diff --git a/Cargo.lock b/Cargo.lock index e1b6adb..91f50f1 100644 --- a/Cargo.lock +++ b/Cargo.lock @@ -46,6 +46,12 @@ dependencies = [ "zerocopy", ] +[[package]] +name = "allocator-api2" +version = "0.2.21" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "683d7910e743518b0e34f1186f92494becacb047c7b6bf616c96772180fef923" + [[package]] name = "android-activity" version = "0.6.0" @@ -64,7 +70,7 @@ dependencies = [ "ndk-context", "ndk-sys", "num_enum", - "thiserror", + "thiserror 1.0.69", ] [[package]] @@ -79,6 +85,15 @@ version = "1.0.99" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "b0674a1ddeecb70197781e945de4b3b8ffb61fa939a5597bcf48503737663100" +[[package]] +name = "approx" +version = "0.5.1" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "cab112f0a86d568ea0e627cc1d6be74a1e9cd55214684db5561995f6dad897c6" +dependencies = [ + "num-traits", +] + [[package]] name = "arrayref" version = "0.3.9" @@ -130,6 +145,12 @@ version = "0.13.1" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "9e1b586273c5702936fe7b7d6896644d8be71e6314cfe09d3167c95f712589e8" +[[package]] +name = "bit-vec" +version = "0.8.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "5e764a1d40d510daf35e07be9eb06e75770908c27d411ee6c92109c9840eaaf7" + [[package]] name = "bit_field" version = "0.10.3" @@ -198,7 +219,7 @@ dependencies = [ "polling", "rustix 0.38.44", "slab", - "thiserror", + "thiserror 1.0.69", ] [[package]] @@ -393,12 +414,33 @@ version = "1.2.1" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "75b325c5dbd37f80359721ad39aca5a29fb04c89279657cffdda8736d0c0b9d2" +[[package]] +name = "downcast-rs" +version = "2.0.2" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "117240f60069e65410b3ae1bb213295bd828f707b5bec6596a1afc8793ce0cbc" + [[package]] name = "dpi" version = "0.1.2" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "d8b14ccef22fc6f5a8f4d7d768562a182c04ce9a3b3157b91390b52ddfdf1a76" +[[package]] +name = "either" +version = "1.15.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "48c757948c5ede0e46177b7add2e67155f70e33c07fea8284df6576da70b3719" + +[[package]] +name = "ena" +version = "0.14.3" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "3d248bdd43ce613d87415282f69b9bb99d947d290b10962dd6c56233312c2ad5" +dependencies = [ + "log", +] + [[package]] name = "equivalent" version = "1.0.2" @@ -455,6 +497,18 @@ version = "1.0.7" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "3f9eec918d3f24069decb9af1554cad7c880e2da24a9afd88aca000531ab82c1" +[[package]] +name = "foldhash" +version = "0.1.5" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "d9c4f5dac5e15c24eb999c26181a6ca40b39fe946cbe4c263c7209467bc83af2" + +[[package]] +name = "foldhash" +version = "0.2.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "77ce24cb58228fbb8aa041425bb1050850ac19177686ea6e0f41a70416f56fdb" + [[package]] name = "foreign-types" version = "0.5.0" @@ -521,6 +575,96 @@ dependencies = [ "xml-rs", ] +[[package]] +name = "glam" +version = "0.14.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "333928d5eb103c5d4050533cec0384302db6be8ef7d3cebd30ec6a35350353da" + +[[package]] +name = "glam" +version = "0.15.2" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "3abb554f8ee44336b72d522e0a7fe86a29e09f839a36022fa869a7dfe941a54b" + +[[package]] +name = "glam" +version = "0.16.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "4126c0479ccf7e8664c36a2d719f5f2c140fbb4f9090008098d2c291fa5b3f16" + +[[package]] +name = "glam" +version = "0.17.3" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = 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"registry+https://github.com/rust-lang/crates.io-index" +checksum = "5419bdc4f6a9207fbeba6d11b604d481addf78ecd10c11ad51e76c2f6482748d" +dependencies = [ + "foldhash 0.2.0", +] + +[[package]] +name = "heapless" +version = "0.8.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "0bfb9eb618601c89945a70e254898da93b13be0388091d42117462b265bb3fad" +dependencies = [ + "hash32", + "stable_deref_trait", +] [[package]] name = "hecs" @@ -784,7 +961,7 @@ dependencies = [ "combine", "jni-sys", "log", - "thiserror", + "thiserror 1.0.69", "walkdir", "windows-sys 0.45.0", ] @@ -849,6 +1026,12 @@ dependencies = [ "windows-targets 0.53.3", ] +[[package]] +name = "libm" +version = "0.2.15" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "f9fbbcab51052fe104eb5e5d351cf728d30a5be1fe14d9be8a3b097481fb97de" + [[package]] name = "libredox" version = "0.1.9" @@ -888,6 +1071,16 @@ version = "0.4.27" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "13dc2df351e3202783a1fe0d44375f7295ffb4049267b0f3018346dc122a1d94" +[[package]] +name = "matrixmultiply" +version = "0.3.10" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "a06de3016e9fae57a36fd14dba131fccf49f74b40b7fbdb472f96e361ec71a08" +dependencies = [ + "autocfg", + "rawpointer", +] + [[package]] name = "memchr" version = "2.7.5" @@ -938,6 +1131,49 @@ dependencies = [ "pxfm", ] +[[package]] +name = "nalgebra" +version = "0.34.1" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "c4d5b3eff5cd580f93da45e64715e8c20a3996342f1e466599cf7a267a0c2f5f" +dependencies = [ + "approx", + "glam 0.14.0", + "glam 0.15.2", + "glam 0.16.0", + "glam 0.17.3", + "glam 0.18.0", + "glam 0.19.0", + "glam 0.20.5", + "glam 0.21.3", + "glam 0.22.0", + "glam 0.23.0", + "glam 0.24.2", + "glam 0.25.0", + "glam 0.27.0", + "glam 0.28.0", + "glam 0.29.3", + "glam 0.30.8", + "matrixmultiply", + "nalgebra-macros", + "num-complex", + "num-rational", + "num-traits", + "simba", + "typenum", +] + +[[package]] +name = "nalgebra-macros" +version = "0.3.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "973e7178a678cfd059ccec50887658d482ce16b0aa9da3888ddeab5cd5eb4889" +dependencies = [ + "proc-macro2", + "quote", + "syn", +] + [[package]] name = "ndk" version = "0.9.0" @@ -950,7 +1186,7 @@ dependencies = [ "ndk-sys", "num_enum", "raw-window-handle", - "thiserror", + "thiserror 1.0.69", ] [[package]] @@ -968,6 +1204,56 @@ dependencies = [ "jni-sys", ] +[[package]] +name = "num-bigint" +version = "0.4.6" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "a5e44f723f1133c9deac646763579fdb3ac745e418f2a7af9cd0c431da1f20b9" +dependencies = [ + "num-integer", + "num-traits", +] + +[[package]] +name = "num-complex" +version = "0.4.6" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "73f88a1307638156682bada9d7604135552957b7818057dcef22705b4d509495" +dependencies = [ + "num-traits", +] + +[[package]] +name = "num-derive" +version = "0.4.2" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "ed3955f1a9c7c0c15e092f9c887db08b1fc683305fdf6eb6684f22555355e202" +dependencies = [ + "proc-macro2", + "quote", + "syn", +] + +[[package]] +name = "num-integer" +version = "0.1.46" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "7969661fd2958a5cb096e56c8e1ad0444ac2bbcd0061bd28660485a44879858f" +dependencies = [ + "num-traits", +] + +[[package]] +name = "num-rational" +version = "0.4.2" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "f83d14da390562dca69fc84082e73e548e1ad308d24accdedd2720017cb37824" +dependencies = [ + "num-bigint", + "num-integer", + "num-traits", +] + [[package]] name = "num-traits" version = "0.2.19" @@ -975,6 +1261,7 @@ source = 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"num-traits", + "ordered-float", + "rstar", + "simba", + "slab", + "smallvec", + "spade", + "static_assertions", + "thiserror 2.0.17", +] + +[[package]] +name = "paste" +version = "1.0.15" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "57c0d7b74b563b49d38dae00a0c37d4d6de9b432382b2892f0574ddcae73fd0a" + [[package]] name = "percent-encoding" version = "2.3.1" @@ -1384,6 +1714,25 @@ dependencies = [ "unicode-ident", ] +[[package]] +name = "profiling" +version = "1.0.17" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "3eb8486b569e12e2c32ad3e204dbaba5e4b5b216e9367044f25f1dba42341773" +dependencies = [ + "profiling-procmacros", +] + +[[package]] +name = "profiling-procmacros" +version = "1.0.17" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "52717f9a02b6965224f95ca2a81e2e0c5c43baacd28ca057577988930b6c3d5b" +dependencies = [ + "quote", + "syn", +] + [[package]] name = "pxfm" version = "0.1.24" @@ -1436,19 +1785,21 @@ dependencies = [ name = "raidillon_ecs" version = "0.1.0" dependencies = [ - "glam", + "glam 0.30.8", "raidillon_assets", + "rapier3d", ] [[package]] name = "raidillon_engine" version = "0.1.0" dependencies = [ - "glam", + "glam 0.30.8", "hecs", "indexmap", "raidillon_assets", "raidillon_core", + "raidillon_ecs", "raidillon_platform", "winit", ] @@ -1457,13 +1808,16 @@ dependencies = [ name = "raidillon_game" version = "0.1.0" dependencies = [ - "glam", + "glam 0.30.8", + "hecs", "raidillon_assets", "raidillon_core", "raidillon_ecs", "raidillon_engine", "raidillon_glium", + "raidillon_physics", "raidillon_platform", + "rapier3d", "winit", ] @@ -1473,7 +1827,7 @@ version = "0.1.0" dependencies = [ "anyhow", "exr", - "glam", + "glam 0.30.8", "glium", "gltf", "image", @@ -1489,22 +1843,62 @@ dependencies = [ "winit", ] +[[package]] +name = "raidillon_physics" +version = "0.1.0" +dependencies = [ + "glam 0.30.8", + "raidillon_ecs", + "rapier3d", +] + [[package]] name = "raidillon_platform" version = "0.1.0" dependencies = [ - "glam", + "glam 0.30.8", "raidillon_assets", "raidillon_core", "winit", ] +[[package]] +name = "rapier3d" +version = "0.30.1" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "5bd27b8eb36d0833fa0f2aea40164fabfad0fc34b9932286ae9e84f3452f5364" +dependencies = [ + "approx", + "arrayvec", + "bit-vec", + "bitflags 2.9.1", + "downcast-rs 2.0.2", + "log", + "nalgebra", + "num-derive", + "num-traits", + "ordered-float", + "parry3d", + "profiling", + "rustc-hash", + "simba", + "static_assertions", + "thiserror 2.0.17", + "wide", +] + [[package]] name = "raw-window-handle" version = "0.6.2" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "20675572f6f24e9e76ef639bc5552774ed45f1c30e2951e1e99c59888861c539" +[[package]] +name = "rawpointer" +version = "0.2.1" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "60a357793950651c4ed0f3f52338f53b2f809f32d83a07f72909fa13e4c6c1e3" + [[package]] name = "rayon-core" version = "1.13.0" @@ -1533,12 +1927,35 @@ dependencies = [ "bitflags 2.9.1", ] +[[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]] name = "rustc-demangle" version = "0.1.26" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "56f7d92ca342cea22a06f2121d944b4fd82af56988c270852495420f961d4ace" +[[package]] +name = "rustc-hash" +version = "2.1.1" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "357703d41365b4b27c590e3ed91eabb1b663f07c4c084095e60cbed4362dff0d" + [[package]] name = "rustix" version = "0.38.44" @@ -1577,6 +1994,15 @@ version = "1.0.20" source = "registry+https://github.com/rust-lang/crates.io-index" 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]] name = "same-file" version = "1.0.6" @@ -1649,6 +2075,19 @@ version = "1.3.0" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "0fda2ff0d084019ba4d7c6f371c95d8fd75ce3524c3cb8fb653a3023f6323e64" +[[package]] +name = "simba" +version = "0.9.1" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "c99284beb21666094ba2b75bbceda012e610f5479dfcc2d6e2426f53197ffd95" +dependencies = [ + "approx", + "num-complex", + "num-traits", + "paste", + "wide", +] + [[package]] name = "simd-adler32" version = "0.3.7" @@ -1681,7 +2120,7 @@ dependencies = [ "log", "memmap2", "rustix 0.38.44", - "thiserror", + "thiserror 1.0.69", "wayland-backend", "wayland-client", "wayland-csd-frame", @@ -1701,12 +2140,36 @@ dependencies = [ "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]] name = "spin" version = "0.9.8" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "6980e8d7511241f8acf4aebddbb1ff938df5eebe98691418c4468d0b72a96a67" +[[package]] +name = "stable_deref_trait" +version = "1.2.1" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "6ce2be8dc25455e1f91df71bfa12ad37d7af1092ae736f3a6cd0e37bc7810596" + +[[package]] +name = "static_assertions" +version = "1.1.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "a2eb9349b6444b326872e140eb1cf5e7c522154d69e7a0ffb0fb81c06b37543f" + [[package]] name = "strict-num" version = "0.1.1" @@ -1730,7 +2193,16 @@ version = "1.0.69" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "b6aaf5339b578ea85b50e080feb250a3e8ae8cfcdff9a461c9ec2904bc923f52" dependencies = [ - "thiserror-impl", + "thiserror-impl 1.0.69", +] + +[[package]] +name = "thiserror" +version = "2.0.17" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "f63587ca0f12b72a0600bcba1d40081f830876000bb46dd2337a3051618f4fc8" +dependencies = [ + "thiserror-impl 2.0.17", ] [[package]] @@ -1744,6 +2216,17 @@ dependencies = [ "syn", ] +[[package]] +name = "thiserror-impl" +version = "2.0.17" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "3ff15c8ecd7de3849db632e14d18d2571fa09dfc5ed93479bc4485c7a517c913" +dependencies = [ + "proc-macro2", + "quote", + "syn", +] + [[package]] name = "tiny-skia" version = "0.11.4" @@ -1808,6 +2291,12 @@ version = "0.25.1" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "d2df906b07856748fa3f6e0ad0cbaa047052d4a7dd609e231c4f72cee8c36f31" +[[package]] +name = "typenum" +version = "1.19.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "562d481066bde0658276a35467c4af00bdc6ee726305698a55b86e61d7ad82bb" + [[package]] name = "unicode-ident" version = "1.0.18" @@ -1929,7 +2418,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "673a33c33048a5ade91a6b139580fa174e19fb0d23f396dca9fa15f2e1e49b35" dependencies = [ "cc", - "downcast-rs", + "downcast-rs 1.2.1", "rustix 1.0.8", "scoped-tls", "smallvec", @@ -2051,6 +2540,16 @@ dependencies = [ "wasm-bindgen", ] +[[package]] +name = "wide" +version = "0.7.33" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "0ce5da8ecb62bcd8ec8b7ea19f69a51275e91299be594ea5cc6ef7819e16cd03" +dependencies = [ + "bytemuck", + "safe_arch", +] + [[package]] name = "winapi-util" version = "0.1.9" diff --git a/Cargo.toml b/Cargo.toml index 23332d0..dd544ab 100644 --- a/Cargo.toml +++ b/Cargo.toml @@ -7,4 +7,5 @@ members = [ "game", "ecs", "engine", + "physics", ] diff --git a/assets/models/plane.glb b/assets/models/plane.glb new file mode 100644 index 0000000..e755152 --- /dev/null +++ b/assets/models/plane.glb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b54f00f327a5edc76c03f83d4efa2a4400215d7ca9c961b38537e7f836bca710 +size 1240 diff --git a/assets/models/sphere.glb b/assets/models/sphere.glb new file mode 100644 index 0000000..ea99045 --- /dev/null +++ b/assets/models/sphere.glb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:78583ec562098f7fa4eaf95c6e21b7d1ced53416eb4c71351e246d53f93aa0a3 +size 24744 diff --git a/ecs/Cargo.toml b/ecs/Cargo.toml index 0e1efb5..a47173d 100644 --- a/ecs/Cargo.toml +++ b/ecs/Cargo.toml @@ -6,3 +6,4 @@ edition = "2024" [dependencies] glam = "0.30.5" raidillon_assets = { path = "../asset" } +rapier3d = "0.30.1" diff --git a/ecs/src/components.rs b/ecs/src/components.rs index 758f0f4..3c20ec7 100644 --- a/ecs/src/components.rs +++ b/ecs/src/components.rs @@ -15,3 +15,16 @@ impl Transform { } pub struct ModelHandle(pub ModelID); + +#[derive(Copy, Clone)] +pub struct RigidBodyComponent(pub rapier3d::dynamics::RigidBodyHandle); + +#[derive(Copy, Clone)] +pub struct CharacterBodyComponent(pub rapier3d::dynamics::RigidBodyHandle); + +#[derive(Debug, Default, PartialEq, Eq, Clone, Copy)] +pub enum CameraMode { + #[default] + Kinematic, + Debug, +} diff --git a/engine/Cargo.toml b/engine/Cargo.toml index 98202e4..79a2de9 100644 --- a/engine/Cargo.toml +++ b/engine/Cargo.toml @@ -7,6 +7,7 @@ edition = "2024" raidillon_assets = { path = "../asset" } raidillon_core = { path = "../core" } raidillon_platform = { path = "../platform" } +raidillon_ecs = { path = "../ecs" } winit = "0.30.12" hecs = "0.10.5" indexmap = "2.10.0" diff --git a/engine/src/lib.rs b/engine/src/lib.rs index 9a87556..a7ad724 100644 --- a/engine/src/lib.rs +++ b/engine/src/lib.rs @@ -6,3 +6,4 @@ mod resources; pub use crate::engine::Engine; pub use crate::resources::EngineResources; +pub use input::InputState; diff --git a/engine/src/systems/mod.rs b/engine/src/systems/mod.rs index 8489571..e69de29 100644 --- a/engine/src/systems/mod.rs +++ b/engine/src/systems/mod.rs @@ -1 +0,0 @@ -pub mod fps_camera; diff --git a/game/Cargo.toml b/game/Cargo.toml index 484e434..9579d22 100644 --- a/game/Cargo.toml +++ b/game/Cargo.toml @@ -13,6 +13,9 @@ raidillon_platform = { path = "../platform" } raidillon_assets = { path = "../asset" } raidillon_ecs = { path = "../ecs" } raidillon_engine = { path = "../engine" } +raidillon_physics = { path = "../physics" } raidillon_glium = { path = "../glium_platform", optional = true } glam = "0.30.5" winit = "0.30.12" +rapier3d = "0.30.1" +hecs = "0.10.5" diff --git a/game/src/main.rs b/game/src/main.rs index ad230cf..99eb0e2 100644 --- a/game/src/main.rs +++ b/game/src/main.rs @@ -1,11 +1,14 @@ +mod systems; use std::fmt::format; use glam::{Quat, Vec3}; -use raidillon_engine::{Engine, system::System, EngineResources}; +use rapier3d::dynamics::{CoefficientCombineRule, RigidBodyType}; +use rapier3d::prelude::ColliderBuilder; +use raidillon_engine::{Engine, system::System, EngineResources, InputState}; use raidillon_engine::system::SystemContext; use raidillon_platform::{Platform, Camera, PlatformContext}; use raidillon_assets::model_path; use raidillon_core::engine::EngineTrait; -use raidillon_ecs::components::ModelHandle; +use raidillon_ecs::components::{CameraMode, CharacterBodyComponent, ModelHandle, RigidBodyComponent}; use raidillon_ecs::Transform; use raidillon_core::scene::Scene; #[cfg(feature = "glium")] @@ -14,10 +17,13 @@ use winit::event::{ElementState, Event, WindowEvent}; use winit::event::DeviceEvent::MouseMotion; use winit::keyboard::{KeyCode, PhysicalKey}; use raidillon_core::DebugUIBuffer; -use raidillon_engine::systems::fps_camera::FPSDebugCameraSystem; - -const TEST_GLTF: &str = "pink-monkey.gltf"; +use systems::debug_camera::FPSDebugCameraSystem; +use raidillon_glium::RenderingSystem; +use raidillon_physics::Physics; +use crate::systems::{KeybindsSystem, KinematicCharacterController, PhysicsSystem}; +const TEST_GLTF: &str = "sphere.glb"; +const PLANE_GLTF: &str = "plane.glb"; const MAIN_SCENE_ID: &str = "main_scene"; #[derive(Default)] @@ -40,54 +46,83 @@ impl System for UpdateAspectRatioSystem { } #[derive(Default)] -struct RenderingTestSystem { - rotation_speed: std::rc::Rc>, -} +struct RenderingTestSystem; impl System for RenderingTestSystem { fn load_world(&mut self, res: &mut EngineResources, scene: &mut Scene) { - let pctx = res.get::().unwrap(); + let pctx = res.get::().expect("PlatformContext missing").clone(); + let physics = scene.resources.get_mut::().expect("Physics missing"); - self.rotation_speed = std::rc::Rc::new(std::cell::RefCell::new(5.0)); + // Spawn Sphere + { + let tr = Transform { + translation: Vec3::new(0.0, 5.0, 0.0), + rotation: Quat::IDENTITY, + scale: Vec3::new(1.0, 1.0, 1.0), + }; + let collider = ColliderBuilder::ball(1.0) + .restitution(0.7) + .restitution_combine_rule(CoefficientCombineRule::Max) + .build(); + let rb_handle = physics.add_rigid_body(RigidBodyType::Dynamic, tr, collider); + pctx.asset_manager.borrow_mut().load_gltf(TEST_GLTF, &model_path(TEST_GLTF)); + scene.world.spawn(( + tr, + ModelHandle(TEST_GLTF), + RigidBodyComponent(rb_handle), + )); + } + // Spawn Plane + { + let tr = Transform { + translation: Vec3::new(0.0, 0.0, 0.0), + rotation: Quat::IDENTITY, + scale: Vec3::new(10.0, 1.0, 10.0), + }; + let collider = ColliderBuilder::cuboid(10.0, 0.01, 10.0).build(); + let rb_handle = physics.add_rigid_body(RigidBodyType::Fixed, tr, collider); + pctx.asset_manager.borrow_mut().load_gltf(PLANE_GLTF, &model_path(PLANE_GLTF)); + scene.world.spawn(( + tr, + ModelHandle(PLANE_GLTF), + RigidBodyComponent(rb_handle), + )); + } - let mut am = pctx.asset_manager.borrow_mut(); - - am.load_gltf(TEST_GLTF, &model_path(TEST_GLTF)); - - scene.world.spawn(( - Transform { - translation: Vec3::new(0.0, 0.0, 0.0), - rotation: Quat::IDENTITY, - scale: Vec3::new(1.0, 1.0, 1.0), - }, - ModelHandle(TEST_GLTF), + scene.world.spawn((Camera { + eye: Vec3::new(0.0, 2.0, 3.0), + center: Vec3::ZERO, + up: Vec3::Y, + fovy: 60_f32.to_radians(), + aspect: pctx.frame_width / pctx.frame_height, + znear: 0.1, + zfar: 100.0}, + CameraMode::default(), )); } fn frame_update(&mut self, res: &mut EngineResources, scene: &mut Scene) { let pctx = res.get::().unwrap(); + let input = res.get::().unwrap(); let dbg_ui = scene.resources.get_mut::().unwrap(); dbg_ui.text("Hello World!".to_owned()); dbg_ui.text(format!("Frame Delta: {}", pctx.time_ctx.frame_dt)); dbg_ui.text(format!("Fixed Delta: {}", pctx.time_ctx.fixed_dt)); dbg_ui.text(format!("FPS: {}", 1.0 / pctx.time_ctx.frame_dt)); - dbg_ui.slider_f32("Rotation Speed", -10.0, 10.0, self.rotation_speed.clone()); + + for (_ent, (tr, ch_component)) in scene.world.query::<(&Transform, &CharacterBodyComponent)>().iter() { + dbg_ui.text(format!("Character POS: {}", tr.translation)); + } } - - fn fixed_update(&mut self, res: &mut EngineResources, scene: &mut Scene) { - let pctx = res.get::().unwrap(); - - scene.world.query_mut::<(&mut Transform, &ModelHandle)>().into_iter().for_each(|(_, (t, _))| { - t.rotation *= Quat::from_rotation_y(*self.rotation_speed.borrow() * pctx.time_ctx.fixed_dt); - }); - } - } fn main() { let mut engine = Engine::new(); // Define systems + engine.system_manager.add::(); + engine.system_manager.add::(); + engine.system_manager.add::(); engine.system_manager.add::(); engine.system_manager.add::(); engine.system_manager.add::(); diff --git a/engine/src/systems/fps_camera.rs b/game/src/systems/debug_camera.rs similarity index 87% rename from engine/src/systems/fps_camera.rs rename to game/src/systems/debug_camera.rs index 0d98577..13cb971 100644 --- a/engine/src/systems/fps_camera.rs +++ b/game/src/systems/debug_camera.rs @@ -1,4 +1,4 @@ -use crate::system::{System, SystemContext}; +use raidillon_engine::system::{System, SystemContext}; use glam::{Quat, Vec3}; use winit::event::DeviceEvent::MouseMotion; use winit::event::{ElementState, Event, MouseButton, WindowEvent}; @@ -6,9 +6,10 @@ use winit::keyboard::{KeyCode, PhysicalKey}; use winit::window::CursorGrabMode; use raidillon_assets::model_path; use raidillon_platform::{Camera, PlatformContext}; -use crate::input::InputState; -use crate::resources::EngineResources; +use raidillon_engine::InputState; +use raidillon_engine::EngineResources; use raidillon_core::scene::Scene; +use raidillon_ecs::components::CameraMode; pub struct FPSDebugCameraSystem { mouse_delta: (f64, f64), @@ -28,27 +29,17 @@ impl Default for FPSDebugCameraSystem { position: Vec3::new(0.0, 0.0, 2.0), yaw: -90.0, pitch: 0.0, - speed: 3.0, + speed: 8.0, sensitivity: 0.1, } } } impl System for FPSDebugCameraSystem { - fn load_world(&mut self, res: &mut EngineResources, scene: &mut Scene) { - let pctx = res.get::().unwrap(); - scene.world.spawn((Camera { - eye: Vec3::new(0.0, 0.0, 2.0), - center: Vec3::ZERO, - up: Vec3::Y, - fovy: 60_f32.to_radians(), - aspect: pctx.frame_width / pctx.frame_height, - znear: 0.1, - zfar: 100.0, - },)); - } - fn handle_event(&mut self, res: &mut EngineResources, scene: &mut Scene) { + if !self.is_camera_mode_valid(scene) { + return + } let pctx = res.get::().unwrap(); let event2 = pctx.current_event.clone(); match event2 { @@ -92,6 +83,9 @@ impl System for FPSDebugCameraSystem { } fn frame_update(&mut self, res: &mut EngineResources, scene: &mut Scene) { + if !self.is_camera_mode_valid(scene) { + return + } let (pctx, input) = res.get_many::<(PlatformContext, InputState)>().unwrap(); if self.mouse_enabled { @@ -134,4 +128,13 @@ impl FPSDebugCameraSystem { yaw_rad.sin() * pitch_rad.cos(), ).normalize() } + + fn is_camera_mode_valid(&self, scene: &mut Scene) -> bool { + let mut q = scene.world.query::<(&Camera, &CameraMode)>(); + let (cam_ent, (cam, cam_mode)) = q + .iter() + .next() + .unwrap(); + *cam_mode == CameraMode::Debug + } } diff --git a/game/src/systems/keybinds.rs b/game/src/systems/keybinds.rs new file mode 100644 index 0000000..e701dad --- /dev/null +++ b/game/src/systems/keybinds.rs @@ -0,0 +1,57 @@ +use winit::keyboard::KeyCode; +use raidillon_core::DebugUIBuffer; +use raidillon_core::scene::Scene; +use raidillon_ecs::components::CameraMode; +use raidillon_engine::{EngineResources, InputState}; +use raidillon_engine::system::System; +use raidillon_platform::{Camera, PlatformContext}; + +#[derive(Default)] +pub struct KeybindsSystem { + camera_toggle_held: bool, +} + +impl System for KeybindsSystem { + fn fixed_update(&mut self, res: &mut EngineResources, scene: &mut Scene) { + let input = res.get::().unwrap(); + if input.key_held(KeyCode::F5) { + if self.camera_toggle_held { return } + self.toggle_camera_mode(scene); + self.camera_toggle_held = true; + } else { + self.camera_toggle_held = false; + } + } + + fn frame_update(&mut self, res: &mut EngineResources, scene: &mut Scene) { + let dbg_ui = scene.resources.get_mut::().unwrap(); + + dbg_ui.text("F5 to switch camera".to_owned()); + + let mut q = scene.world.query::<(&Camera, &CameraMode)>(); + let (cam_ent, (cam, cam_mode)) = q + .iter() + .next() + .unwrap(); + dbg_ui.text(format!("Camera Mode: {:?}", cam_mode)); + } +} + +impl KeybindsSystem { + fn toggle_camera_mode(&mut self, scene: &mut Scene) { + let q = scene.world.query_mut::<(&mut Camera, &mut CameraMode)>(); + let (cam_ent, (cam, cam_mode)) = q + .into_iter() + .next() + .unwrap(); + + match *cam_mode { + CameraMode::Kinematic => { + *cam_mode = CameraMode::Debug; + } + CameraMode::Debug => { + *cam_mode = CameraMode::Kinematic; + } + } + } +} diff --git a/game/src/systems/kinematic_character_controller.rs b/game/src/systems/kinematic_character_controller.rs new file mode 100644 index 0000000..e3fc099 --- /dev/null +++ b/game/src/systems/kinematic_character_controller.rs @@ -0,0 +1,195 @@ +use glam::{Quat, Vec3}; +use rapier3d::prelude::{nalgebra, ColliderBuilder, QueryFilter, RigidBodyBuilder}; +use rapier3d::prelude::vector; +use raidillon_core::scene::Scene; +use raidillon_engine::{EngineResources, InputState}; +use raidillon_engine::system::System; +use rapier3d::control::KinematicCharacterController as RapierKinematicCharacterController; +use rapier3d::na::{Isometry3, Vector3}; +use winit::event::DeviceEvent::MouseMotion; +use winit::event::Event; +use winit::keyboard::KeyCode; +use raidillon_ecs::components::{CameraMode, CharacterBodyComponent}; +use raidillon_ecs::Transform; +use raidillon_physics::Physics; +use raidillon_platform::{Camera, PlatformContext}; + +#[derive(Default)] +pub struct KinematicCharacterController { + character_controller: RapierKinematicCharacterController, + character_collider: ColliderBuilder, + + desired_movement: Vec3, + last_position: Vector3, + yaw: f32, + pitch: f32, + speed: f32, + sensitivity: f32, + mouse_delta: (f64, f64), + + vertical_velocity: f32, + gravity: f32, + max_fall_speed: f32, +} + +impl System for KinematicCharacterController { + fn load_world(&mut self, res: &mut EngineResources, scene: &mut Scene) { + // create the rigid body, add it to the body set + let p = scene.resources.get_mut::().expect("Physics missing"); + let rb = RigidBodyBuilder::kinematic_position_based().build(); + let rb_handle = p.rigid_body_set.insert(rb); + self.character_collider = ColliderBuilder::capsule_z(1.5, 1.0); + p.collider_set.insert_with_parent(self.character_collider.build(), rb_handle, &mut p.rigid_body_set); + let tr = Transform { + translation: Vec3::new(0.0, 2.0, 3.0), + rotation: Quat::IDENTITY, + scale: Vec3::new(1.0, 1.0, 1.0), + }; + self.last_position = vector![ + tr.translation.x, + tr.translation.y, + tr.translation.z, + ]; + scene.world.spawn(( + tr, + CharacterBodyComponent(rb_handle), + )); + + self.speed = 5.0; + self.sensitivity = 0.1; + self.gravity = -9.81; + self.max_fall_speed = -50.0; + self.vertical_velocity = 0.0; + } + + fn handle_event(&mut self, res: &mut EngineResources, scene: &mut Scene) { + if !self.is_camera_mode_valid(scene) { + return + } + + let pctx = res.get::().unwrap(); + let event2 = pctx.current_event.clone(); + match event2 { + Event::DeviceEvent { device_id, event } => { + match event { + MouseMotion { delta } => { + self.mouse_delta.0 += delta.0; + self.mouse_delta.1 += delta.1; + }, + _ => {} + } + }, + _ => {}, + } + } + + fn frame_update(&mut self, res: &mut EngineResources, scene: &mut Scene) { + if !self.is_camera_mode_valid(scene) { + return + } + let (pctx, input) = res.get_many::<(PlatformContext, InputState)>().unwrap(); + + self.yaw += (self.mouse_delta.0 as f32) * self.sensitivity; + self.pitch -= (self.mouse_delta.1 as f32) * self.sensitivity; + self.pitch = self.pitch.clamp(-89.0, 89.0); + + let front = self.front(); + let right_vec = front.cross(Vec3::Y).normalize(); + + if input.key_held(KeyCode::KeyW) { + self.desired_movement += front * pctx.time_ctx.frame_dt * self.speed; + } + if input.key_held(KeyCode::KeyS) { + self.desired_movement -= front * pctx.time_ctx.frame_dt * self.speed; + } + if input.key_held(KeyCode::KeyA) { + self.desired_movement -= right_vec * pctx.time_ctx.frame_dt * self.speed; + } + if input.key_held(KeyCode::KeyD) { + self.desired_movement += right_vec * pctx.time_ctx.frame_dt * self.speed; + } + + let pos = Physics::rapier_translation_to_glam(&self.last_position); + + scene.world.query_mut::<&mut Camera>().into_iter().for_each(|(_, camera)| { + // INTERPOLATION NEEDED. + camera.eye = pos; + camera.center = pos + front; + }); + self.mouse_delta = (0.0, 0.0); + } + + fn fixed_update(&mut self, res: &mut EngineResources, scene: &mut Scene) { + if !self.is_camera_mode_valid(scene) { + return + } + let p = scene.resources.get_mut::().unwrap(); + let (pctx, input) = res.get_many::<(PlatformContext, InputState)>().unwrap(); + + let (ch_ent, (ch_tr, ch_component)) = scene + .world + .query_mut::<(&mut Transform, &mut CharacterBodyComponent)>() + .into_iter() + .next() + .expect("no character entity in world"); + + let query_pipeline = p.broad_phase.as_query_pipeline( + p.narrow_phase.query_dispatcher(), + &p.rigid_body_set, + &p.collider_set, + QueryFilter::default().exclude_rigid_body(ch_component.0), + ); + + self.vertical_velocity = (self.vertical_velocity + self.gravity * pctx.time_ctx.fixed_dt) + .max(self.max_fall_speed); + let mut total_displacement = self.desired_movement; + total_displacement.y += self.vertical_velocity * pctx.time_ctx.fixed_dt; + + let corrected_movement = self.character_controller.move_shape( + pctx.time_ctx.fixed_dt, + &query_pipeline, + &*self.character_collider.shape, + &Isometry3::from(self.last_position), + vector![total_displacement.x, total_displacement.y, total_displacement.z], + |_| {}, + ); + + // update character rigid body with the new translation. + if let Some(body) = p.get_rigid_body_mut(ch_component.0) { + self.last_position = vector![ + self.last_position.x + corrected_movement.translation.x, + self.last_position.y + corrected_movement.translation.y, + self.last_position.z + corrected_movement.translation.z, + ]; + body.set_next_kinematic_position(Isometry3::from(self.last_position)); + ch_tr.translation = Physics::rapier_translation_to_glam(&self.last_position); + // reset vertical velocity if grounded + if corrected_movement.grounded { + self.vertical_velocity = 0.0; + } + } + + self.desired_movement = Vec3::ZERO; + } +} + +impl KinematicCharacterController { + pub fn front(&self) -> Vec3 { + let yaw_rad = self.yaw.to_radians(); + let pitch_rad = self.pitch.to_radians(); + Vec3::new( + yaw_rad.cos() * pitch_rad.cos(), + pitch_rad.sin(), + yaw_rad.sin() * pitch_rad.cos(), + ).normalize() + } + + fn is_camera_mode_valid(&self, scene: &mut Scene) -> bool { + let mut q = scene.world.query::<(&Camera, &CameraMode)>(); + let (cam_ent, (cam, cam_mode)) = q + .iter() + .next() + .unwrap(); + *cam_mode == CameraMode::Kinematic + } +} diff --git a/game/src/systems/mod.rs b/game/src/systems/mod.rs new file mode 100644 index 0000000..2a387b1 --- /dev/null +++ b/game/src/systems/mod.rs @@ -0,0 +1,8 @@ +mod physics; +mod kinematic_character_controller; +mod keybinds; +pub mod debug_camera; + +pub use physics::PhysicsSystem; +pub use kinematic_character_controller::KinematicCharacterController; +pub use keybinds::KeybindsSystem; diff --git a/game/src/systems/physics.rs b/game/src/systems/physics.rs new file mode 100644 index 0000000..a77c75c --- /dev/null +++ b/game/src/systems/physics.rs @@ -0,0 +1,36 @@ +use raidillon_core::scene::Scene; +use raidillon_ecs::components::RigidBodyComponent; +use raidillon_ecs::Transform; +use raidillon_engine::EngineResources; +use raidillon_engine::system::System; +use raidillon_physics::Physics; +use raidillon_platform::PlatformContext; + +/// Do physics calculations and apply to world. +#[derive(Default)] +pub struct PhysicsSystem; + +impl System for PhysicsSystem { + fn load_world(&mut self, res: &mut EngineResources, scene: &mut Scene) { + let p = Physics::default(); + scene.resources.insert(p); + } + + fn fixed_update(&mut self, res: &mut EngineResources, scene: &mut Scene) { + let pctx = res.get::().expect("PlatformContext missing").clone(); + let physics = scene.resources.get_mut::().expect("Physics missing"); + physics.step(pctx.time_ctx.fixed_dt); + + // apply calculations to dynamic bodies + let mut query = scene.world.query::<(&mut Transform, &RigidBodyComponent)>(); + for (_ent, (tr, rb_component)) in query.iter() { + if let Some(body) = physics.get_rigid_body(rb_component.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; + } + } + } +} diff --git a/physics/Cargo.toml b/physics/Cargo.toml new file mode 100644 index 0000000..dc34e98 --- /dev/null +++ b/physics/Cargo.toml @@ -0,0 +1,9 @@ +[package] +name = "raidillon_physics" +version = "0.1.0" +edition = "2024" + +[dependencies] +rapier3d = "0.30.1" +raidillon_ecs = { path = "../ecs" } +glam = "0.30.8" \ No newline at end of file diff --git a/physics/src/lib.rs b/physics/src/lib.rs new file mode 100644 index 0000000..a5dafc6 --- /dev/null +++ b/physics/src/lib.rs @@ -0,0 +1,3 @@ +mod physics; + +pub use crate::physics::Physics; diff --git a/physics/src/physics.rs b/physics/src/physics.rs new file mode 100644 index 0000000..5eff699 --- /dev/null +++ b/physics/src/physics.rs @@ -0,0 +1,82 @@ +use glam::{Quat, Vec3}; +use rapier3d::na::{Quaternion, UnitQuaternion}; +use rapier3d::prelude::*; +use raidillon_ecs::Transform; + +/// Tiny wrapper around rapier3d. +pub struct Physics { + pub rigid_body_set: RigidBodySet, + pub collider_set: ColliderSet, + physics_pipeline: PhysicsPipeline, + island_manager: IslandManager, + pub broad_phase: DefaultBroadPhase, + pub narrow_phase: NarrowPhase, + impulse_joint_set: ImpulseJointSet, + multibody_joint_set: MultibodyJointSet, + ccd_solver: CCDSolver, + gravity: Vector, + integration_parameters: IntegrationParameters, +} + +impl Default for Physics { + fn default() -> Self { + Self { + gravity: vector![0.0, -9.81, 0.0], + rigid_body_set: Default::default(), + collider_set: Default::default(), + physics_pipeline: Default::default(), + island_manager: Default::default(), + broad_phase: Default::default(), + narrow_phase: Default::default(), + impulse_joint_set: Default::default(), + multibody_joint_set: Default::default(), + ccd_solver: Default::default(), + integration_parameters: Default::default(), + } + } +} + +impl Physics { + 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, + &(), + &(), + ); + } + + pub fn add_rigid_body(&mut self, kind: RigidBodyType, transform: Transform, collider: Collider) -> RigidBodyHandle { + let rb = RigidBodyBuilder::new(kind) + .translation(vector![transform.translation.x, transform.translation.y, transform.translation.z]) + .build(); + let rb_handle = self.rigid_body_set.insert(rb); + 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) + } + + pub fn rapier_translation_to_glam(v: &Vector) -> Vec3 { + Vec3::new(v.x, v.y, v.z) + } + + pub fn rapier_rotation_to_glam(r: &UnitQuaternion) -> Quat { + Quat::from_xyzw(r.i, r.j, r.k, r.w) + } +}