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Physics Support #8

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reo merged 6 commits from 2025-10-19-physics into master 2025-11-16 15:38:20 +00:00
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@ -46,6 +46,12 @@ dependencies = [
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name = "raw-window-handle" name = "raw-window-handle"
version = "0.6.2" 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-core" name = "rayon-core"
version = "1.13.0" version = "1.13.0"
@ -1533,12 +1925,35 @@ dependencies = [
"bitflags 2.9.1", "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]] [[package]]
name = "rustc-demangle" name = "rustc-demangle"
version = "0.1.26" version = "0.1.26"
source = "registry+https://github.com/rust-lang/crates.io-index" source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "56f7d92ca342cea22a06f2121d944b4fd82af56988c270852495420f961d4ace" checksum = "56f7d92ca342cea22a06f2121d944b4fd82af56988c270852495420f961d4ace"
[[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"
@ -1577,6 +1992,15 @@ 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"
@ -1649,6 +2073,19 @@ 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 = "0.9.1"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "c99284beb21666094ba2b75bbceda012e610f5479dfcc2d6e2426f53197ffd95"
dependencies = [
"approx",
"num-complex",
"num-traits",
"paste",
"wide",
]
[[package]] [[package]]
name = "simd-adler32" name = "simd-adler32"
version = "0.3.7" version = "0.3.7"
@ -1681,7 +2118,7 @@ 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",
@ -1701,12 +2138,36 @@ 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 = "1.2.1"
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]] [[package]]
name = "strict-num" name = "strict-num"
version = "0.1.1" version = "0.1.1"
@ -1730,7 +2191,16 @@ 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 = "2.0.17"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "f63587ca0f12b72a0600bcba1d40081f830876000bb46dd2337a3051618f4fc8"
dependencies = [
"thiserror-impl 2.0.17",
] ]
[[package]] [[package]]
@ -1744,6 +2214,17 @@ dependencies = [
"syn", "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]] [[package]]
name = "tiny-skia" name = "tiny-skia"
version = "0.11.4" version = "0.11.4"
@ -1808,6 +2289,12 @@ 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 = "1.19.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "562d481066bde0658276a35467c4af00bdc6ee726305698a55b86e61d7ad82bb"
[[package]] [[package]]
name = "unicode-ident" name = "unicode-ident"
version = "1.0.18" version = "1.0.18"
@ -1929,7 +2416,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "673a33c33048a5ade91a6b139580fa174e19fb0d23f396dca9fa15f2e1e49b35" checksum = "673a33c33048a5ade91a6b139580fa174e19fb0d23f396dca9fa15f2e1e49b35"
dependencies = [ dependencies = [
"cc", "cc",
"downcast-rs", "downcast-rs 1.2.1",
"rustix 1.0.8", "rustix 1.0.8",
"scoped-tls", "scoped-tls",
"smallvec", "smallvec",
@ -2051,6 +2538,16 @@ dependencies = [
"wasm-bindgen", "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]] [[package]]
name = "winapi-util" name = "winapi-util"
version = "0.1.9" version = "0.1.9"

1
Cargo.toml
View file

@ -7,4 +7,5 @@ members = [
"game", "game",
"ecs", "ecs",
"engine", "engine",
"physics",
] ]

BIN
assets/models/plane.glb (Stored with Git LFS) Normal file
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BIN
assets/models/sphere.glb (Stored with Git LFS) Normal file
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1
ecs/Cargo.toml
View file

@ -6,3 +6,4 @@ edition = "2024"
[dependencies] [dependencies]
glam = "0.30.5" glam = "0.30.5"
raidillon_assets = { path = "../asset" } raidillon_assets = { path = "../asset" }
rapier3d = "0.30.1"

3
ecs/src/components.rs
View file

@ -15,3 +15,6 @@ impl Transform {
} }
pub struct ModelHandle(pub ModelID); pub struct ModelHandle(pub ModelID);
#[derive(Copy, Clone)]
pub struct RigidBodyComponent(pub rapier3d::dynamics::RigidBodyHandle);

2
game/Cargo.toml
View file

@ -13,6 +13,8 @@ raidillon_platform = { path = "../platform" }
raidillon_assets = { path = "../asset" } raidillon_assets = { path = "../asset" }
raidillon_ecs = { path = "../ecs" } raidillon_ecs = { path = "../ecs" }
raidillon_engine = { path = "../engine" } raidillon_engine = { path = "../engine" }
raidillon_physics = { path = "../physics" }
raidillon_glium = { path = "../glium_platform", optional = true } raidillon_glium = { path = "../glium_platform", optional = true }
glam = "0.30.5" glam = "0.30.5"
winit = "0.30.12" winit = "0.30.12"
rapier3d = "0.30.1"

67
game/src/main.rs
View file

@ -1,11 +1,14 @@
mod systems;
use std::fmt::format; use std::fmt::format;
use glam::{Quat, Vec3}; use glam::{Quat, Vec3};
use rapier3d::dynamics::RigidBodyType;
use rapier3d::prelude::ColliderBuilder;
use raidillon_engine::{Engine, system::System, EngineResources}; use raidillon_engine::{Engine, system::System, EngineResources};
use raidillon_engine::system::SystemContext; use raidillon_engine::system::SystemContext;
use raidillon_platform::{Platform, Camera, PlatformContext}; use raidillon_platform::{Platform, Camera, PlatformContext};
use raidillon_assets::model_path; use raidillon_assets::model_path;
use raidillon_core::engine::EngineTrait; use raidillon_core::engine::EngineTrait;
use raidillon_ecs::components::ModelHandle; use raidillon_ecs::components::{ModelHandle, RigidBodyComponent};
use raidillon_ecs::Transform; use raidillon_ecs::Transform;
use raidillon_core::scene::Scene; use raidillon_core::scene::Scene;
#[cfg(feature = "glium")] #[cfg(feature = "glium")]
@ -15,9 +18,11 @@ use winit::event::DeviceEvent::MouseMotion;
use winit::keyboard::{KeyCode, PhysicalKey}; use winit::keyboard::{KeyCode, PhysicalKey};
use raidillon_core::DebugUIBuffer; use raidillon_core::DebugUIBuffer;
use raidillon_engine::systems::fps_camera::FPSDebugCameraSystem; use raidillon_engine::systems::fps_camera::FPSDebugCameraSystem;
use raidillon_physics::Physics;
use crate::systems::PhysicsSystem;
const TEST_GLTF: &str = "pink-monkey.gltf"; const TEST_GLTF: &str = "sphere.glb";
const PLANE_GLTF: &str = "plane.glb";
const MAIN_SCENE_ID: &str = "main_scene"; const MAIN_SCENE_ID: &str = "main_scene";
#[derive(Default)] #[derive(Default)]
@ -40,29 +45,46 @@ impl System for UpdateAspectRatioSystem {
} }
#[derive(Default)] #[derive(Default)]
struct RenderingTestSystem { struct RenderingTestSystem;
rotation_speed: std::rc::Rc<std::cell::RefCell<f32>>,
}
impl System for RenderingTestSystem { impl System for RenderingTestSystem {
fn load_world(&mut self, res: &mut EngineResources, scene: &mut Scene) { fn load_world(&mut self, res: &mut EngineResources, scene: &mut Scene) {
let pctx = res.get::<PlatformContext>().unwrap(); let pctx = res.get::<PlatformContext>().expect("PlatformContext missing").clone();
let physics = res.get_mut::<Physics>().expect("Physics missing");
self.rotation_speed = std::rc::Rc::new(std::cell::RefCell::new(5.0)); // Spawn Sphere
{
let mut am = pctx.asset_manager.borrow_mut(); let tr = Transform {
translation: Vec3::new(0.0, 5.0, 0.0),
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, rotation: Quat::IDENTITY,
scale: Vec3::new(1.0, 1.0, 1.0), scale: Vec3::new(1.0, 1.0, 1.0),
}, };
let collider = ColliderBuilder::ball(1.0).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), 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),
));
}
}
fn frame_update(&mut self, res: &mut EngineResources, scene: &mut Scene) { fn frame_update(&mut self, res: &mut EngineResources, scene: &mut Scene) {
let pctx = res.get::<PlatformContext>().unwrap(); let pctx = res.get::<PlatformContext>().unwrap();
@ -72,22 +94,13 @@ impl System for RenderingTestSystem {
dbg_ui.text(format!("Frame Delta: {}", pctx.time_ctx.frame_dt)); 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!("Fixed Delta: {}", pctx.time_ctx.fixed_dt));
dbg_ui.text(format!("FPS: {}", 1.0 / pctx.time_ctx.frame_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());
} }
fn fixed_update(&mut self, res: &mut EngineResources, scene: &mut Scene) {
let pctx = res.get::<PlatformContext>().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() { fn main() {
let mut engine = Engine::new(); let mut engine = Engine::new();
// Define systems // Define systems
engine.system_manager.add::<PhysicsSystem>();
engine.system_manager.add::<FPSDebugCameraSystem>(); engine.system_manager.add::<FPSDebugCameraSystem>();
engine.system_manager.add::<RenderingTestSystem>(); engine.system_manager.add::<RenderingTestSystem>();
engine.system_manager.add::<UpdateAspectRatioSystem>(); engine.system_manager.add::<UpdateAspectRatioSystem>();

3
game/src/systems/mod.rs Normal file
View file

@ -0,0 +1,3 @@
mod physics;
pub use physics::PhysicsSystem;

34
game/src/systems/physics.rs Normal file
View file

@ -0,0 +1,34 @@
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;
#[derive(Default)]
pub struct PhysicsSystem;
impl System for PhysicsSystem {
fn load_world(&mut self, res: &mut EngineResources, scene: &mut Scene) {
let p = Physics::default();
res.insert(p);
}
fn fixed_update(&mut self, res: &mut EngineResources, scene: &mut Scene) {
let pctx = res.get::<PlatformContext>().expect("PlatformContext missing").clone();
let physics = res.get_mut::<Physics>().expect("Physics missing");
physics.step(pctx.time_ctx.fixed_dt);
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;
}
}
}
}

9
physics/Cargo.toml Normal file
View file

@ -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"

3
physics/src/lib.rs Normal file
View file

@ -0,0 +1,3 @@
mod physics;
pub use crate::physics::Physics;

82
physics/src/physics.rs Normal file
View file

@ -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 {
rigid_body_set: RigidBodySet,
collider_set: ColliderSet,
physics_pipeline: PhysicsPipeline,
island_manager: IslandManager,
broad_phase: DefaultBroadPhase,
narrow_phase: NarrowPhase,
impulse_joint_set: ImpulseJointSet,
multibody_joint_set: MultibodyJointSet,
ccd_solver: CCDSolver,
gravity: Vector<f32>,
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<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)
}
}