "48c757948c5ede0e46177b7add2e67155f70e33c07fea8284df6576da70b3719"
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checksum = "48c757948c5ede0e46177b7add2e67155f70e33c07fea8284df6576da70b3719"
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[[package]]
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name = "ena"
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version = "0.14.3"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "3d248bdd43ce613d87415282f69b9bb99d947d290b10962dd6c56233312c2ad5"
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dependencies = [
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"log",
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]
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[[package]]
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[[package]]
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name = "equator"
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name = "equator"
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version = "0.4.2"
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version = "0.4.2"
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@ -558,6 +625,12 @@ version = "1.0.7"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "3f9eec918d3f24069decb9af1554cad7c880e2da24a9afd88aca000531ab82c1"
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checksum = "3f9eec918d3f24069decb9af1554cad7c880e2da24a9afd88aca000531ab82c1"
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[[package]]
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name = "foldhash"
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version = "0.1.5"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "d9c4f5dac5e15c24eb999c26181a6ca40b39fe946cbe4c263c7209467bc83af2"
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[[package]]
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name = "foreign-types"
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name = "foreign-types"
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version = "0.5.0"
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version = "0.5.0"
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"crunchy",
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"crunchy",
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]
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]
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[[package]]
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name = "hash32"
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version = "0.3.1"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "47d60b12902ba28e2730cd37e95b8c9223af2808df9e902d4df49588d1470606"
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dependencies = [
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"byteorder",
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]
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name = "hashbrown"
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name = "hashbrown"
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version = "0.14.5"
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version = "0.14.5"
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version = "0.15.4"
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version = "0.15.4"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "5971ac85611da7067dbfcabef3c70ebb5606018acd9e2a3903a0da507521e0d5"
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checksum = "5971ac85611da7067dbfcabef3c70ebb5606018acd9e2a3903a0da507521e0d5"
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dependencies = [
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"allocator-api2",
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"equivalent",
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"foldhash",
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]
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[[package]]
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name = "heapless"
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version = "0.8.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "0bfb9eb618601c89945a70e254898da93b13be0388091d42117462b265bb3fad"
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dependencies = [
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"hash32",
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"stable_deref_trait",
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]
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name = "heck"
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name = "heck"
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"combine",
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"combine",
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"jni-sys",
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"jni-sys",
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"log",
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"log",
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"thiserror",
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"thiserror 1.0.69",
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"walkdir",
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"walkdir",
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"windows-sys 0.45.0",
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"windows-sys 0.45.0",
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]
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"windows-targets 0.53.2",
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"windows-targets 0.53.2",
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]
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name = "libm"
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version = "0.2.15"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "f9fbbcab51052fe104eb5e5d351cf728d30a5be1fe14d9be8a3b097481fb97de"
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[[package]]
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name = "libredox"
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name = "libredox"
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version = "0.1.4"
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version = "0.1.4"
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"imgref",
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"imgref",
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]
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name = "matrixmultiply"
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version = "0.3.10"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "a06de3016e9fae57a36fd14dba131fccf49f74b40b7fbdb472f96e361ec71a08"
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dependencies = [
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"autocfg",
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"rawpointer",
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]
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name = "maybe-rayon"
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name = "maybe-rayon"
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version = "0.1.1"
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version = "0.1.1"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "e53debba6bda7a793e5f99b8dacf19e626084f525f7829104ba9898f367d85ff"
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checksum = "e53debba6bda7a793e5f99b8dacf19e626084f525f7829104ba9898f367d85ff"
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name = "nalgebra"
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version = "0.33.2"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "26aecdf64b707efd1310e3544d709c5c0ac61c13756046aaaba41be5c4f66a3b"
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dependencies = [
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"approx",
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"matrixmultiply",
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"nalgebra-macros",
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"num-complex",
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"num-rational",
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"simba",
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"typenum",
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name = "nalgebra-macros"
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version = "0.2.2"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "254a5372af8fc138e36684761d3c0cdb758a4410e938babcff1c860ce14ddbfc"
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dependencies = [
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"proc-macro2",
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"quote",
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"syn",
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name = "ndk"
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version = "0.9.0"
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"num_enum",
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"raw-window-handle",
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"raw-window-handle",
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"thiserror",
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"thiserror 1.0.69",
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]
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name = "num-complex"
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version = "0.4.6"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "73f88a1307638156682bada9d7604135552957b7818057dcef22705b4d509495"
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dependencies = [
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"num-traits",
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name = "num-derive"
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name = "num-derive"
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version = "0.4.2"
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checksum = "071dfc062690e90b734c0b2273ce72ad0ffa95f0c74596bc250dcfd960262841"
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checksum = "071dfc062690e90b734c0b2273ce72ad0ffa95f0c74596bc250dcfd960262841"
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dependencies = [
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"autocfg",
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"autocfg",
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"libm",
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]
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]
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name = "ordered-float"
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version = "5.0.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "e2c1f9f56e534ac6a9b8a4600bdf0f530fb393b5f393e7b4d03489c3cf0c3f01"
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dependencies = [
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name = "owned_ttf_parser"
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name = "owned_ttf_parser"
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version = "0.25.0"
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"windows-targets 0.52.6",
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|
||||||
]
|
]
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "parry3d"
|
||||||
|
version = "0.21.1"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "e7f8d0a3b2f4c0e250d4599b69e490535521c3497e2b88b0b5d2ada251bc83a8"
|
||||||
|
dependencies = [
|
||||||
|
"approx",
|
||||||
|
"arrayvec",
|
||||||
|
"bitflags 2.9.1",
|
||||||
|
"downcast-rs 2.0.1",
|
||||||
|
"either",
|
||||||
|
"ena",
|
||||||
|
"hashbrown 0.15.4",
|
||||||
|
"log",
|
||||||
|
"nalgebra",
|
||||||
|
"num-derive",
|
||||||
|
"num-traits",
|
||||||
|
"ordered-float",
|
||||||
|
"rstar",
|
||||||
|
"simba",
|
||||||
|
"slab",
|
||||||
|
"spade",
|
||||||
|
"thiserror 2.0.12",
|
||||||
|
]
|
||||||
|
|
||||||
[[package]]
|
[[package]]
|
||||||
name = "paste"
|
name = "paste"
|
||||||
version = "1.0.15"
|
version = "1.0.15"
|
||||||
|
|
@ -1744,11 +1928,14 @@ dependencies = [
|
||||||
"anyhow",
|
"anyhow",
|
||||||
"glam",
|
"glam",
|
||||||
"hecs",
|
"hecs",
|
||||||
|
"nalgebra",
|
||||||
"raidillon_core",
|
"raidillon_core",
|
||||||
"raidillon_ecs",
|
"raidillon_ecs",
|
||||||
"raidillon_input",
|
"raidillon_input",
|
||||||
|
"raidillon_physics",
|
||||||
"raidillon_render",
|
"raidillon_render",
|
||||||
"raidillon_ui",
|
"raidillon_ui",
|
||||||
|
"rapier3d",
|
||||||
"winit",
|
"winit",
|
||||||
]
|
]
|
||||||
|
|
||||||
|
|
@ -1760,6 +1947,16 @@ dependencies = [
|
||||||
"winit",
|
"winit",
|
||||||
]
|
]
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "raidillon_physics"
|
||||||
|
version = "0.1.0"
|
||||||
|
dependencies = [
|
||||||
|
"glam",
|
||||||
|
"nalgebra",
|
||||||
|
"raidillon_ecs",
|
||||||
|
"rapier3d",
|
||||||
|
]
|
||||||
|
|
||||||
[[package]]
|
[[package]]
|
||||||
name = "raidillon_render"
|
name = "raidillon_render"
|
||||||
version = "0.1.0"
|
version = "0.1.0"
|
||||||
|
|
@ -1768,10 +1965,10 @@ dependencies = [
|
||||||
"glam",
|
"glam",
|
||||||
"glium",
|
"glium",
|
||||||
"gltf",
|
"gltf",
|
||||||
"glutin",
|
|
||||||
"hecs",
|
"hecs",
|
||||||
"image",
|
"image",
|
||||||
"raidillon_ecs",
|
"raidillon_ecs",
|
||||||
|
"rapier3d",
|
||||||
"winit",
|
"winit",
|
||||||
]
|
]
|
||||||
|
|
||||||
|
|
@ -1785,6 +1982,7 @@ dependencies = [
|
||||||
"imgui-glium-renderer",
|
"imgui-glium-renderer",
|
||||||
"imgui-winit-support",
|
"imgui-winit-support",
|
||||||
"raidillon_render",
|
"raidillon_render",
|
||||||
|
"rapier3d",
|
||||||
"winit",
|
"winit",
|
||||||
]
|
]
|
||||||
|
|
||||||
|
|
@ -1818,6 +2016,30 @@ dependencies = [
|
||||||
"getrandom 0.2.16",
|
"getrandom 0.2.16",
|
||||||
]
|
]
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "rapier3d"
|
||||||
|
version = "0.26.1"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "7f1015500058823ba9c479c908d7069adcf3f0f51a3e49dca7efc5575df7e574"
|
||||||
|
dependencies = [
|
||||||
|
"approx",
|
||||||
|
"arrayvec",
|
||||||
|
"bit-vec",
|
||||||
|
"bitflags 2.9.1",
|
||||||
|
"crossbeam",
|
||||||
|
"downcast-rs 2.0.1",
|
||||||
|
"log",
|
||||||
|
"nalgebra",
|
||||||
|
"num-derive",
|
||||||
|
"num-traits",
|
||||||
|
"ordered-float",
|
||||||
|
"parry3d",
|
||||||
|
"profiling",
|
||||||
|
"rustc-hash",
|
||||||
|
"simba",
|
||||||
|
"thiserror 2.0.12",
|
||||||
|
]
|
||||||
|
|
||||||
[[package]]
|
[[package]]
|
||||||
name = "rav1e"
|
name = "rav1e"
|
||||||
version = "0.7.1"
|
version = "0.7.1"
|
||||||
|
|
@ -1848,7 +2070,7 @@ dependencies = [
|
||||||
"rand_chacha",
|
"rand_chacha",
|
||||||
"simd_helpers",
|
"simd_helpers",
|
||||||
"system-deps",
|
"system-deps",
|
||||||
"thiserror",
|
"thiserror 1.0.69",
|
||||||
"v_frame",
|
"v_frame",
|
||||||
"wasm-bindgen",
|
"wasm-bindgen",
|
||||||
]
|
]
|
||||||
|
|
@ -1874,6 +2096,12 @@ version = "0.6.2"
|
||||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
checksum = "20675572f6f24e9e76ef639bc5552774ed45f1c30e2951e1e99c59888861c539"
|
checksum = "20675572f6f24e9e76ef639bc5552774ed45f1c30e2951e1e99c59888861c539"
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "rawpointer"
|
||||||
|
version = "0.2.1"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "60a357793950651c4ed0f3f52338f53b2f809f32d83a07f72909fa13e4c6c1e3"
|
||||||
|
|
||||||
[[package]]
|
[[package]]
|
||||||
name = "rayon"
|
name = "rayon"
|
||||||
version = "1.10.0"
|
version = "1.10.0"
|
||||||
|
|
@ -1918,12 +2146,35 @@ version = "0.8.52"
|
||||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
checksum = "0c6a884d2998352bb4daf0183589aec883f16a6da1f4dde84d8e2e9a5409a1ce"
|
checksum = "0c6a884d2998352bb4daf0183589aec883f16a6da1f4dde84d8e2e9a5409a1ce"
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "robust"
|
||||||
|
version = "1.2.0"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "4e27ee8bb91ca0adcf0ecb116293afa12d393f9c2b9b9cd54d33e8078fe19839"
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "rstar"
|
||||||
|
version = "0.12.2"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "421400d13ccfd26dfa5858199c30a5d76f9c54e0dba7575273025b43c5175dbb"
|
||||||
|
dependencies = [
|
||||||
|
"heapless",
|
||||||
|
"num-traits",
|
||||||
|
"smallvec",
|
||||||
|
]
|
||||||
|
|
||||||
[[package]]
|
[[package]]
|
||||||
name = "rustc-demangle"
|
name = "rustc-demangle"
|
||||||
version = "0.1.25"
|
version = "0.1.25"
|
||||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
checksum = "989e6739f80c4ad5b13e0fd7fe89531180375b18520cc8c82080e4dc4035b84f"
|
checksum = "989e6739f80c4ad5b13e0fd7fe89531180375b18520cc8c82080e4dc4035b84f"
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "rustc-hash"
|
||||||
|
version = "2.1.1"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "357703d41365b4b27c590e3ed91eabb1b663f07c4c084095e60cbed4362dff0d"
|
||||||
|
|
||||||
[[package]]
|
[[package]]
|
||||||
name = "rustix"
|
name = "rustix"
|
||||||
version = "0.38.44"
|
version = "0.38.44"
|
||||||
|
|
@ -1962,6 +2213,15 @@ version = "1.0.20"
|
||||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
checksum = "28d3b2b1366ec20994f1fd18c3c594f05c5dd4bc44d8bb0c1c632c8d6829481f"
|
checksum = "28d3b2b1366ec20994f1fd18c3c594f05c5dd4bc44d8bb0c1c632c8d6829481f"
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "safe_arch"
|
||||||
|
version = "0.7.4"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "96b02de82ddbe1b636e6170c21be622223aea188ef2e139be0a5b219ec215323"
|
||||||
|
dependencies = [
|
||||||
|
"bytemuck",
|
||||||
|
]
|
||||||
|
|
||||||
[[package]]
|
[[package]]
|
||||||
name = "same-file"
|
name = "same-file"
|
||||||
version = "1.0.6"
|
version = "1.0.6"
|
||||||
|
|
@ -2018,9 +2278,9 @@ dependencies = [
|
||||||
|
|
||||||
[[package]]
|
[[package]]
|
||||||
name = "serde_json"
|
name = "serde_json"
|
||||||
version = "1.0.140"
|
version = "1.0.141"
|
||||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
checksum = "20068b6e96dc6c9bd23e01df8827e6c7e1f2fddd43c21810382803c136b99373"
|
checksum = "30b9eff21ebe718216c6ec64e1d9ac57087aad11efc64e32002bce4a0d4c03d3"
|
||||||
dependencies = [
|
dependencies = [
|
||||||
"itoa",
|
"itoa",
|
||||||
"memchr",
|
"memchr",
|
||||||
|
|
@ -2043,6 +2303,19 @@ version = "1.3.0"
|
||||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
checksum = "0fda2ff0d084019ba4d7c6f371c95d8fd75ce3524c3cb8fb653a3023f6323e64"
|
checksum = "0fda2ff0d084019ba4d7c6f371c95d8fd75ce3524c3cb8fb653a3023f6323e64"
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "simba"
|
||||||
|
version = "0.9.0"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "b3a386a501cd104797982c15ae17aafe8b9261315b5d07e3ec803f2ea26be0fa"
|
||||||
|
dependencies = [
|
||||||
|
"approx",
|
||||||
|
"num-complex",
|
||||||
|
"num-traits",
|
||||||
|
"paste",
|
||||||
|
"wide",
|
||||||
|
]
|
||||||
|
|
||||||
[[package]]
|
[[package]]
|
||||||
name = "simd-adler32"
|
name = "simd-adler32"
|
||||||
version = "0.3.7"
|
version = "0.3.7"
|
||||||
|
|
@ -2084,7 +2357,7 @@ dependencies = [
|
||||||
"log",
|
"log",
|
||||||
"memmap2",
|
"memmap2",
|
||||||
"rustix 0.38.44",
|
"rustix 0.38.44",
|
||||||
"thiserror",
|
"thiserror 1.0.69",
|
||||||
"wayland-backend",
|
"wayland-backend",
|
||||||
"wayland-client",
|
"wayland-client",
|
||||||
"wayland-csd-frame",
|
"wayland-csd-frame",
|
||||||
|
|
@ -2104,12 +2377,30 @@ dependencies = [
|
||||||
"serde",
|
"serde",
|
||||||
]
|
]
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "spade"
|
||||||
|
version = "2.14.0"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "a14e31a007e9f85c32784b04f89e6e194bb252a4d41b4a8ccd9e77245d901c8c"
|
||||||
|
dependencies = [
|
||||||
|
"hashbrown 0.15.4",
|
||||||
|
"num-traits",
|
||||||
|
"robust",
|
||||||
|
"smallvec",
|
||||||
|
]
|
||||||
|
|
||||||
[[package]]
|
[[package]]
|
||||||
name = "spin"
|
name = "spin"
|
||||||
version = "0.9.8"
|
version = "0.9.8"
|
||||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
checksum = "6980e8d7511241f8acf4aebddbb1ff938df5eebe98691418c4468d0b72a96a67"
|
checksum = "6980e8d7511241f8acf4aebddbb1ff938df5eebe98691418c4468d0b72a96a67"
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "stable_deref_trait"
|
||||||
|
version = "1.2.0"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "a8f112729512f8e442d81f95a8a7ddf2b7c6b8a1a6f509a95864142b30cab2d3"
|
||||||
|
|
||||||
[[package]]
|
[[package]]
|
||||||
name = "strict-num"
|
name = "strict-num"
|
||||||
version = "0.1.1"
|
version = "0.1.1"
|
||||||
|
|
@ -2152,7 +2443,16 @@ version = "1.0.69"
|
||||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
checksum = "b6aaf5339b578ea85b50e080feb250a3e8ae8cfcdff9a461c9ec2904bc923f52"
|
checksum = "b6aaf5339b578ea85b50e080feb250a3e8ae8cfcdff9a461c9ec2904bc923f52"
|
||||||
dependencies = [
|
dependencies = [
|
||||||
"thiserror-impl",
|
"thiserror-impl 1.0.69",
|
||||||
|
]
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "thiserror"
|
||||||
|
version = "2.0.12"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "567b8a2dae586314f7be2a752ec7474332959c6460e02bde30d702a66d488708"
|
||||||
|
dependencies = [
|
||||||
|
"thiserror-impl 2.0.12",
|
||||||
]
|
]
|
||||||
|
|
||||||
[[package]]
|
[[package]]
|
||||||
|
|
@ -2166,6 +2466,17 @@ dependencies = [
|
||||||
"syn",
|
"syn",
|
||||||
]
|
]
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "thiserror-impl"
|
||||||
|
version = "2.0.12"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "7f7cf42b4507d8ea322120659672cf1b9dbb93f8f2d4ecfd6e51350ff5b17a1d"
|
||||||
|
dependencies = [
|
||||||
|
"proc-macro2",
|
||||||
|
"quote",
|
||||||
|
"syn",
|
||||||
|
]
|
||||||
|
|
||||||
[[package]]
|
[[package]]
|
||||||
name = "tiff"
|
name = "tiff"
|
||||||
version = "0.9.1"
|
version = "0.9.1"
|
||||||
|
|
@ -2258,6 +2569,12 @@ version = "0.25.1"
|
||||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
checksum = "d2df906b07856748fa3f6e0ad0cbaa047052d4a7dd609e231c4f72cee8c36f31"
|
checksum = "d2df906b07856748fa3f6e0ad0cbaa047052d4a7dd609e231c4f72cee8c36f31"
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "typenum"
|
||||||
|
version = "1.18.0"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "1dccffe3ce07af9386bfd29e80c0ab1a8205a2fc34e4bcd40364df902cfa8f3f"
|
||||||
|
|
||||||
[[package]]
|
[[package]]
|
||||||
name = "unicode-ident"
|
name = "unicode-ident"
|
||||||
version = "1.0.18"
|
version = "1.0.18"
|
||||||
|
|
@ -2402,7 +2719,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
checksum = "fe770181423e5fc79d3e2a7f4410b7799d5aab1de4372853de3c6aa13ca24121"
|
checksum = "fe770181423e5fc79d3e2a7f4410b7799d5aab1de4372853de3c6aa13ca24121"
|
||||||
dependencies = [
|
dependencies = [
|
||||||
"cc",
|
"cc",
|
||||||
"downcast-rs",
|
"downcast-rs 1.2.1",
|
||||||
"rustix 0.38.44",
|
"rustix 0.38.44",
|
||||||
"scoped-tls",
|
"scoped-tls",
|
||||||
"smallvec",
|
"smallvec",
|
||||||
|
|
@ -2530,6 +2847,16 @@ version = "0.1.10"
|
||||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
checksum = "a751b3277700db47d3e574514de2eced5e54dc8a5436a3bf7a0b248b2cee16f3"
|
checksum = "a751b3277700db47d3e574514de2eced5e54dc8a5436a3bf7a0b248b2cee16f3"
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "wide"
|
||||||
|
version = "0.7.33"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "0ce5da8ecb62bcd8ec8b7ea19f69a51275e91299be594ea5cc6ef7819e16cd03"
|
||||||
|
dependencies = [
|
||||||
|
"bytemuck",
|
||||||
|
"safe_arch",
|
||||||
|
]
|
||||||
|
|
||||||
[[package]]
|
[[package]]
|
||||||
name = "winapi-util"
|
name = "winapi-util"
|
||||||
version = "0.1.9"
|
version = "0.1.9"
|
||||||
|
|
|
||||||
|
|
@ -6,4 +6,5 @@ members = [
|
||||||
"raidillon_ui",
|
"raidillon_ui",
|
||||||
"raidillon_game",
|
"raidillon_game",
|
||||||
"raidillon_input",
|
"raidillon_input",
|
||||||
|
"raidillon_physics",
|
||||||
]
|
]
|
||||||
|
|
|
||||||
|
|
@ -13,3 +13,6 @@ raidillon_ui = { path = "../raidillon_ui" }
|
||||||
raidillon_core = { path = "../raidillon_core" }
|
raidillon_core = { path = "../raidillon_core" }
|
||||||
hecs = "0.10.5"
|
hecs = "0.10.5"
|
||||||
raidillon_input = { path = "../raidillon_input" }
|
raidillon_input = { path = "../raidillon_input" }
|
||||||
|
raidillon_physics = { path = "../raidillon_physics" }
|
||||||
|
rapier3d = "0.26.1"
|
||||||
|
nalgebra = { version = "0.33", features = ["macros"] }
|
||||||
|
|
|
||||||
|
|
@ -5,9 +5,12 @@ use raidillon_ecs::Transform;
|
||||||
use raidillon_render::{Camera, ECSRenderer, init_render_window, DisplayHandle};
|
use raidillon_render::{Camera, ECSRenderer, init_render_window, DisplayHandle};
|
||||||
use raidillon_ui::Gui;
|
use raidillon_ui::Gui;
|
||||||
use raidillon_input::{Input, FPSCameraController};
|
use raidillon_input::{Input, FPSCameraController};
|
||||||
|
use raidillon_physics::{Physics, BodyKind, RigidBodyComponent};
|
||||||
|
use rapier3d::prelude::RigidBodyHandle;
|
||||||
use winit::keyboard::KeyCode;
|
use winit::keyboard::KeyCode;
|
||||||
use winit::window::CursorGrabMode;
|
use winit::window::CursorGrabMode;
|
||||||
use winit::event::MouseButton;
|
use winit::event::MouseButton;
|
||||||
|
use nalgebra::vector;
|
||||||
|
|
||||||
#[derive(Copy, Clone, Eq, PartialEq, Hash)]
|
#[derive(Copy, Clone, Eq, PartialEq, Hash)]
|
||||||
enum Action {
|
enum Action {
|
||||||
|
|
@ -22,7 +25,7 @@ fn main() -> Result<()> {
|
||||||
.build()
|
.build()
|
||||||
.expect("create event-loop");
|
.expect("create event-loop");
|
||||||
|
|
||||||
let (window, _display): (winit::window::Window, DisplayHandle) = init_render_window(&event_loop, "raidillon", (1280, 720))?;
|
let (window, _display): (winit::window::Window, DisplayHandle) = init_render_window(&event_loop, "raidillon", (1920, 1080))?;
|
||||||
|
|
||||||
// Create ECS renderer which internally owns both the world and the renderer
|
// Create ECS renderer which internally owns both the world and the renderer
|
||||||
let mut ecsr = ECSRenderer::from_display_handle(&_display)?;
|
let mut ecsr = ECSRenderer::from_display_handle(&_display)?;
|
||||||
|
|
@ -42,23 +45,55 @@ fn main() -> Result<()> {
|
||||||
|
|
||||||
let mut time = Time::new();
|
let mut time = Time::new();
|
||||||
|
|
||||||
let object_ent = ecsr.load_mesh_from_gltf("resources/models/tree.gltf", Transform {
|
// Physics world
|
||||||
translation: Vec3::new(0.0, -2.5, -5.0),
|
let mut physics = Physics::new();
|
||||||
|
|
||||||
|
// Load a sphere model instead of the tree
|
||||||
|
let sphere_ent = ecsr.load_mesh_from_gltf("resources/models/uvsphere-smooth.gltf", Transform {
|
||||||
|
translation: Vec3::new(0.0, 2.5, 0.0),
|
||||||
rotation: Quat::IDENTITY,
|
rotation: Quat::IDENTITY,
|
||||||
scale: Vec3::new(0.01, 0.01, 0.01),
|
scale: Vec3::new(0.5, 0.5, 0.5),
|
||||||
})?;
|
})?;
|
||||||
|
|
||||||
|
{
|
||||||
|
let tr = *ecsr.world.get::<&Transform>(sphere_ent)?;
|
||||||
|
let collider = rapier3d::prelude::ColliderBuilder::ball(0.5).build();
|
||||||
|
let rb_handle = physics.add_rigid_body(BodyKind::Dynamic, tr, collider);
|
||||||
|
ecsr.world.insert_one(sphere_ent, RigidBodyComponent(rb_handle))?;
|
||||||
|
}
|
||||||
|
|
||||||
let ground_ent = ecsr.load_mesh_from_gltf("resources/models/plane.gltf", Transform {
|
let ground_ent = ecsr.load_mesh_from_gltf("resources/models/plane.gltf", Transform {
|
||||||
translation: Vec3::new(0.0, -1.5, 0.0),
|
translation: Vec3::new(0.0, -1.5, 0.0),
|
||||||
rotation: Quat::IDENTITY,
|
rotation: Quat::IDENTITY,
|
||||||
scale: Vec3::new(1.0, 1.0, 1.0),
|
scale: Vec3::new(10.0, 1.0, 10.0),
|
||||||
})?;
|
})?;
|
||||||
|
|
||||||
|
{
|
||||||
|
let tr = *ecsr.world.get::<&Transform>(ground_ent)?;
|
||||||
|
let collider = rapier3d::prelude::ColliderBuilder::cuboid(10.0, 0.1, 10.0).build();
|
||||||
|
let rb_handle = physics.add_rigid_body(BodyKind::Static, tr, collider);
|
||||||
|
ecsr.world.insert_one(ground_ent, RigidBodyComponent(rb_handle))?;
|
||||||
|
}
|
||||||
|
|
||||||
|
let player_initial_tr = Transform {
|
||||||
|
translation: Vec3::new(0.0, 1.0, 2.0),
|
||||||
|
rotation: Quat::IDENTITY,
|
||||||
|
scale: Vec3::ONE,
|
||||||
|
};
|
||||||
|
|
||||||
|
let player_collider = rapier3d::prelude::ColliderBuilder::capsule_y(0.9, 0.4).build();
|
||||||
|
let player_rb_handle: RigidBodyHandle = physics.add_rigid_body(BodyKind::Dynamic, player_initial_tr, player_collider);
|
||||||
|
if let Some(body) = physics.get_rigid_body_mut(player_rb_handle) {
|
||||||
|
body.set_locked_axes(rapier3d::prelude::LockedAxes::ROTATION_LOCKED, true);
|
||||||
|
}
|
||||||
|
let _player_ent = ecsr.world.spawn((player_initial_tr, RigidBodyComponent(player_rb_handle)));
|
||||||
|
|
||||||
|
camera_controller.position = player_initial_tr.translation;
|
||||||
|
|
||||||
let camera_ent = {
|
let camera_ent = {
|
||||||
let (w, h): (u32, u32) = window.inner_size().into();
|
let (w, h): (u32, u32) = window.inner_size().into();
|
||||||
ecsr.world.spawn((Camera {
|
ecsr.world.spawn((Camera {
|
||||||
eye: Vec3::new(0.0, 0.0, 2.0),
|
eye: player_initial_tr.translation,
|
||||||
center: Vec3::ZERO,
|
center: Vec3::ZERO,
|
||||||
up: Vec3::Y,
|
up: Vec3::Y,
|
||||||
fovy: 60_f32.to_radians(),
|
fovy: 60_f32.to_radians(),
|
||||||
|
|
@ -107,10 +142,17 @@ fn main() -> Result<()> {
|
||||||
}
|
}
|
||||||
WindowEvent::RedrawRequested => {
|
WindowEvent::RedrawRequested => {
|
||||||
gui.render_world(&mut ecsr, &window, |ui, ecsr| {
|
gui.render_world(&mut ecsr, &window, |ui, ecsr| {
|
||||||
if let Ok(mut tr) = ecsr.world.query_one_mut::<&mut Transform>(object_ent) {
|
if let Ok(mut tr) = ecsr.world.query_one_mut::<&mut Transform>(sphere_ent) {
|
||||||
ui.text("Hold right click to control the camera");
|
ui.text("Hold right click to control the camera");
|
||||||
ui.text("WASD to move");
|
ui.text("WASD to move");
|
||||||
|
|
||||||
|
static mut SHOW_COLLIDERS: bool = true;
|
||||||
|
unsafe {
|
||||||
|
if ui.checkbox("Show Colliders", &mut SHOW_COLLIDERS) {
|
||||||
|
}
|
||||||
|
ecsr.renderer.set_show_colliders(SHOW_COLLIDERS);
|
||||||
|
}
|
||||||
|
|
||||||
// Translation controls
|
// Translation controls
|
||||||
let mut translation = [tr.translation.x, tr.translation.y, tr.translation.z];
|
let mut translation = [tr.translation.x, tr.translation.y, tr.translation.z];
|
||||||
if ui.input_float3("Translation", &mut translation).build() {
|
if ui.input_float3("Translation", &mut translation).build() {
|
||||||
|
|
@ -142,6 +184,7 @@ fn main() -> Result<()> {
|
||||||
|
|
||||||
{
|
{
|
||||||
let dt = time.delta_seconds();
|
let dt = time.delta_seconds();
|
||||||
|
|
||||||
camera_controller.update(
|
camera_controller.update(
|
||||||
&input,
|
&input,
|
||||||
dt,
|
dt,
|
||||||
|
|
@ -149,15 +192,57 @@ fn main() -> Result<()> {
|
||||||
(Action::MoveForward, Action::MoveBackward, Action::MoveLeft, Action::MoveRight),
|
(Action::MoveForward, Action::MoveBackward, Action::MoveLeft, Action::MoveRight),
|
||||||
);
|
);
|
||||||
|
|
||||||
|
let mut move_dir = Vec3::ZERO;
|
||||||
|
let front = camera_controller.front();
|
||||||
|
let front_h = Vec3::new(front.x, 0.0, front.z).normalize_or_zero();
|
||||||
|
let right_vec = front_h.cross(Vec3::Y).normalize_or_zero();
|
||||||
|
|
||||||
|
if input.action_held(Action::MoveForward) { move_dir += front_h; }
|
||||||
|
if input.action_held(Action::MoveBackward) { move_dir -= front_h; }
|
||||||
|
if input.action_held(Action::MoveLeft) { move_dir -= right_vec; }
|
||||||
|
if input.action_held(Action::MoveRight) { move_dir += right_vec; }
|
||||||
|
|
||||||
|
if move_dir.length_squared() > 0.0 {
|
||||||
|
move_dir = move_dir.normalize();
|
||||||
|
}
|
||||||
|
|
||||||
|
if let Some(body) = physics.get_rigid_body_mut(player_rb_handle) {
|
||||||
|
let current_vel = body.linvel();
|
||||||
|
let desired_vel = move_dir * camera_controller.speed;
|
||||||
|
body.set_linvel(vector![desired_vel.x, current_vel.y, desired_vel.z], true);
|
||||||
|
}
|
||||||
|
|
||||||
|
physics.step(dt);
|
||||||
|
|
||||||
|
{
|
||||||
|
let mut query = ecsr.world.query::<(&mut Transform, &RigidBodyComponent)>();
|
||||||
|
for (_ent, (mut tr, rb_comp)) in query.iter() {
|
||||||
|
if let Some(body) = physics.get_rigid_body(rb_comp.0) {
|
||||||
|
let pos = body.position();
|
||||||
|
let translation = Physics::rapier_translation_to_glam(&pos.translation.vector);
|
||||||
|
let rotation = Physics::rapier_rotation_to_glam(&pos.rotation);
|
||||||
|
tr.translation = translation;
|
||||||
|
tr.rotation = rotation;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
if let Some(player_body) = physics.get_rigid_body(player_rb_handle) {
|
||||||
|
let eye = Physics::rapier_translation_to_glam(&player_body.position().translation.vector);
|
||||||
|
camera_controller.position = eye;
|
||||||
|
|
||||||
if let Ok(mut cam) = ecsr.world.query_one_mut::<&mut Camera>(camera_ent) {
|
if let Ok(mut cam) = ecsr.world.query_one_mut::<&mut Camera>(camera_ent) {
|
||||||
cam.eye = camera_controller.position;
|
cam.eye = eye;
|
||||||
cam.center = camera_controller.position + camera_controller.front();
|
cam.center = eye + camera_controller.front();
|
||||||
|
}
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
input.end_frame();
|
input.end_frame();
|
||||||
|
|
||||||
gui.prepare_frame(&window);
|
gui.prepare_frame(&window);
|
||||||
|
|
||||||
|
ecsr.renderer.set_colliders(Some(&physics.collider_set));
|
||||||
window.request_redraw();
|
window.request_redraw();
|
||||||
}
|
}
|
||||||
_ => {}
|
_ => {}
|
||||||
|
|
|
||||||
10
raidillon_physics/Cargo.toml
Normal file
10
raidillon_physics/Cargo.toml
Normal file
|
|
@ -0,0 +1,10 @@
|
||||||
|
[package]
|
||||||
|
name = "raidillon_physics"
|
||||||
|
version = "0.1.0"
|
||||||
|
edition = "2021"
|
||||||
|
|
||||||
|
[dependencies]
|
||||||
|
rapier3d = "0.26.1"
|
||||||
|
glam = "0.30.4"
|
||||||
|
nalgebra = { version = "0.33" }
|
||||||
|
raidillon_ecs = { path = "../raidillon_ecs" }
|
||||||
108
raidillon_physics/src/lib.rs
Normal file
108
raidillon_physics/src/lib.rs
Normal file
|
|
@ -0,0 +1,108 @@
|
||||||
|
use rapier3d::prelude::*;
|
||||||
|
use raidillon_ecs::Transform;
|
||||||
|
use glam::{Quat, Vec3};
|
||||||
|
use ::nalgebra::{UnitQuaternion, Quaternion};
|
||||||
|
use rapier3d::geometry::{DefaultBroadPhase, NarrowPhase};
|
||||||
|
use rapier3d::prelude::QueryPipeline;
|
||||||
|
|
||||||
|
#[derive(Copy, Clone)]
|
||||||
|
pub struct RigidBodyComponent(pub RigidBodyHandle);
|
||||||
|
|
||||||
|
#[derive(Copy, Clone, Debug)]
|
||||||
|
pub enum BodyKind {
|
||||||
|
Static,
|
||||||
|
Dynamic,
|
||||||
|
Kinematic,
|
||||||
|
}
|
||||||
|
|
||||||
|
pub struct Physics {
|
||||||
|
pub rigid_body_set: RigidBodySet,
|
||||||
|
pub collider_set: ColliderSet,
|
||||||
|
gravity: Vector<f32>,
|
||||||
|
integration_parameters: IntegrationParameters,
|
||||||
|
island_manager: IslandManager,
|
||||||
|
broad_phase: DefaultBroadPhase,
|
||||||
|
narrow_phase: NarrowPhase,
|
||||||
|
impulse_joint_set: ImpulseJointSet,
|
||||||
|
multibody_joint_set: MultibodyJointSet,
|
||||||
|
query_pipeline: QueryPipeline,
|
||||||
|
ccd_solver: CCDSolver,
|
||||||
|
physics_pipeline: PhysicsPipeline,
|
||||||
|
}
|
||||||
|
|
||||||
|
impl Physics {
|
||||||
|
pub fn new() -> Self {
|
||||||
|
Self {
|
||||||
|
rigid_body_set: RigidBodySet::new(),
|
||||||
|
collider_set: ColliderSet::new(),
|
||||||
|
gravity: vector![0.0, -9.81, 0.0],
|
||||||
|
integration_parameters: IntegrationParameters::default(),
|
||||||
|
island_manager: IslandManager::new(),
|
||||||
|
broad_phase: DefaultBroadPhase::new(),
|
||||||
|
narrow_phase: NarrowPhase::new(),
|
||||||
|
impulse_joint_set: ImpulseJointSet::new(),
|
||||||
|
multibody_joint_set: MultibodyJointSet::new(),
|
||||||
|
query_pipeline: QueryPipeline::new(),
|
||||||
|
ccd_solver: CCDSolver::new(),
|
||||||
|
physics_pipeline: PhysicsPipeline::new(),
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
pub fn step(&mut self, dt: f32) {
|
||||||
|
self.integration_parameters.dt = dt;
|
||||||
|
self.physics_pipeline.step(
|
||||||
|
&self.gravity,
|
||||||
|
&self.integration_parameters,
|
||||||
|
&mut self.island_manager,
|
||||||
|
&mut self.broad_phase,
|
||||||
|
&mut self.narrow_phase,
|
||||||
|
&mut self.rigid_body_set,
|
||||||
|
&mut self.collider_set,
|
||||||
|
&mut self.impulse_joint_set,
|
||||||
|
&mut self.multibody_joint_set,
|
||||||
|
&mut self.ccd_solver,
|
||||||
|
Some(&mut self.query_pipeline),
|
||||||
|
&(), // physics hooks
|
||||||
|
&(), // event handler
|
||||||
|
);
|
||||||
|
}
|
||||||
|
|
||||||
|
pub fn add_rigid_body(&mut self, kind: BodyKind, transform: Transform, collider: Collider) -> RigidBodyHandle {
|
||||||
|
let body_type = match kind {
|
||||||
|
BodyKind::Static => RigidBodyType::Fixed,
|
||||||
|
BodyKind::Dynamic => RigidBodyType::Dynamic,
|
||||||
|
BodyKind::Kinematic => RigidBodyType::KinematicPositionBased,
|
||||||
|
};
|
||||||
|
|
||||||
|
let rb = RigidBodyBuilder::new(body_type)
|
||||||
|
.translation(vector![transform.translation.x, transform.translation.y, transform.translation.z])
|
||||||
|
.build();
|
||||||
|
|
||||||
|
let rb_handle = self.rigid_body_set.insert(rb);
|
||||||
|
|
||||||
|
// Attach collider to rigid body
|
||||||
|
self.collider_set.insert_with_parent(collider, rb_handle, &mut self.rigid_body_set);
|
||||||
|
|
||||||
|
rb_handle
|
||||||
|
}
|
||||||
|
|
||||||
|
pub fn get_rigid_body(&self, handle: RigidBodyHandle) -> Option<&RigidBody> {
|
||||||
|
self.rigid_body_set.get(handle)
|
||||||
|
}
|
||||||
|
|
||||||
|
pub fn get_rigid_body_mut(&mut self, handle: RigidBodyHandle) -> Option<&mut RigidBody> {
|
||||||
|
self.rigid_body_set.get_mut(handle)
|
||||||
|
}
|
||||||
|
|
||||||
|
fn quat_to_na(quat: Quat) -> UnitQuaternion<f32> {
|
||||||
|
UnitQuaternion::from_quaternion(Quaternion::new(quat.w, quat.x, quat.y, quat.z))
|
||||||
|
}
|
||||||
|
|
||||||
|
pub fn rapier_translation_to_glam(v: &Vector<f32>) -> Vec3 {
|
||||||
|
Vec3::new(v.x, v.y, v.z)
|
||||||
|
}
|
||||||
|
|
||||||
|
pub fn rapier_rotation_to_glam(r: &UnitQuaternion<f32>) -> Quat {
|
||||||
|
Quat::from_xyzw(r.i, r.j, r.k, r.w)
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
@ -4,12 +4,12 @@ version = "0.1.0"
|
||||||
edition = "2021"
|
edition = "2021"
|
||||||
|
|
||||||
[dependencies]
|
[dependencies]
|
||||||
anyhow = "1.0.98"
|
|
||||||
glam = "0.30.4"
|
glam = "0.30.4"
|
||||||
glium = { version = "0.35.0", features = ["glutin_backend", "simple_window_builder"] }
|
image = "0.25"
|
||||||
gltf = { version = "1.4.1", features = ["import", "utils", "KHR_texture_transform"] }
|
anyhow = "1"
|
||||||
glutin = { version = "0.32.3", default-features = false }
|
|
||||||
hecs = "0.10.5"
|
hecs = "0.10.5"
|
||||||
image = "0.25.6"
|
glium = { version = "0.35", features = ["glutin"] }
|
||||||
raidillon_ecs = { path = "../raidillon_ecs" }
|
|
||||||
winit = "0.30"
|
winit = "0.30"
|
||||||
|
raidillon_ecs = { path = "../raidillon_ecs" }
|
||||||
|
rapier3d = "0.26.1"
|
||||||
|
gltf = { version = "1.4.1", features = ["import", "utils", "KHR_texture_transform"] }
|
||||||
|
|
|
||||||
79
raidillon_render/src/debug.rs
Normal file
79
raidillon_render/src/debug.rs
Normal file
|
|
@ -0,0 +1,79 @@
|
||||||
|
use glium::{implement_vertex, VertexBuffer, Surface, Program, DrawParameters, index::NoIndices, index::PrimitiveType, uniform};
|
||||||
|
use glium::glutin::surface::WindowSurface;
|
||||||
|
use rapier3d::prelude::{ColliderSet, Aabb};
|
||||||
|
use glam::{Mat4};
|
||||||
|
|
||||||
|
#[derive(Copy, Clone)]
|
||||||
|
pub struct DebugVertex {
|
||||||
|
position: [f32; 3],
|
||||||
|
}
|
||||||
|
|
||||||
|
implement_vertex!(DebugVertex, position);
|
||||||
|
|
||||||
|
pub struct ColliderDebugRenderer {
|
||||||
|
program: Program,
|
||||||
|
display: glium::Display<WindowSurface>,
|
||||||
|
}
|
||||||
|
|
||||||
|
impl ColliderDebugRenderer {
|
||||||
|
pub fn new(display: &glium::Display<WindowSurface>) -> anyhow::Result<Self> {
|
||||||
|
const VERT: &str = r#"#version 330 core
|
||||||
|
layout(location = 0) in vec3 position;
|
||||||
|
uniform mat4 vp;
|
||||||
|
void main() {
|
||||||
|
gl_Position = vp * vec4(position, 1.0);
|
||||||
|
}
|
||||||
|
"#;
|
||||||
|
const FRAG: &str = r#"#version 330 core
|
||||||
|
out vec4 color;
|
||||||
|
void main() {
|
||||||
|
color = vec4(1.0,1.0,0.0,1.0);
|
||||||
|
}
|
||||||
|
"#;
|
||||||
|
let program = Program::from_source(display, VERT, FRAG, None)?;
|
||||||
|
Ok(Self { program, display: display.clone() })
|
||||||
|
}
|
||||||
|
|
||||||
|
pub fn draw<S: Surface>(&self, colliders: &ColliderSet, vp: Mat4, target: &mut S) {
|
||||||
|
let mut vertices: Vec<DebugVertex> = Vec::new();
|
||||||
|
for (_, c) in colliders.iter() {
|
||||||
|
let aabb: Aabb = c.compute_aabb();
|
||||||
|
let min = aabb.mins;
|
||||||
|
let max = aabb.maxs;
|
||||||
|
// 8 corners
|
||||||
|
let p0 = [min.x, min.y, min.z];
|
||||||
|
let p1 = [max.x, min.y, min.z];
|
||||||
|
let p2 = [max.x, max.y, min.z];
|
||||||
|
let p3 = [min.x, max.y, min.z];
|
||||||
|
let p4 = [min.x, min.y, max.z];
|
||||||
|
let p5 = [max.x, min.y, max.z];
|
||||||
|
let p6 = [max.x, max.y, max.z];
|
||||||
|
let p7 = [min.x, max.y, max.z];
|
||||||
|
// 12 edges (pairs)
|
||||||
|
let edges = [
|
||||||
|
(p0, p1), (p1, p2), (p2, p3), (p3, p0),
|
||||||
|
(p4, p5), (p5, p6), (p6, p7), (p7, p4),
|
||||||
|
(p0, p4), (p1, p5), (p2, p6), (p3, p7),
|
||||||
|
];
|
||||||
|
for (a, b) in edges.iter() {
|
||||||
|
vertices.push(DebugVertex { position: *a });
|
||||||
|
vertices.push(DebugVertex { position: *b });
|
||||||
|
}
|
||||||
|
}
|
||||||
|
if vertices.is_empty() { return; }
|
||||||
|
let vb = VertexBuffer::new(&self.display, &vertices).unwrap();
|
||||||
|
let no_indices = NoIndices(PrimitiveType::LinesList);
|
||||||
|
let uniforms = uniform! { vp: vp.to_cols_array_2d() };
|
||||||
|
let params = DrawParameters {
|
||||||
|
depth: glium::Depth {
|
||||||
|
test: glium::draw_parameters::DepthTest::IfLessOrEqual,
|
||||||
|
write: false,
|
||||||
|
.. Default::default()
|
||||||
|
},
|
||||||
|
polygon_mode: glium::draw_parameters::PolygonMode::Line,
|
||||||
|
line_width: Some(1.0),
|
||||||
|
.. Default::default()
|
||||||
|
};
|
||||||
|
target.draw(&vb, &no_indices, &self.program, &uniforms, ¶ms).ok();
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
@ -29,7 +29,7 @@ where
|
||||||
// ---------- MATERIAL ----------
|
// ---------- MATERIAL ----------
|
||||||
let mut mat = Material::default();
|
let mut mat = Material::default();
|
||||||
|
|
||||||
let mat_idx = primitive.material().index().context("primitive has no material")?;
|
if let Some(mat_idx) = primitive.material().index() {
|
||||||
let material = doc.materials().nth(mat_idx).unwrap();
|
let material = doc.materials().nth(mat_idx).unwrap();
|
||||||
let pbr = material.pbr_metallic_roughness();
|
let pbr = material.pbr_metallic_roughness();
|
||||||
|
|
||||||
|
|
@ -85,21 +85,21 @@ where
|
||||||
}
|
}
|
||||||
|
|
||||||
// Normal map (linear)
|
// Normal map (linear)
|
||||||
if let Some(info) = primitive.material().normal_texture() {
|
if let Some(info) = material.normal_texture() {
|
||||||
update_sampler(&mut mat, &info.texture());
|
update_sampler(&mut mat, &info.texture());
|
||||||
let view = info.texture().source().index();
|
let view = info.texture().source().index();
|
||||||
mat.normal = Some(glium_linear_texture(facade, &images[view])?);
|
mat.normal = Some(glium_linear_texture(facade, &images[view])?);
|
||||||
}
|
}
|
||||||
|
|
||||||
// Occlusion (linear)
|
// Occlusion (linear)
|
||||||
if let Some(info) = primitive.material().occlusion_texture() {
|
if let Some(info) = material.occlusion_texture() {
|
||||||
update_sampler(&mut mat, &info.texture());
|
update_sampler(&mut mat, &info.texture());
|
||||||
let view = info.texture().source().index();
|
let view = info.texture().source().index();
|
||||||
mat.occlusion = Some(glium_linear_texture(facade, &images[view])?);
|
mat.occlusion = Some(glium_linear_texture(facade, &images[view])?);
|
||||||
}
|
}
|
||||||
|
|
||||||
// Emissive (sRGB)
|
// Emissive (sRGB)
|
||||||
if let Some(info) = primitive.material().emissive_texture() {
|
if let Some(info) = material.emissive_texture() {
|
||||||
update_sampler(&mut mat, &info.texture());
|
update_sampler(&mut mat, &info.texture());
|
||||||
let view = info.texture().source().index();
|
let view = info.texture().source().index();
|
||||||
mat.emissive = Some(glium_srgb_texture(facade, &images[view])?);
|
mat.emissive = Some(glium_srgb_texture(facade, &images[view])?);
|
||||||
|
|
@ -112,6 +112,7 @@ where
|
||||||
mat.uv_scale = Vec2::new(xform.scale()[0], xform.scale()[1]);
|
mat.uv_scale = Vec2::new(xform.scale()[0], xform.scale()[1]);
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
}
|
||||||
|
|
||||||
// ---- Vertex/index data ----
|
// ---- Vertex/index data ----
|
||||||
let reader = primitive.reader(|buf| Some(&buffers[buf.index()].0));
|
let reader = primitive.reader(|buf| Some(&buffers[buf.index()].0));
|
||||||
|
|
|
||||||
|
|
@ -4,6 +4,7 @@ pub mod gltf_loader;
|
||||||
pub mod render;
|
pub mod render;
|
||||||
pub mod ecs_renderer;
|
pub mod ecs_renderer;
|
||||||
pub mod window;
|
pub mod window;
|
||||||
|
pub mod debug;
|
||||||
|
|
||||||
pub use camera::Camera;
|
pub use camera::Camera;
|
||||||
pub use render::GliumRenderer;
|
pub use render::GliumRenderer;
|
||||||
|
|
|
||||||
|
|
@ -1,10 +1,13 @@
|
||||||
use crate::camera::Camera;
|
use crate::camera::Camera;
|
||||||
use raidillon_ecs::{ModelHandle, Transform};
|
use raidillon_ecs::{ModelHandle, Transform};
|
||||||
|
|
||||||
use crate::model::{Model, Mesh};
|
use crate::model::{Model, Mesh};
|
||||||
|
use crate::debug::ColliderDebugRenderer;
|
||||||
|
use rapier3d::prelude::ColliderSet;
|
||||||
use glium::texture::{RawImage2d, SrgbTexture2d};
|
use glium::texture::{RawImage2d, SrgbTexture2d};
|
||||||
use glium::{uniform, Program, Surface};
|
use glium::{uniform, Program, Surface};
|
||||||
use glium::uniforms::{MinifySamplerFilter, MagnifySamplerFilter, SamplerWrapFunction};
|
use glium::uniforms::{MinifySamplerFilter, MagnifySamplerFilter, SamplerWrapFunction};
|
||||||
use glam::{Vec3, Vec4};
|
use glam::{Vec3, Vec4, Mat4};
|
||||||
use hecs::World;
|
use hecs::World;
|
||||||
use glium::glutin::surface::WindowSurface;
|
use glium::glutin::surface::WindowSurface;
|
||||||
use image::io::Reader as ImageReader;
|
use image::io::Reader as ImageReader;
|
||||||
|
|
@ -22,6 +25,11 @@ pub struct GliumRenderer {
|
||||||
skybox_program: Program,
|
skybox_program: Program,
|
||||||
skybox_texture: SrgbTexture2d,
|
skybox_texture: SrgbTexture2d,
|
||||||
skybox_mesh: Mesh,
|
skybox_mesh: Mesh,
|
||||||
|
|
||||||
|
debug_renderer: ColliderDebugRenderer,
|
||||||
|
show_colliders: bool,
|
||||||
|
|
||||||
|
collider_set: Option<*const ColliderSet>,
|
||||||
}
|
}
|
||||||
|
|
||||||
impl GliumRenderer {
|
impl GliumRenderer {
|
||||||
|
|
@ -58,6 +66,8 @@ impl GliumRenderer {
|
||||||
let cube_model = crate::gltf_loader::load_gltf("resources/models/cube.gltf", &display)?;
|
let cube_model = crate::gltf_loader::load_gltf("resources/models/cube.gltf", &display)?;
|
||||||
let skybox_mesh = cube_model.mesh;
|
let skybox_mesh = cube_model.mesh;
|
||||||
|
|
||||||
|
let debug_renderer = crate::debug::ColliderDebugRenderer::new(&display)?;
|
||||||
|
|
||||||
Ok(Self {
|
Ok(Self {
|
||||||
display,
|
display,
|
||||||
program,
|
program,
|
||||||
|
|
@ -67,9 +77,23 @@ impl GliumRenderer {
|
||||||
skybox_program,
|
skybox_program,
|
||||||
skybox_texture,
|
skybox_texture,
|
||||||
skybox_mesh,
|
skybox_mesh,
|
||||||
|
debug_renderer,
|
||||||
|
show_colliders: false,
|
||||||
|
collider_set: None,
|
||||||
})
|
})
|
||||||
}
|
}
|
||||||
|
|
||||||
|
/// Provide the collider set for the upcoming frame. Pass `None` when no
|
||||||
|
/// collider debug rendering is desired or right after rendering to release
|
||||||
|
/// the reference.
|
||||||
|
pub fn set_colliders(&mut self, colliders: Option<&ColliderSet>) {
|
||||||
|
self.collider_set = colliders.map(|c| c as *const ColliderSet);
|
||||||
|
}
|
||||||
|
|
||||||
|
pub fn set_show_colliders(&mut self, v: bool) {
|
||||||
|
self.show_colliders = v;
|
||||||
|
}
|
||||||
|
|
||||||
fn draw_scene<S: Surface>(&self, world: &World, target: &mut S) {
|
fn draw_scene<S: Surface>(&self, world: &World, target: &mut S) {
|
||||||
let cam = match world.query::<&Camera>().iter().next() {
|
let cam = match world.query::<&Camera>().iter().next() {
|
||||||
Some((_, cam)) => *cam,
|
Some((_, cam)) => *cam,
|
||||||
|
|
@ -147,6 +171,18 @@ impl GliumRenderer {
|
||||||
&uniforms,
|
&uniforms,
|
||||||
&sky_params,
|
&sky_params,
|
||||||
).unwrap();
|
).unwrap();
|
||||||
|
|
||||||
|
if self.show_colliders {
|
||||||
|
if let Some(ptr) = self.collider_set {
|
||||||
|
// SAFETY: `set_colliders` guarantees the pointer is valid for
|
||||||
|
// the duration of this render call and we only read from it.
|
||||||
|
unsafe {
|
||||||
|
let colset: &ColliderSet = &*ptr;
|
||||||
|
let vp_mat = cam.projection() * cam.view();
|
||||||
|
self.debug_renderer.draw(colset, vp_mat, target);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
pub fn render_into<S: Surface>(&mut self, world: &World, target: &mut S) {
|
pub fn render_into<S: Surface>(&mut self, world: &World, target: &mut S) {
|
||||||
|
|
|
||||||
|
|
@ -4,10 +4,11 @@ version = "0.1.0"
|
||||||
edition = "2021"
|
edition = "2021"
|
||||||
|
|
||||||
[dependencies]
|
[dependencies]
|
||||||
anyhow = "1.0.98"
|
|
||||||
glium = { version = "0.35.0", features = ["glutin_backend", "simple_window_builder"] }
|
|
||||||
imgui = "0.12"
|
imgui = "0.12"
|
||||||
imgui-winit-support = "0.13"
|
imgui-winit-support = "0.13"
|
||||||
imgui-glium-renderer = "0.13"
|
imgui-glium-renderer = "0.13"
|
||||||
winit = "0.30"
|
|
||||||
raidillon_render = { path = "../raidillon_render" }
|
raidillon_render = { path = "../raidillon_render" }
|
||||||
|
anyhow = "1"
|
||||||
|
winit = "0.30"
|
||||||
|
rapier3d = "0.26.1"
|
||||||
|
glium = { version = "0.35", features=["glutin"] }
|
||||||
|
|
|
||||||
|
|
@ -87,6 +87,8 @@ impl Gui {
|
||||||
});
|
});
|
||||||
|
|
||||||
target.finish().expect("Failed to swap buffers");
|
target.finish().expect("Failed to swap buffers");
|
||||||
|
|
||||||
|
ecsr.renderer.set_colliders(None);
|
||||||
}
|
}
|
||||||
|
|
||||||
pub fn ui<F>(&mut self, build: F)
|
pub fn ui<F>(&mut self, build: F)
|
||||||
|
|
|
||||||
Loading…
Add table
Add a link
Reference in a new issue