mitchellhansen/minimum-viable-game-engine
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adding physics and collision

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This commit is contained in:
mitchellhansen
2021-02-04 23:55:38 -08:00
parent f3e308cb2f
commit 76a21ec73b
2 changed files with 80 additions and 37 deletions
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4
Cargo.toml
View File

@@ -28,5 +28,5 @@ ddsfile = "0.4"
wgpu-subscriber = "0.1.0"
tobj = "2.0.3"
legion = "0.3.1"
nalgebra = "0.20"
ncollide3d = "0.22"
nalgebra = "0.24.1"
nphysics3d = "0.19.0"

109
src/main.rs
View File

@@ -1,26 +1,36 @@
extern crate nphysics3d;
extern crate tobj;
extern crate winit;
extern crate ncollide3d;
use std::f32::consts::PI;
use std::rc::Rc;
use std::sync::Arc;
#[cfg(not(target_arch = "wasm32"))]
use std::time::{Duration, Instant};
use bytemuck::__core::ops::Range;
use cgmath::{Matrix4, Point3, Decomposed, Quaternion, Rotation3, Deg, InnerSpace, SquareMatrix};
use cgmath::{Decomposed, Deg, InnerSpace, Quaternion, Rotation3, SquareMatrix};
use futures::task::LocalSpawn;
use legion::*;
use nphysics3d::math::Inertia;
use nphysics3d::math::Velocity as VelocityN;
use nphysics3d::nalgebra::{Isometry3, Matrix3, Matrix4, Point3, Point4, Vector3, Vector4};
use nphysics3d::ncollide3d::pipeline::CollisionGroups;
use nphysics3d::ncollide3d::shape::{Ball, ShapeHandle};
use nphysics3d::object::{BodyStatus, ColliderDesc, RigidBodyDesc, DefaultBodySet, DefaultColliderSet, BodyPartHandle};
use wgpu::{BindGroup, Buffer, TextureView};
use wgpu_subscriber;
use winit::platform::unix::x11::ffi::Time;
use winit::{
event::{self, WindowEvent},
event_loop::{ControlFlow, EventLoop},
};
use winit::event::DeviceEvent::MouseMotion;
use winit::platform::unix::x11::ffi::Time;
use crate::render::Renderer;
use winit::event::DeviceEvent::MouseMotion;
use nphysics3d::world::{DefaultMechanicalWorld, DefaultGeometricalWorld};
use nphysics3d::joint::DefaultJointConstraintSet;
use nphysics3d::force_generator::DefaultForceGeneratorSet;
mod framework;
mod geometry;
@@ -30,7 +40,7 @@ mod render;
/*
Collision detection
https://crates.io/crates/mgf
https://nphysics.org/rigid_body_simulations_with_contacts/
Obj file format
http://paulbourke.net/dataformats/obj/
@@ -65,27 +75,13 @@ pub const OPENGL_TO_WGPU_MATRIX: cgmath::Matrix4<f32> = cgmath::Matrix4::new(
0.0, 0.0, 0.5, 1.0,
);
#[allow(dead_code)]
pub fn cast_slice<T>(data: &[T]) -> &[u8] {
use std::{mem::size_of, slice::from_raw_parts};
unsafe { from_raw_parts(data.as_ptr() as *const u8, data.len() * size_of::<T>()) }
}
#[allow(dead_code)]
pub enum ShaderStage {
Vertex,
Fragment,
Compute,
}
// a component is any type that is 'static, sized, send and sync
#[derive(Clone, Copy, Debug, PartialEq)]
pub struct Position {
x: f32,
y: f32,
z: f32,
mx: Matrix4<f32>,
mx: cgmath::Matrix4<f32>,
}
#[derive(Clone, Copy, Debug, PartialEq)]
@@ -129,7 +125,6 @@ pub struct Mesh {
//log::info!("");
fn main() {
let mut world = World::default();
let (mut pool, spawner) = {
@@ -170,9 +165,7 @@ fn main() {
let mut resources = Resources::default();
resources.insert(renderer);
event_loop.run(move |event, _, control_flow| {
// Artificially slows the loop rate to 10 millis
// This is called after redraw events cleared
*control_flow = ControlFlow::WaitUntil(Instant::now() + Duration::from_millis(10));
@@ -187,17 +180,16 @@ fn main() {
pool.run_until_stalled();
}
event::Event::DeviceEvent {
event: MouseMotion{ delta },
event: MouseMotion { delta },
..
} => {
resources
.get_mut::<Renderer>()
.unwrap()
.cam_look_delta((delta.0, delta.1));
//swap_chain = device.create_swap_chain(&surface, &sc_desc);
},
}
// Resizing will queue a request_redraw
event::Event::WindowEvent {
event: WindowEvent::Resized(size),
@@ -213,7 +205,7 @@ fn main() {
.resize(width, height);
//swap_chain = device.create_swap_chain(&surface, &sc_desc);
},
}
event::Event::WindowEvent { event, .. } => match event {
WindowEvent::KeyboardInput {
input:
@@ -240,11 +232,64 @@ fn main() {
});
}
pub fn physics() {
let mut mechanical_world = DefaultMechanicalWorld::new(Vector3::new(0.0, -9.81, 0.0));
let mut geometrical_world = DefaultGeometricalWorld::new();
let mut bodies = DefaultBodySet::new();
let mut colliders = DefaultColliderSet::new();
let mut joint_constraints = DefaultJointConstraintSet::new();
let mut force_generators = DefaultForceGeneratorSet::new();
// Run the simulation.
mechanical_world.step(
&mut geometrical_world,
&mut bodies,
&mut colliders,
&mut joint_constraints,
&mut force_generators
);
let rigid_body =
RigidBodyDesc::new()
// The rigid body position. Will override `.translation(...)` and `.rotation(...)`.
.position(Isometry3::new(
Vector3::new(1.0, 2.0, 3.0),
Vector3::y() * PI,
))
.gravity_enabled(true)
.status(BodyStatus::Dynamic)
.velocity(VelocityN::linear(1.0, 2.0, 3.0))
.linear_damping(10.0)
.angular_damping(5.0)
.max_linear_velocity(10.0)
.max_angular_velocity(1.7)
.mass(1.2)
// Arbitrary user-defined data associated to the rigid body to be built.
.user_data(10)
.build();
// let parent_rigid_body = RigidBodyDesc::new()
// .build();
let parent_handle = bodies.insert(rigid_body);
let shape = ShapeHandle::new(Ball::new(1.5));
let collider = ColliderDesc::new(shape)
.density(1.0)
.translation(Vector3::y() * 5.0)
.build(BodyPartHandle(parent_handle, 0));
let collider_handle = colliders.insert(collider);
// let ball = ShapeHandle::new(Ball::new(1.5));
//
// let collider = ColliderDesc::new(rigid_body)
// .build();
}
pub fn entity_loading(world: &mut World, renderer: &mut Renderer) {
let untitled_mesh =
renderer.load_mesh_to_buffer("./resources/monkey.obj");
let untitled_mesh = renderer.load_mesh_to_buffer("./resources/monkey.obj");
// This could be used for relationships between entities...???
let light_entity: Entity = world.push((
@@ -288,8 +333,7 @@ pub fn entity_loading(world: &mut World, renderer: &mut Renderer) {
},
));
let plane_mesh =
renderer.create_plane(7.0);
let plane_mesh = renderer.create_plane(7.0);
let plane_entity: Entity = world.push((
Position {
@@ -306,5 +350,4 @@ pub fn entity_loading(world: &mut World, renderer: &mut Renderer) {
a: 1.0,
},
));
}