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update shader.frag and .vert to not convert types implicitly. add tick count to World. add drone debug info to terminal. implement drone physics. TODO - gyroscopic effect.

This commit is contained in:
Flima Desktop 2025-12-08 22:34:01 +00:00
parent fc0c894e4f
commit 3e331d9b83
10 changed files with 456 additions and 82 deletions
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277
Cargo.lock generated
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@ -6,10 +6,11 @@ version = 4
name = "RaylibRustPhysics" name = "RaylibRustPhysics"
version = "0.1.0" version = "0.1.0"
dependencies = [ dependencies = [
"clearscreen",
"glam 0.27.0", "glam 0.27.0",
"macroquad", "macroquad",
"nalgebra", "nalgebra",
"rand", "rand 0.9.2",
"rapier3d", "rapier3d",
"strum", "strum",
] ]
@ -83,6 +84,25 @@ version = "1.0.4"
source = "registry+https://github.com/rust-lang/crates.io-index" source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "9330f8b2ff13f34540b44e946ef35111825727b38d33286ef986142615121801" checksum = "9330f8b2ff13f34540b44e946ef35111825727b38d33286ef986142615121801"
[[package]]
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[[package]]
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dependencies = [
"nix",
"terminfo",
"thiserror",
"which",
"windows-sys 0.59.0",
]
[[package]] [[package]]
name = "color_quant" name = "color_quant"
version = "1.1.0" version = "1.1.0"
@ -119,12 +139,28 @@ dependencies = [
"log", "log",
] ]
[[package]]
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]
[[package]] [[package]]
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@ -144,6 +180,12 @@ dependencies = [
"miniz_oxide", "miniz_oxide",
] ]
[[package]]
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[[package]] [[package]]
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@ -344,6 +386,12 @@ version = "0.2.15"
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@ -389,6 +437,18 @@ dependencies = [
"rawpointer", "rawpointer",
] ]
[[package]]
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@ -460,6 +520,28 @@ version = "0.2.2"
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"libc",
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@ -573,6 +655,44 @@ version = "1.0.15"
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@ -644,6 +764,15 @@ version = "5.3.0"
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"rand_core 0.6.4",
]
[[package]] [[package]]
name = "rand" name = "rand"
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@ -651,7 +780,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
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"rand_chacha", "rand_chacha",
"rand_core", "rand_core 0.9.3",
] ]
[[package]] [[package]]
@ -661,9 +790,15 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "d3022b5f1df60f26e1ffddd6c66e8aa15de382ae63b3a0c1bfc0e4d3e3f325cb" checksum = "d3022b5f1df60f26e1ffddd6c66e8aa15de382ae63b3a0c1bfc0e4d3e3f325cb"
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"ppv-lite86", "ppv-lite86",
"rand_core", "rand_core 0.9.3",
] ]
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[[package]] [[package]]
name = "rand_core" name = "rand_core"
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@ -728,6 +863,19 @@ version = "2.1.1"
source = "registry+https://github.com/rust-lang/crates.io-index" source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "357703d41365b4b27c590e3ed91eabb1b663f07c4c084095e60cbed4362dff0d" checksum = "357703d41365b4b27c590e3ed91eabb1b663f07c4c084095e60cbed4362dff0d"
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"bitflags 2.10.0",
"errno",
"libc",
"linux-raw-sys",
"windows-sys 0.61.2",
]
[[package]] [[package]]
name = "safe_arch" name = "safe_arch"
version = "0.7.4" version = "0.7.4"
@ -756,6 +904,12 @@ version = "0.3.7"
source = "registry+https://github.com/rust-lang/crates.io-index" source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "d66dc143e6b11c1eddc06d5c423cfc97062865baf299914ab64caa38182078fe" checksum = "d66dc143e6b11c1eddc06d5c423cfc97062865baf299914ab64caa38182078fe"
[[package]]
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[[package]] [[package]]
name = "slab" name = "slab"
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@ -824,6 +978,18 @@ dependencies = [
"unicode-ident", "unicode-ident",
] ]
[[package]]
name = "terminfo"
version = "0.9.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
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"fnv",
"nom",
"phf",
"phf_codegen",
]
[[package]] [[package]]
name = "thiserror" name = "thiserror"
version = "2.0.17" version = "2.0.17"
@ -877,6 +1043,17 @@ dependencies = [
"wit-bindgen", "wit-bindgen",
] ]
[[package]]
name = "which"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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"rustix",
"winsafe",
]
[[package]] [[package]]
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@ -909,6 +1086,100 @@ version = "0.4.0"
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1
Cargo.toml
View File

@ -11,6 +11,7 @@ nalgebra = {version="0.34", features = ["convert-glam027"]}
glam = "0.27" glam = "0.27"
rand = "0.9.2" rand = "0.9.2"
strum = { version = "0.27", features = ["derive"] } strum = { version = "0.27", features = ["derive"] }
clearscreen = "4.0.2"
[[bin]] [[bin]]
name = "tools" name = "tools"

2
src/camera.rs
View File

@ -1,7 +1,7 @@
use macroquad::prelude::*; use macroquad::prelude::*;
const MOVE_SPEED: f32 = 1.0; const MOVE_SPEED: f32 = 1.0;
const LOOK_SPEED: f32 = 0.01; const LOOK_SPEED: f32 = 0.1;
pub struct FirstPersonCamera { pub struct FirstPersonCamera {
pub position: Vec3, pub position: Vec3,

96
src/drone.rs
View File

@ -1,20 +1,27 @@
use nalgebra as na; use nalgebra as na;
use rapier3d::prelude as rp; use rapier3d::prelude as rp;
use crate::engine::World; use crate::engine::{ColliderExtraData, World};
mod controller; pub mod controller;
use controller::*; use controller::*;
pub struct MotorCharacteristics { pub struct MotorCharacteristics {
relative_motor_positions: [na::OPoint<f32, na::Const<3>>; 4], pub relative_motor_positions: [na::OPoint<f32, na::Const<3>>; 4],
max_thrust: f32, pub max_thrust: f32,
max_torque: f32, pub max_torque: f32,
} }
impl Default for MotorCharacteristics { impl Default for MotorCharacteristics {
fn default() -> Self { fn default() -> Self {
Self { Self {
/*
* Motor position indices
* 1 --- 0
* | |
* | |
* 2 --- 3
*/
relative_motor_positions: [ relative_motor_positions: [
rp::point![5.0, 3.0, 5.0], rp::point![5.0, 3.0, 5.0],
rp::point![-5.0, 3.0, 5.0], rp::point![-5.0, 3.0, 5.0],
@ -27,8 +34,8 @@ impl Default for MotorCharacteristics {
} }
} }
struct Drone { pub struct Drone {
rb_handle: rp::RigidBodyHandle, pub rb_handle: rp::RigidBodyHandle,
motor_characteristics: MotorCharacteristics, motor_characteristics: MotorCharacteristics,
pub controller: Box<dyn DroneController>, pub controller: Box<dyn DroneController>,
} }
@ -38,23 +45,36 @@ impl Drone {
world: &mut World, world: &mut World,
controller: Box<dyn DroneController>, controller: Box<dyn DroneController>,
motor_characteristics: MotorCharacteristics, motor_characteristics: MotorCharacteristics,
mass: f32,
) -> Drone { ) -> Drone {
let drone_rb_handle = world.register_body( let drone_rb_handle = world.register_body(
rp::RigidBodyBuilder::dynamic() rp::RigidBodyBuilder::dynamic()
.translation(rp::vector![0.0, 10.0, 0.0]) .translation(rp::vector![0.0, 10.0, 0.0])
.rotation(rp::vector![0.6, 0.0, 0.0]) .rotation(rp::vector![0.0, 0.0, 0.0])
.linear_damping(0.1) /*
.angular_damping(0.1) * These damping values keep the simulation more realistic,
* They act as air resistance
*
* Values are kind of random for now. Calculating them requires the final model
* A Poor Man's fluid simulation :D
*/
.linear_damping(0.1) // Damps velocity slowly
.angular_damping(0.1) // Damps angular velocity slowly
.build(), .build(),
); );
world.register_collider( world.register_collider(
rp::ColliderBuilder::cuboid(5.0, 0.5, 5.0) rp::ColliderBuilder::cuboid(5.0, 0.5, 5.0)
.mass(mass)
.restitution(0.3) .restitution(0.3)
.build(), .build(),
drone_rb_handle, drone_rb_handle,
None, Some(ColliderExtraData {
color: macroquad::color::WHITE,
}),
); );
// Should only need to be called once?
// No one should be changing motor characteristics during flight time.
controller.set_motor_characteristics(&motor_characteristics); controller.set_motor_characteristics(&motor_characteristics);
return Drone { return Drone {
@ -63,9 +83,59 @@ impl Drone {
motor_characteristics: motor_characteristics, motor_characteristics: motor_characteristics,
}; };
} }
pub fn update_controller(&mut self, world: &World, tick: u64) {
fn apply_throttles(&mut self, world: &mut World) {
let throttles = self.controller.get_motor_throttles();
let drone_rb = world.bodies.get_mut(self.rb_handle).unwrap();
/*
* Clear all the previously applied forces and torques, or theyll add-up every tick
*/
drone_rb.reset_forces(true);
drone_rb.reset_torques(true);
for (i, motor_position) in self
.motor_characteristics
.relative_motor_positions
.iter()
.enumerate()
{
let throttle = throttles[i].clamp(0.0, 1.0);
let thrust = self.motor_characteristics.max_thrust * throttle;
let torque = self.motor_characteristics.max_torque * throttle;
// Thrust is applied upward at motor position.
//
// Force calculated with (0.0, thrust, 0.0) points to World Up,
// Apply RB's rotation to point at RB's Up
//
// motor_position is relative, transform it by the RB's position first
let mut thrust_force = nalgebra::Vector3::new(0.0, thrust, 0.0);
thrust_force = drone_rb.rotation().transform_vector(&thrust_force);
drone_rb.add_force_at_point(
thrust_force,
drone_rb.position().transform_point(motor_position),
true,
);
let torque = if i % 2 == 0 {
rp::vector![0.0, torque, 0.0]
} else {
rp::vector![0.0, -torque, 0.0]
};
drone_rb.add_torque(torque, true);
}
}
fn update_controller(&mut self, world: &World) {
let rb = world.bodies.get(self.rb_handle).unwrap(); let rb = world.bodies.get(self.rb_handle).unwrap();
self.controller.set_position(*rb.position()); self.controller.set_position(*rb.position());
self.controller.set_time(tick as f32 / 60.0); self.controller.set_time(world.get_time());
}
pub fn process_tick(&mut self, world: &mut World) {
self.update_controller(world);
self.apply_throttles(world);
} }
} }

33
src/drone/controller.rs
View File

@ -4,24 +4,38 @@ use std::any::Any;
use crate::drone::MotorCharacteristics; use crate::drone::MotorCharacteristics;
pub trait DroneController { pub trait DroneController {
// Allow downcast of trait -> class.
//
// This gives us the ability to have a Box<dyn DroneController>
// And transform it into a pointer to its class.
fn as_any(&self) -> &dyn Any; fn as_any(&self) -> &dyn Any;
fn as_mut_any(&mut self) -> &mut dyn Any; fn as_mut_any(&mut self) -> &mut dyn Any;
/*
* Methods called by Drone, to transmit information to the controller.
*/
fn set_position(&self, position: rp::Isometry<f32>); fn set_position(&self, position: rp::Isometry<f32>);
fn set_time(&self, time: f32); fn set_time(&self, time: f32);
fn set_motor_characteristics(&self, motor_characteristics: &MotorCharacteristics); fn set_motor_characteristics(&self, motor_characteristics: &MotorCharacteristics);
fn get_motor_speeds(&self) -> [f32; 4]; /*
* Throttle should be between 0 and 1. Values will be by the Drone class.
*/
fn get_motor_throttles(&self) -> [f32; 4];
} }
struct DefaultController { /*
motor_speed: f32, * DefaultController just sets throttle to motor_throttle, a parameter passed to it on its contructor
*/
pub struct DefaultController {
motor_throttle: f32,
} }
impl DefaultController { impl DefaultController {
pub fn new(motor_speed: f32) -> DefaultController { pub fn new(motor_speed: f32) -> DefaultController {
return DefaultController { motor_speed }; return DefaultController {
motor_throttle: motor_speed,
};
} }
} }
@ -29,9 +43,14 @@ impl DroneController for DefaultController {
fn set_position(&self, _position: rp::Isometry<f32>) {} fn set_position(&self, _position: rp::Isometry<f32>) {}
fn set_time(&self, _time: f32) {} fn set_time(&self, _time: f32) {}
fn set_motor_characteristics(&self, _motor_characteristics: &MotorCharacteristics) {} fn set_motor_characteristics(&self, _motor_characteristics: &MotorCharacteristics) {}
fn get_motor_speeds(&self) -> [f32; 4] { fn get_motor_throttles(&self) -> [f32; 4] {
return [self.motor_speed; 4]; return [self.motor_throttle; 4];
} }
/*
* These should be implemented like this for all the classes that implement DroneController
* Works as an example implementation
*/
fn as_any(&self) -> &dyn Any { fn as_any(&self) -> &dyn Any {
self self
} }

7
src/engine.rs
View File

@ -29,6 +29,7 @@ pub struct World {
pub bodies: rp::RigidBodySet, pub bodies: rp::RigidBodySet,
pub colliders: rp::ColliderSet, pub colliders: rp::ColliderSet,
pub collider_data: HashMap<rp::ColliderHandle, ColliderExtraData>, pub collider_data: HashMap<rp::ColliderHandle, ColliderExtraData>,
pub tick: u64,
} }
pub struct ColliderExtraData { pub struct ColliderExtraData {
@ -51,6 +52,11 @@ impl World {
self.hooks.as_ref(), self.hooks.as_ref(),
self.events.as_ref(), self.events.as_ref(),
); );
self.tick += 1;
}
pub fn get_time(&self) -> f32 {
return self.integration_parameters.dt * (self.tick as f32);
} }
pub fn clear_ofb(&mut self) { pub fn clear_ofb(&mut self) {
@ -140,6 +146,7 @@ impl Default for World {
bodies: rp::RigidBodySet::new(), bodies: rp::RigidBodySet::new(),
colliders: rp::ColliderSet::new(), colliders: rp::ColliderSet::new(),
collider_data: HashMap::new(), collider_data: HashMap::new(),
tick: 0,
}; };
} }
} }

68
src/main.rs
View File

@ -12,7 +12,20 @@ mod graphics_util;
use crate::rendering::Renderer; use crate::rendering::Renderer;
#[macroquad::main("3D")] 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() { async fn main() {
let mut world = World::default(); let mut world = World::default();
let mut renderer = Renderer::new(); let mut renderer = Renderer::new();
@ -21,19 +34,25 @@ async fn main() {
vector![70.0, 150.0, -90.0].into(), vector![70.0, 150.0, -90.0].into(),
vector![-0.4, -0.7, 0.6].into(), vector![-0.4, -0.7, 0.6].into(),
); );
renderer.update_light(&world);
// Physics Initialization // Ground collider
world.register_free_collider( world.register_free_collider(
ColliderBuilder::cuboid(250.0, 5.0, 250.0) ColliderBuilder::cuboid(250.0, 5.0, 250.0)
.restitution(0.5) .restitution(0.5)
.build(), .build(),
None, None,
); );
// add_objects(&mut world);
//
renderer.update_light(&world);
let mut tick: u64 = 0; let mut drone = drone::Drone::new(
&mut world,
Box::new(drone::controller::DefaultController::new(1.0)),
drone::MotorCharacteristics {
max_thrust: 2.0 * 3.5 * 0.25,
..Default::default()
},
0.350,
);
loop { loop {
renderer.update_camera(); renderer.update_camera();
@ -55,40 +74,23 @@ async fn main() {
renderer.apply_config(); renderer.apply_config();
} }
// Physics Simulation // Physics
// {
// let drone_rb = world.bodies.get_mut(drone_rb_handle).unwrap();
// drone_rb.reset_forces(true);
// drone_rb.reset_torques(true);
// for (i, pos) in motor_positions.iter().enumerate() {
// // Thrust is applied upward at motor position
// let mut force = nalgebra::Vector3::new(0.0, drone_rb.mass() * 2.8, 0.0);
//
// // drone_rb.reset_forces(true);
//
// force = drone_rb.rotation().transform_vector(&force);
// drone_rb.add_force_at_point(force, drone_rb.position().transform_point(&pos), true);
// // drone_rb.apply_force_at_point(force, *pos, true);
//
// // let torque = if i % 2 == 0 {
// // vector![0.0, 0.5, 0.0]
// // } else {
// // vector![0.0, 0.5, 0.0]
// // };
// // drone_rb.add_torque(torque, true);
// // println!("{:}", drone_rb.translation());
// }
// }
world.step(); world.step();
drone.process_tick(&mut world);
let _ = clearscreen::clear();
println!(
"{:}",
world.bodies.get(drone.rb_handle).unwrap().translation()
);
println!("{:?}", drone.controller.get_motor_throttles());
// Rendering
renderer.draw(&mut world); renderer.draw(&mut world);
if tick % 30 == 0 { if world.tick % 30 == 0 {
world.clear_ofb(); world.clear_ofb();
renderer.update_light(&world); renderer.update_light(&world);
} }
tick += 1;
mq::next_frame().await; mq::next_frame().await;
} }

42
src/rendering.rs
View File

@ -10,6 +10,7 @@ use rapier3d::prelude::*;
use strum::IntoEnumIterator; use strum::IntoEnumIterator;
mod ui; mod ui;
const DEBUG_UI: bool = false;
const DEPTH_MAP_SIZE: u32 = 1024; const DEPTH_MAP_SIZE: u32 = 1024;
const LIGHT_PROJECTION_SIZE: f32 = 40.0; const LIGHT_PROJECTION_SIZE: f32 = 40.0;
@ -274,25 +275,28 @@ impl Renderer {
} }
fn render_ui(&mut self) { fn render_ui(&mut self) {
mq::set_default_camera(); mq::set_default_camera();
mq::draw_texture_ex(
&self.depth_target.texture, if DEBUG_UI {
320., mq::draw_texture_ex(
20., &self.depth_target.texture,
mq::WHITE, 320.,
mq::DrawTextureParams { 20.,
flip_y: true, mq::WHITE,
dest_size: Some(mq::vec2(200.0, 200.0)), mq::DrawTextureParams {
..Default::default() flip_y: true,
}, dest_size: Some(mq::vec2(200.0, 200.0)),
); ..Default::default()
macroquad::ui::root_ui().window( },
hash!("MaterialWindow"), );
mq::vec2(20.0, 20.0), macroquad::ui::root_ui().window(
mq::vec2(300.0, 300.0), hash!("MaterialWindow"),
|ui| { mq::vec2(20.0, 20.0),
self.ui_state.ui(ui); mq::vec2(300.0, 300.0),
}, |ui| {
); self.ui_state.ui(ui);
},
);
}
} }
pub fn draw(&mut self, mut world: &mut World) { pub fn draw(&mut self, mut world: &mut World) {
if self.enable_shadows { if self.enable_shadows {

6
src/shaders/shader.frag
View File

@ -58,11 +58,11 @@ float calculate_shadow() {
{ {
for (int y = -range; y <= range; y++) for (int y = -range; y <= range; y++)
{ {
float pcfDepth = texture(shadow_map, proj_coords.xy + (vec2(x, y) * texelSize) * shadow_step_size).r; float pcfDepth = texture(shadow_map, proj_coords.xy + (vec2(float(x), float(y)) * texelSize) * shadow_step_size).r;
shadow += current_depth - bias > pcfDepth ? 0.0 : 1.0; shadow += current_depth - bias > pcfDepth ? 0.0 : 1.0;
} }
} }
shadow /= shadow_step_count * shadow_step_count; shadow /= float(shadow_step_count * shadow_step_count);
return shadow; return shadow;
} }
@ -74,7 +74,7 @@ void main() {
app_color = normalize(abs(v_normal)); app_color = normalize(abs(v_normal));
} }
else { else {
app_color = color / 256; app_color = color / 256.0;
} }
if (render_shadows_bool == 1) { if (render_shadows_bool == 1) {

6
src/shaders/shader.vert
View File

@ -1,9 +1,9 @@
#version 330 core #version 330 core
precision highp float; precision highp float;
attribute vec3 position; in vec3 position;
attribute vec4 color0; in vec4 color0;
attribute vec4 normal; in vec4 normal;
uniform mat4 Model; uniform mat4 Model;
uniform mat4 Projection; uniform mat4 Projection;