RustPhysicsMQ/src/main.rs

use gilrs;
use macroquad::prelude as mq;
use nalgebra as na;
use rapier3d::prelude::*;

mod engine;
use engine::*;

mod camera;
mod drone;
mod rendering;

mod graphics_util;

use crate::{drone::fpvcontroller::JoystickInput, rendering::Renderer};

fn window_conf() -> mq::Conf {
    mq::Conf {
        window_title: "RustDroneSim".to_owned(),
        window_resizable: true,
        // fullscreen: true,
        platform: mq::miniquad::conf::Platform {
            // linux_backend: mq::miniquad::conf::LinuxBackend::WaylandOnly,
            ..Default::default()
        },
        ..Default::default()
    }
}

#[macroquad::main(window_conf)]
async fn main() {
    /* World Setup */
    let mut world = World::default();

    world.register_free_collider(
        ColliderBuilder::cuboid(30.0, 1.0, 30.0)
            .translation(vector![0.0, -2.0, 0.0])
            .restitution(0.5)
            .build(),
        None,
    );

    let mut drone_controller = drone::pidcontroller::PIDController::default();
    drone_controller.set_input(JoystickInput {
        throttle_input: 0.75,
        yaw_input: 0.4,
        roll_input: 0.7,
        pitch_input: 0.0,
    });
    let mut drone_obj = drone::Drone::new(
        &mut world,
        Box::new(drone_controller),
        drone::MotorCharacteristics {
            max_thrust: 2.6,
            max_torque: 0.5,
            ..Default::default()
        },
        0.350,
    );

    /* Renderer Setup */
    let camera = camera::AttachedCamera::new(
        drone_obj.rb_handle,
        vector![1.0, 0.0, 0.0],
        vector![0.5, 0.0, 0.0],
    );
    let mut renderer = Renderer::new(Box::new(camera));

    renderer.light.set_location(
        vector![70.0, 150.0, -90.0].into(),
        vector![-0.4, -0.7, 0.6].into(),
    );
    renderer.update_light(&world);

    let mut input = JoystickInput::default();

    loop {
        renderer.update_camera(&world);

        if mq::is_key_pressed(mq::KeyCode::Q) {
            break;
        }

        // Physics
        world.step();
        let _ = clearscreen::clear();
        drone_obj.process_tick(&mut world);

        // Rendering
        renderer.draw(&mut world);

        if world.tick % (20) == 0 {
            // renderer.update_light(&world);
            // world.clear_ofb();
            mq::next_frame().await;
        }
    }
}

fn add_objects(world: &mut World) {
    for i in 0..1 {
        let body = world.register_body(
            RigidBodyBuilder::dynamic()
                .translation(vector![0.0, 50.0 + i as f32, 0.0])
                .rotation(vector![std::f32::consts::PI / 4.2, i as f32, i as f32])
                .build(),
        );
        world.register_collider(
            ColliderBuilder::cuboid(2.0, 2.0, 2.0)
                .restitution(0.1)
                .build(),
            body,
            None,
        );
    }
}