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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
Conversation 0 Commits 6 Files changed 19 +1013 -61
19 changed files with 1013 additions and 61 deletions
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@ -46,6 +46,12 @@ dependencies = [
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@ -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"

1
Cargo.toml
View file

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

BIN
assets/models/plane.glb (Stored with Git LFS) Normal file
View file

Binary file not shown.

BIN
assets/models/sphere.glb (Stored with Git LFS) Normal file
View file

Binary file not shown.

1
ecs/Cargo.toml
View file

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

13
ecs/src/components.rs
View file

@ -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,
}

1
engine/Cargo.toml
View file

@ -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"

1
engine/src/lib.rs
View file

@ -6,3 +6,4 @@ mod resources;
pub use crate::engine::Engine;
pub use crate::resources::EngineResources;
pub use input::InputState;

1
engine/src/systems/mod.rs
View file

@ -1 +0,0 @@
pub mod fps_camera;

3
game/Cargo.toml
View file

@ -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"

97
game/src/main.rs
View file

@ -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<std::cell::RefCell<f32>>,
}
struct RenderingTestSystem;
impl System for RenderingTestSystem {
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 = scene.resources.get_mut::<Physics>().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::<PlatformContext>().unwrap();
let input = res.get::<InputState>().unwrap();
let dbg_ui = scene.resources.get_mut::<DebugUIBuffer>().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::<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() {
let mut engine = Engine::new();
// Define systems
engine.system_manager.add::<PhysicsSystem>();
engine.system_manager.add::<KeybindsSystem>();
engine.system_manager.add::<KinematicCharacterController>();
engine.system_manager.add::<FPSDebugCameraSystem>();
engine.system_manager.add::<RenderingTestSystem>();
engine.system_manager.add::<UpdateAspectRatioSystem>();

37
engine/src/systems/fps_camera.rs → game/src/systems/debug_camera.rs
View file

@ -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::<PlatformContext>().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::<PlatformContext>().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
}
}

57
game/src/systems/keybinds.rs Normal file
View file

@ -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::<InputState>().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::<DebugUIBuffer>().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;
}
}
}
}

195
game/src/systems/kinematic_character_controller.rs Normal file
View file

@ -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<f32>,
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::<Physics>().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::<PlatformContext>().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::<Physics>().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
}
}

8
game/src/systems/mod.rs Normal file
View file

@ -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;

36
game/src/systems/physics.rs Normal file
View file

@ -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::<PlatformContext>().expect("PlatformContext missing").clone();
let physics = scene.resources.get_mut::<Physics>().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;
}
}
}
}

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physics/Cargo.toml Normal file
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[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
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mod physics;
pub use crate::physics::Physics;

82
physics/src/physics.rs Normal file
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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<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)
}
}