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

working on drone abstraction

This commit is contained in:
Flima Desktop 2025-12-07 00:41:00 +00:00
parent a8221eb90a
commit 91598ea20e
1 changed files with 15 additions and 14 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

29
src/main.rs
View File

@ -5,6 +5,7 @@ mod engine;
use engine::*;
mod camera;
mod drone;
mod rendering;
mod graphics_util;
@ -23,7 +24,7 @@ async fn main() {
// Physics Initialization
world.register_free_collider(
ColliderBuilder::cuboid(50.0, 5.0, 50.0)
ColliderBuilder::cuboid(250.0, 5.0, 250.0)
.restitution(0.5)
.build(),
None,
@ -35,7 +36,9 @@ async fn main() {
let drone_rb_handle = world.register_body(
RigidBodyBuilder::dynamic()
.translation(vector![0.0, 10.0, 0.0])
.rotation(vector![0.1, 0.0, 0.0])
.rotation(vector![0.6, 0.0, 0.0])
.linear_damping(0.1)
.angular_damping(0.1)
.build(),
);
world.register_collider(
@ -46,13 +49,14 @@ async fn main() {
None,
);
let motor_positions = [
vector![5.0, 0.0, 5.0],
vector![-5.0, 0.0, 5.0],
vector![-5.0, 0.0, -5.0],
vector![5.0, 0.0, -5.0],
point![5.0, 3.0, 5.0],
point![-5.0, 3.0, 5.0],
point![-5.0, 3.0, -5.0],
point![5.0, 3.0, -5.0],
];
let mut tick = 0;
loop {
renderer.update_camera();
if mq::is_key_pressed(mq::KeyCode::L) {
@ -74,23 +78,18 @@ async fn main() {
}
// Physics Simulation
world.step();
{
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 force = nalgebra::Vector3::new(0.0, drone_rb.mass() * 2.5, 0.0);
let mut force = nalgebra::Vector3::new(0.0, drone_rb.mass() * 2.8, 0.0);
// drone_rb.reset_forces(true);
drone_rb.add_force_at_point(
drone_rb.rotation().transform_vector(&force),
point![pos.x, pos.y, pos.z],
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 {
@ -103,6 +102,8 @@ async fn main() {
}
}
world.step();
renderer.draw(&mut world);
if tick >= 30 {