small amount of cleanup, nphysics also seems to be getting phased out for rapier

Cargo.toml

@@ -29,4 +29,4 @@ wgpu-subscriber = "0.1.0"
 tobj = "2.0.3"
 legion = "0.3.1"
 nalgebra = "0.24.1"
-nphysics3d = "0.19.0"
+rapier3d = { version = "0.5.0", features = [ "simd-nightly", "parallel" ] }

src/framework.rs

@@ -1,51 +0,0 @@
-
-
-/*
-pub trait Runtime: 'static + Sized {
-    fn optional_features() -> wgpu::Features {
-        wgpu::Features::empty()
-    }
-    fn required_features() -> wgpu::Features {
-        wgpu::Features::empty()
-    }
-    fn required_limits() -> wgpu::Limits {
-        wgpu::Limits::default()
-    }
-    fn init(
-        sc_desc: &wgpu::SwapChainDescriptor,
-        device: &wgpu::Device,
-        queue: &wgpu::Queue,
-    ) -> Self;
-    fn resize(
-        &mut self,
-        sc_desc: &wgpu::SwapChainDescriptor,
-        device: &wgpu::Device,
-        queue: &wgpu::Queue,
-    );
-    fn update(&mut self, event: WindowEvent);
-    fn render(
-        &mut self,
-        frame: &wgpu::SwapChainTexture,
-        device: &wgpu::Device,
-        queue: &wgpu::Queue,
-        spawner: &impl LocalSpawn,
-    );
-}
-*/
-
-/*
-#[cfg(not(target_arch = "wasm32"))]
-pub fn run<E: Runtime>(title: &str) {
-    let setup = futures::executor::block_on(setup::<E>(title));
-    start::<E>(setup);
-}
-
-#[cfg(target_arch = "wasm32")]
-pub fn run<E: Runtime>(title: &str) {
-    let title = title.to_owned();
-    wasm_bindgen_futures::spawn_local(async move {
-        let setup = setup::<E>(&title).await;
-        start::<E>(setup);
-    });
-}
-*/

src/main.rs

@@ -1,4 +1,4 @@
-extern crate nphysics3d;
+
 extern crate tobj;
 extern crate winit;
 
@@ -12,12 +12,6 @@ use bytemuck::__core::ops::Range;
 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::{
@@ -26,13 +20,13 @@ use winit::{
 };
 use winit::event::DeviceEvent::MouseMotion;
 use winit::platform::unix::x11::ffi::Time;
-
+use rapier3d::math;
 use crate::render::Renderer;
-use nphysics3d::world::{DefaultMechanicalWorld, DefaultGeometricalWorld};
+use rapier3d::pipeline::PhysicsPipeline;
-use nphysics3d::joint::DefaultJointConstraintSet;
+use rapier3d::dynamics::{IntegrationParameters, RigidBodySet, JointSet, RigidBodyBuilder};
-use nphysics3d::force_generator::DefaultForceGeneratorSet;
+use rapier3d::geometry::{BroadPhase, NarrowPhase, ColliderSet, ColliderBuilder};
+use rapier3d::na::{Isometry, Isometry3, Vector, Vector3};
 
-mod framework;
 mod geometry;
 mod light;
 mod render;
@@ -177,6 +171,7 @@ fn main() {
                     window.request_redraw();
                     last_update_inst = Instant::now();
                 }
+                physics();
                 pool.run_until_stalled();
             }
             event::Event::DeviceEvent {
@@ -234,58 +229,118 @@ fn main() {
 
 pub fn physics() {
 
-    let mut mechanical_world = DefaultMechanicalWorld::new(Vector3::new(0.0, -9.81, 0.0));
+/*    // let mut mechanical_world = DefaultMechanicalWorld::new(Vector3::new(0.0, -9.81, 0.0));
-    let mut geometrical_world = DefaultGeometricalWorld::new();
+    // 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)
+    // 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 ground_handle = bodies.insert(Ground::new());
+    // let ground_shape = ShapeHandle::new(Cuboid::new(Vector3::new(3.0, 0.2, 3.0)
+    // ));
+    //
+    // let main_floor = ColliderDesc::new(ground_shape)
+    //     .translation(Vector3::y() * -0.2)
+    //     .build(BodyPartHandle(ground_handle, 0));
+    // colliders.insert(main_floor);
+    //
+    // // Build the rigid body.
+    // let rb = RigidBodyDesc::new()
+    //     .translation(Vector3::new(1.0, 1.0, 1.0))
     //     .build();
+    // let rb_handle = bodies.insert(rb);
+    //
+    // // Build the collider.
+    // let cuboid = ShapeHandle::new(Cuboid::new(Vector3::new(1.0, 1.0, 1.0)));
+    // let co = ColliderDesc::new(cuboid.clone())
+    //     .density(1.0)
+    //     .build(BodyPartHandle(rb_handle, 0));
+    // colliders.insert(co);
+    //
+    // //testbed.set_body_color(rb_handle, color);
+    //
+    // 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_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);*/
+
+    // Here the gravity is -9.81 along the y axis.
+    let mut pipeline = PhysicsPipeline::new();
+    let gravity = rapier3d::math::Vector::new(0.0, -9.81, 0.0);
+    let integration_parameters = IntegrationParameters::default();
+    let mut broad_phase = BroadPhase::new();
+    let mut narrow_phase = NarrowPhase::new();
+    let mut bodies = RigidBodySet::new();
+    let mut colliders = ColliderSet::new();
+    let mut joints = JointSet::new();
+    // We ignore contact events for now.
+    let event_handler = ();
+
+    let mut dynamic_ball_body = RigidBodyBuilder::new_dynamic().build();
+    let mut dynamic_ball_body_handle = bodies.insert(dynamic_ball_body);
+
+    let mut static_floor_body = RigidBodyBuilder::new_static().position(Isometry3::new(
+                Vector3::new(1.0, 2.0, 3.0),
+                Vector::y() * PI,
+            )).build();
+    let mut static_floor_body_handle = bodies.insert(static_floor_body);
+
+
+    let ball_collider = ColliderBuilder::ball(0.5).build();
+    let floor_collider = ColliderBuilder::cuboid(0.5, 0.2, 0.1).build();
+
+    let ball_collider_handle = colliders.insert(ball_collider, dynamic_ball_body_handle, &mut bodies);
+    let floor_collider_handle = colliders.insert(floor_collider, dynamic_ball_body_handle, &mut bodies);
+
+    // Run the simulation in the game loop.
+    loop {
+        pipeline.step(
+            &gravity,
+            &integration_parameters,
+            &mut broad_phase,
+            &mut narrow_phase,
+            &mut bodies,
+            &mut colliders,
+            &mut joints,
+            None,
+            None,
+            &event_handler
+        );
+    }
 }
 
 pub fn entity_loading(world: &mut World, renderer: &mut Renderer) {