Cansat
/
RustPhysicsMQ
2
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

277
Cargo.lock generated
View File

@ -6,10 +6,11 @@ version = 4
name = "RaylibRustPhysics"
version = "0.1.0"
dependencies = [
"clearscreen",
"glam 0.27.0",
"macroquad",
"nalgebra",
"rand",
"rand 0.9.2",
"rapier3d",
"strum",
]
@ -83,6 +84,25 @@ version = "1.0.4"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "9330f8b2ff13f34540b44e946ef35111825727b38d33286ef986142615121801"
[[package]]
name = "cfg_aliases"
version = "0.2.1"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "613afe47fcd5fac7ccf1db93babcb082c5994d996f20b8b159f2ad1658eb5724"
[[package]]
name = "clearscreen"
version = "4.0.2"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "85a8ab73a1c02b0c15597b22e09c7dc36e63b2f601f9d1e83ac0c3decd38b1ae"
dependencies = [
"nix",
"terminfo",
"thiserror",
"which",
"windows-sys 0.59.0",
]
[[package]]
name = "color_quant"
version = "1.1.0"
@ -119,12 +139,28 @@ dependencies = [
"log",
]
[[package]]
name = "env_home"
version = "0.1.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "c7f84e12ccf0a7ddc17a6c41c93326024c42920d7ee630d04950e6926645c0fe"
[[package]]
name = "equivalent"
version = "1.0.2"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "877a4ace8713b0bcf2a4e7eec82529c029f1d0619886d18145fea96c3ffe5c0f"
[[package]]
name = "errno"
version = "0.3.14"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "39cab71617ae0d63f51a36d69f866391735b51691dbda63cf6f96d042b63efeb"
dependencies = [
"libc",
"windows-sys 0.61.2",
]
[[package]]
name = "fdeflate"
version = "0.3.7"
@ -144,6 +180,12 @@ dependencies = [
"miniz_oxide",
]
[[package]]
name = "fnv"
version = "1.0.7"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "3f9eec918d3f24069decb9af1554cad7c880e2da24a9afd88aca000531ab82c1"
[[package]]
name = "foldhash"
version = "0.1.5"
@ -344,6 +386,12 @@ version = "0.2.15"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "f9fbbcab51052fe104eb5e5d351cf728d30a5be1fe14d9be8a3b097481fb97de"
[[package]]
name = "linux-raw-sys"
version = "0.11.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "df1d3c3b53da64cf5760482273a98e575c651a67eec7f77df96b5b642de8f039"
[[package]]
name = "log"
version = "0.4.28"
@ -389,6 +437,18 @@ dependencies = [
"rawpointer",
]
[[package]]
name = "memchr"
version = "2.7.6"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "f52b00d39961fc5b2736ea853c9cc86238e165017a493d1d5c8eac6bdc4cc273"
[[package]]
name = "minimal-lexical"
version = "0.2.1"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "68354c5c6bd36d73ff3feceb05efa59b6acb7626617f4962be322a825e61f79a"
[[package]]
name = "miniquad"
version = "0.4.8"
@ -460,6 +520,28 @@ version = "0.2.2"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "e1bcdd74c20ad5d95aacd60ef9ba40fdf77f767051040541df557b7a9b2a2121"
[[package]]
name = "nix"
version = "0.29.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "71e2746dc3a24dd78b3cfcb7be93368c6de9963d30f43a6a73998a9cf4b17b46"
dependencies = [
"bitflags 2.10.0",
"cfg-if",
"cfg_aliases",
"libc",
]
[[package]]
name = "nom"
version = "7.1.3"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "d273983c5a657a70a3e8f2a01329822f3b8c8172b73826411a55751e404a0a4a"
dependencies = [
"memchr",
"minimal-lexical",
]
[[package]]
name = "num-bigint"
version = "0.4.6"
@ -573,6 +655,44 @@ version = "1.0.15"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "57c0d7b74b563b49d38dae00a0c37d4d6de9b432382b2892f0574ddcae73fd0a"
[[package]]
name = "phf"
version = "0.11.3"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "1fd6780a80ae0c52cc120a26a1a42c1ae51b247a253e4e06113d23d2c2edd078"
dependencies = [
"phf_shared",
]
[[package]]
name = "phf_codegen"
version = "0.11.3"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "aef8048c789fa5e851558d709946d6d79a8ff88c0440c587967f8e94bfb1216a"
dependencies = [
"phf_generator",
"phf_shared",
]
[[package]]
name = "phf_generator"
version = "0.11.3"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "3c80231409c20246a13fddb31776fb942c38553c51e871f8cbd687a4cfb5843d"
dependencies = [
"phf_shared",
"rand 0.8.5",
]
[[package]]
name = "phf_shared"
version = "0.11.3"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "67eabc2ef2a60eb7faa00097bd1ffdb5bd28e62bf39990626a582201b7a754e5"
dependencies = [
"siphasher",
]
[[package]]
name = "png"
version = "0.17.16"
@ -644,6 +764,15 @@ version = "5.3.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "69cdb34c158ceb288df11e18b4bd39de994f6657d83847bdffdbd7f346754b0f"
[[package]]
name = "rand"
version = "0.8.5"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "34af8d1a0e25924bc5b7c43c079c942339d8f0a8b57c39049bef581b46327404"
dependencies = [
"rand_core 0.6.4",
]
[[package]]
name = "rand"
version = "0.9.2"
@ -651,7 +780,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "6db2770f06117d490610c7488547d543617b21bfa07796d7a12f6f1bd53850d1"
dependencies = [
"rand_chacha",
"rand_core",
"rand_core 0.9.3",
]
[[package]]
@ -661,9 +790,15 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "d3022b5f1df60f26e1ffddd6c66e8aa15de382ae63b3a0c1bfc0e4d3e3f325cb"
dependencies = [
"ppv-lite86",
"rand_core",
"rand_core 0.9.3",
]
[[package]]
name = "rand_core"
version = "0.6.4"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "ec0be4795e2f6a28069bec0b5ff3e2ac9bafc99e6a9a7dc3547996c5c816922c"
[[package]]
name = "rand_core"
version = "0.9.3"
@ -728,6 +863,19 @@ version = "2.1.1"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "357703d41365b4b27c590e3ed91eabb1b663f07c4c084095e60cbed4362dff0d"
[[package]]
name = "rustix"
version = "1.1.2"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "cd15f8a2c5551a84d56efdc1cd049089e409ac19a3072d5037a17fd70719ff3e"
dependencies = [
"bitflags 2.10.0",
"errno",
"libc",
"linux-raw-sys",
"windows-sys 0.61.2",
]
[[package]]
name = "safe_arch"
version = "0.7.4"
@ -756,6 +904,12 @@ version = "0.3.7"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "d66dc143e6b11c1eddc06d5c423cfc97062865baf299914ab64caa38182078fe"
[[package]]
name = "siphasher"
version = "1.0.1"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "56199f7ddabf13fe5074ce809e7d3f42b42ae711800501b5b16ea82ad029c39d"
[[package]]
name = "slab"
version = "0.4.11"
@ -824,6 +978,18 @@ dependencies = [
"unicode-ident",
]
[[package]]
name = "terminfo"
version = "0.9.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "d4ea810f0692f9f51b382fff5893887bb4580f5fa246fde546e0b13e7fcee662"
dependencies = [
"fnv",
"nom",
"phf",
"phf_codegen",
]
[[package]]
name = "thiserror"
version = "2.0.17"
@ -877,6 +1043,17 @@ dependencies = [
"wit-bindgen",
]
[[package]]
name = "which"
version = "8.0.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "d3fabb953106c3c8eea8306e4393700d7657561cb43122571b172bbfb7c7ba1d"
dependencies = [
"env_home",
"rustix",
"winsafe",
]
[[package]]
name = "wide"
version = "0.7.33"
@ -909,6 +1086,100 @@ version = "0.4.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "712e227841d057c1ee1cd2fb22fa7e5a5461ae8e48fa2ca79ec42cfc1931183f"
[[package]]
name = "windows-link"
version = "0.2.1"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "f0805222e57f7521d6a62e36fa9163bc891acd422f971defe97d64e70d0a4fe5"
[[package]]
name = "windows-sys"
version = "0.59.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "1e38bc4d79ed67fd075bcc251a1c39b32a1776bbe92e5bef1f0bf1f8c531853b"
dependencies = [
"windows-targets",
]
[[package]]
name = "windows-sys"
version = "0.61.2"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "ae137229bcbd6cdf0f7b80a31df61766145077ddf49416a728b02cb3921ff3fc"
dependencies = [
"windows-link",
]
[[package]]
name = "windows-targets"
version = "0.52.6"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "9b724f72796e036ab90c1021d4780d4d3d648aca59e491e6b98e725b84e99973"
dependencies = [
"windows_aarch64_gnullvm",
"windows_aarch64_msvc",
"windows_i686_gnu",
"windows_i686_gnullvm",
"windows_i686_msvc",
"windows_x86_64_gnu",
"windows_x86_64_gnullvm",
"windows_x86_64_msvc",
]
[[package]]
name = "windows_aarch64_gnullvm"
version = "0.52.6"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "32a4622180e7a0ec044bb555404c800bc9fd9ec262ec147edd5989ccd0c02cd3"
[[package]]
name = "windows_aarch64_msvc"
version = "0.52.6"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "09ec2a7bb152e2252b53fa7803150007879548bc709c039df7627cabbd05d469"
[[package]]
name = "windows_i686_gnu"
version = "0.52.6"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "8e9b5ad5ab802e97eb8e295ac6720e509ee4c243f69d781394014ebfe8bbfa0b"
[[package]]
name = "windows_i686_gnullvm"
version = "0.52.6"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "0eee52d38c090b3caa76c563b86c3a4bd71ef1a819287c19d586d7334ae8ed66"
[[package]]
name = "windows_i686_msvc"
version = "0.52.6"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "240948bc05c5e7c6dabba28bf89d89ffce3e303022809e73deaefe4f6ec56c66"
[[package]]
name = "windows_x86_64_gnu"
version = "0.52.6"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "147a5c80aabfbf0c7d901cb5895d1de30ef2907eb21fbbab29ca94c5b08b1a78"
[[package]]
name = "windows_x86_64_gnullvm"
version = "0.52.6"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "24d5b23dc417412679681396f2b49f3de8c1473deb516bd34410872eff51ed0d"
[[package]]
name = "windows_x86_64_msvc"
version = "0.52.6"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "589f6da84c646204747d1270a2a5661ea66ed1cced2631d546fdfb155959f9ec"
[[package]]
name = "winsafe"
version = "0.0.19"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "d135d17ab770252ad95e9a872d365cf3090e3be864a34ab46f48555993efc904"
[[package]]
name = "wit-bindgen"
version = "0.46.0"

1
Cargo.toml
View File

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

2
src/camera.rs
View File

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

96
src/drone.rs
View File

@ -1,20 +1,27 @@
use nalgebra as na;
use rapier3d::prelude as rp;
use crate::engine::World;
use crate::engine::{ColliderExtraData, World};
mod controller;
pub mod controller;
use controller::*;
pub struct MotorCharacteristics {
relative_motor_positions: [na::OPoint<f32, na::Const<3>>; 4],
max_thrust: f32,
max_torque: f32,
pub relative_motor_positions: [na::OPoint<f32, na::Const<3>>; 4],
pub max_thrust: f32,
pub max_torque: f32,
}
impl Default for MotorCharacteristics {
fn default() -> Self {
Self {
/*
* Motor position indices
* 1 --- 0
* | |
* | |
* 2 --- 3
*/
relative_motor_positions: [
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 {
rb_handle: rp::RigidBodyHandle,
pub struct Drone {
pub rb_handle: rp::RigidBodyHandle,
motor_characteristics: MotorCharacteristics,
pub controller: Box<dyn DroneController>,
}
@ -38,23 +45,36 @@ impl Drone {
world: &mut World,
controller: Box<dyn DroneController>,
motor_characteristics: MotorCharacteristics,
mass: f32,
) -> Drone {
let drone_rb_handle = world.register_body(
rp::RigidBodyBuilder::dynamic()
.translation(rp::vector![0.0, 10.0, 0.0])
.rotation(rp::vector![0.6, 0.0, 0.0])
.linear_damping(0.1)
.angular_damping(0.1)
.rotation(rp::vector![0.0, 0.0, 0.0])
/*
* 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(),
);
world.register_collider(
rp::ColliderBuilder::cuboid(5.0, 0.5, 5.0)
.mass(mass)
.restitution(0.3)
.build(),
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);
return Drone {
@ -63,9 +83,59 @@ impl Drone {
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();
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;
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_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_time(&self, time: f32);
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 {
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_time(&self, _time: f32) {}
fn set_motor_characteristics(&self, _motor_characteristics: &MotorCharacteristics) {}
fn get_motor_speeds(&self) -> [f32; 4] {
return [self.motor_speed; 4];
fn get_motor_throttles(&self) -> [f32; 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 {
self
}

7
src/engine.rs
View File

@ -29,6 +29,7 @@ pub struct World {
pub bodies: rp::RigidBodySet,
pub colliders: rp::ColliderSet,
pub collider_data: HashMap<rp::ColliderHandle, ColliderExtraData>,
pub tick: u64,
}
pub struct ColliderExtraData {
@ -51,6 +52,11 @@ impl World {
self.hooks.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) {
@ -140,6 +146,7 @@ impl Default for World {
bodies: rp::RigidBodySet::new(),
colliders: rp::ColliderSet::new(),
collider_data: HashMap::new(),
tick: 0,
};
}
}

68
src/main.rs
View File

@ -12,7 +12,20 @@ mod graphics_util;
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() {
let mut world = World::default();
let mut renderer = Renderer::new();
@ -21,19 +34,25 @@ async fn main() {
vector![70.0, 150.0, -90.0].into(),
vector![-0.4, -0.7, 0.6].into(),
);
renderer.update_light(&world);
// Physics Initialization
// Ground collider
world.register_free_collider(
ColliderBuilder::cuboid(250.0, 5.0, 250.0)
.restitution(0.5)
.build(),
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 {
renderer.update_camera();
@ -55,40 +74,23 @@ async fn main() {
renderer.apply_config();
}
// Physics Simulation
// {
// 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());
// }
// }
// Physics
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);
if tick % 30 == 0 {
if world.tick % 30 == 0 {
world.clear_ofb();
renderer.update_light(&world);
}
tick += 1;
mq::next_frame().await;
}

4
src/rendering.rs
View File

@ -10,6 +10,7 @@ use rapier3d::prelude::*;
use strum::IntoEnumIterator;
mod ui;
const DEBUG_UI: bool = false;
const DEPTH_MAP_SIZE: u32 = 1024;
const LIGHT_PROJECTION_SIZE: f32 = 40.0;
@ -274,6 +275,8 @@ impl Renderer {
}
fn render_ui(&mut self) {
mq::set_default_camera();
if DEBUG_UI {
mq::draw_texture_ex(
&self.depth_target.texture,
320.,
@ -294,6 +297,7 @@ impl Renderer {
},
);
}
}
pub fn draw(&mut self, mut world: &mut World) {
if self.enable_shadows {
self.render_depth(&mut world);

6
src/shaders/shader.frag
View File

@ -58,11 +58,11 @@ float calculate_shadow() {
{
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 /= shadow_step_count * shadow_step_count;
shadow /= float(shadow_step_count * shadow_step_count);
return shadow;
}
@ -74,7 +74,7 @@ void main() {
app_color = normalize(abs(v_normal));
}
else {
app_color = color / 256;
app_color = color / 256.0;
}
if (render_shadows_bool == 1) {

6
src/shaders/shader.vert
View File

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