working PID controller, but just the P part
This commit is contained in:
parent
b36cbe9aed
commit
cba59baa33
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@ -7,6 +7,7 @@ name = "RaylibRustPhysics"
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version = "0.1.0"
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version = "0.1.0"
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dependencies = [
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dependencies = [
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"clearscreen",
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"clearscreen",
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"gilrs",
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"glam 0.27.0",
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"glam 0.27.0",
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"macroquad",
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"macroquad",
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"nalgebra",
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"nalgebra",
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@ -66,6 +67,12 @@ version = "2.10.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "812e12b5285cc515a9c72a5c1d3b6d46a19dac5acfef5265968c166106e31dd3"
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checksum = "812e12b5285cc515a9c72a5c1d3b6d46a19dac5acfef5265968c166106e31dd3"
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[[package]]
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name = "bumpalo"
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version = "3.19.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "46c5e41b57b8bba42a04676d81cb89e9ee8e859a1a66f80a5a72e1cb76b34d43"
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[[package]]
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[[package]]
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name = "bytemuck"
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name = "bytemuck"
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version = "1.24.0"
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version = "1.24.0"
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@ -96,7 +103,7 @@ version = "4.0.2"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "85a8ab73a1c02b0c15597b22e09c7dc36e63b2f601f9d1e83ac0c3decd38b1ae"
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checksum = "85a8ab73a1c02b0c15597b22e09c7dc36e63b2f601f9d1e83ac0c3decd38b1ae"
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dependencies = [
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dependencies = [
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"nix",
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"nix 0.29.0",
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"terminfo",
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"terminfo",
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"thiserror",
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"thiserror",
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"which",
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"which",
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@ -109,6 +116,22 @@ version = "1.1.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "3d7b894f5411737b7867f4827955924d7c254fc9f4d91a6aad6b097804b1018b"
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checksum = "3d7b894f5411737b7867f4827955924d7c254fc9f4d91a6aad6b097804b1018b"
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[[package]]
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name = "core-foundation"
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version = "0.10.1"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "b2a6cd9ae233e7f62ba4e9353e81a88df7fc8a5987b8d445b4d90c879bd156f6"
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dependencies = [
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"core-foundation-sys",
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"libc",
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]
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[[package]]
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name = "core-foundation-sys"
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version = "0.8.7"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "773648b94d0e5d620f64f280777445740e61fe701025087ec8b57f45c791888b"
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[[package]]
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[[package]]
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name = "crc32fast"
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name = "crc32fast"
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version = "1.5.0"
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version = "1.5.0"
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@ -220,6 +243,40 @@ dependencies = [
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"wasip2",
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"wasip2",
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]
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]
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[[package]]
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name = "gilrs"
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version = "0.11.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "bbb2c998745a3c1ac90f64f4f7b3a54219fd3612d7705e7798212935641ed18f"
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dependencies = [
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"fnv",
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"gilrs-core",
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"log",
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"uuid",
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"vec_map",
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]
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[[package]]
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name = "gilrs-core"
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version = "0.6.6"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "be11a71ac3564f6965839e2ed275bf4fcf5ce16d80d396e1dfdb7b2d80bd587e"
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dependencies = [
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"core-foundation",
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"inotify",
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"io-kit-sys",
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"js-sys",
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"libc",
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"libudev-sys",
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"log",
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"nix 0.30.1",
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"uuid",
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"vec_map",
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"wasm-bindgen",
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"web-sys",
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"windows",
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]
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[[package]]
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[[package]]
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name = "glam"
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name = "glam"
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version = "0.14.0"
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version = "0.14.0"
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@ -374,6 +431,46 @@ dependencies = [
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"png",
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"png",
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]
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]
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[[package]]
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name = "inotify"
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version = "0.11.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "f37dccff2791ab604f9babef0ba14fbe0be30bd368dc541e2b08d07c8aa908f3"
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dependencies = [
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"bitflags 2.10.0",
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"inotify-sys",
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"libc",
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]
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[[package]]
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name = "inotify-sys"
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version = "0.1.5"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "e05c02b5e89bff3b946cedeca278abc628fe811e604f027c45a8aa3cf793d0eb"
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dependencies = [
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"libc",
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]
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[[package]]
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name = "io-kit-sys"
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version = "0.4.1"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "617ee6cf8e3f66f3b4ea67a4058564628cde41901316e19f559e14c7c72c5e7b"
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dependencies = [
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"core-foundation-sys",
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"mach2",
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]
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[[package]]
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name = "js-sys"
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version = "0.3.83"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "464a3709c7f55f1f721e5389aa6ea4e3bc6aba669353300af094b29ffbdde1d8"
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dependencies = [
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"once_cell",
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"wasm-bindgen",
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]
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[[package]]
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[[package]]
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name = "libc"
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name = "libc"
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version = "0.2.177"
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version = "0.2.177"
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@ -386,6 +483,16 @@ version = "0.2.15"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "f9fbbcab51052fe104eb5e5d351cf728d30a5be1fe14d9be8a3b097481fb97de"
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checksum = "f9fbbcab51052fe104eb5e5d351cf728d30a5be1fe14d9be8a3b097481fb97de"
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[[package]]
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name = "libudev-sys"
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version = "0.1.4"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "3c8469b4a23b962c1396b9b451dda50ef5b283e8dd309d69033475fa9b334324"
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dependencies = [
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"libc",
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"pkg-config",
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]
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[[package]]
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[[package]]
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name = "linux-raw-sys"
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name = "linux-raw-sys"
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version = "0.11.0"
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version = "0.11.0"
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@ -398,6 +505,15 @@ version = "0.4.28"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "34080505efa8e45a4b816c349525ebe327ceaa8559756f0356cba97ef3bf7432"
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checksum = "34080505efa8e45a4b816c349525ebe327ceaa8559756f0356cba97ef3bf7432"
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[[package]]
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name = "mach2"
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version = "0.4.3"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "d640282b302c0bb0a2a8e0233ead9035e3bed871f0b7e81fe4a1ec829765db44"
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dependencies = [
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"libc",
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]
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[[package]]
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[[package]]
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name = "macroquad"
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name = "macroquad"
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version = "0.4.14"
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version = "0.4.14"
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@ -532,6 +648,18 @@ dependencies = [
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"libc",
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"libc",
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]
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]
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[[package]]
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name = "nix"
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version = "0.30.1"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "74523f3a35e05aba87a1d978330aef40f67b0304ac79c1c00b294c9830543db6"
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dependencies = [
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"bitflags 2.10.0",
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"cfg-if",
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"cfg_aliases",
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"libc",
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]
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[[package]]
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[[package]]
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name = "nom"
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name = "nom"
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version = "7.1.3"
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version = "7.1.3"
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@ -611,6 +739,12 @@ dependencies = [
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"malloc_buf",
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"malloc_buf",
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]
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]
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[[package]]
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name = "once_cell"
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version = "1.21.3"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "42f5e15c9953c5e4ccceeb2e7382a716482c34515315f7b03532b8b4e8393d2d"
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[[package]]
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[[package]]
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name = "ordered-float"
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name = "ordered-float"
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version = "5.1.0"
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version = "5.1.0"
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@ -693,6 +827,12 @@ dependencies = [
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"siphasher",
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"siphasher",
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]
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]
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[[package]]
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name = "pkg-config"
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version = "0.3.32"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "7edddbd0b52d732b21ad9a5fab5c704c14cd949e5e9a1ec5929a24fded1b904c"
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[[package]]
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[[package]]
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name = "png"
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name = "png"
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version = "0.17.16"
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version = "0.17.16"
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@ -876,6 +1016,12 @@ dependencies = [
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"windows-sys 0.61.2",
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"windows-sys 0.61.2",
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]
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]
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[[package]]
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name = "rustversion"
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version = "1.0.22"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "b39cdef0fa800fc44525c84ccb54a029961a8215f9619753635a9c0d2538d46d"
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[[package]]
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[[package]]
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name = "safe_arch"
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name = "safe_arch"
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version = "0.7.4"
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version = "0.7.4"
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@ -1028,6 +1174,16 @@ version = "1.0.22"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "9312f7c4f6ff9069b165498234ce8be658059c6728633667c526e27dc2cf1df5"
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checksum = "9312f7c4f6ff9069b165498234ce8be658059c6728633667c526e27dc2cf1df5"
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[[package]]
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name = "uuid"
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version = "1.19.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "e2e054861b4bd027cd373e18e8d8d8e6548085000e41290d95ce0c373a654b4a"
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dependencies = [
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"js-sys",
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"wasm-bindgen",
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]
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[[package]]
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[[package]]
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name = "vec_map"
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name = "vec_map"
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version = "0.8.2"
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version = "0.8.2"
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@ -1043,6 +1199,61 @@ dependencies = [
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"wit-bindgen",
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"wit-bindgen",
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]
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]
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[[package]]
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name = "wasm-bindgen"
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version = "0.2.106"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "0d759f433fa64a2d763d1340820e46e111a7a5ab75f993d1852d70b03dbb80fd"
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dependencies = [
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"cfg-if",
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"once_cell",
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"rustversion",
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"wasm-bindgen-macro",
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"wasm-bindgen-shared",
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]
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[[package]]
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name = "wasm-bindgen-macro"
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version = "0.2.106"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "48cb0d2638f8baedbc542ed444afc0644a29166f1595371af4fecf8ce1e7eeb3"
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dependencies = [
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"quote",
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"wasm-bindgen-macro-support",
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]
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[[package]]
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name = "wasm-bindgen-macro-support"
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version = "0.2.106"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "cefb59d5cd5f92d9dcf80e4683949f15ca4b511f4ac0a6e14d4e1ac60c6ecd40"
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dependencies = [
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"bumpalo",
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"proc-macro2",
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"quote",
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"syn",
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"wasm-bindgen-shared",
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]
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[[package]]
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name = "wasm-bindgen-shared"
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version = "0.2.106"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "cbc538057e648b67f72a982e708d485b2efa771e1ac05fec311f9f63e5800db4"
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dependencies = [
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"unicode-ident",
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]
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[[package]]
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name = "web-sys"
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version = "0.3.83"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "9b32828d774c412041098d182a8b38b16ea816958e07cf40eec2bc080ae137ac"
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dependencies = [
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"js-sys",
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"wasm-bindgen",
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]
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name = "which"
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name = "which"
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version = "8.0.0"
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version = "8.0.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "712e227841d057c1ee1cd2fb22fa7e5a5461ae8e48fa2ca79ec42cfc1931183f"
|
checksum = "712e227841d057c1ee1cd2fb22fa7e5a5461ae8e48fa2ca79ec42cfc1931183f"
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "windows"
|
||||||
|
version = "0.62.2"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "527fadee13e0c05939a6a05d5bd6eec6cd2e3dbd648b9f8e447c6518133d8580"
|
||||||
|
dependencies = [
|
||||||
|
"windows-collections",
|
||||||
|
"windows-core",
|
||||||
|
"windows-future",
|
||||||
|
"windows-numerics",
|
||||||
|
]
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "windows-collections"
|
||||||
|
version = "0.3.2"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "23b2d95af1a8a14a3c7367e1ed4fc9c20e0a26e79551b1454d72583c97cc6610"
|
||||||
|
dependencies = [
|
||||||
|
"windows-core",
|
||||||
|
]
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "windows-core"
|
||||||
|
version = "0.62.2"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "b8e83a14d34d0623b51dce9581199302a221863196a1dde71a7663a4c2be9deb"
|
||||||
|
dependencies = [
|
||||||
|
"windows-implement",
|
||||||
|
"windows-interface",
|
||||||
|
"windows-link",
|
||||||
|
"windows-result",
|
||||||
|
"windows-strings",
|
||||||
|
]
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "windows-future"
|
||||||
|
version = "0.3.2"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "e1d6f90251fe18a279739e78025bd6ddc52a7e22f921070ccdc67dde84c605cb"
|
||||||
|
dependencies = [
|
||||||
|
"windows-core",
|
||||||
|
"windows-link",
|
||||||
|
"windows-threading",
|
||||||
|
]
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "windows-implement"
|
||||||
|
version = "0.60.2"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "053e2e040ab57b9dc951b72c264860db7eb3b0200ba345b4e4c3b14f67855ddf"
|
||||||
|
dependencies = [
|
||||||
|
"proc-macro2",
|
||||||
|
"quote",
|
||||||
|
"syn",
|
||||||
|
]
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "windows-interface"
|
||||||
|
version = "0.59.3"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "3f316c4a2570ba26bbec722032c4099d8c8bc095efccdc15688708623367e358"
|
||||||
|
dependencies = [
|
||||||
|
"proc-macro2",
|
||||||
|
"quote",
|
||||||
|
"syn",
|
||||||
|
]
|
||||||
|
|
||||||
[[package]]
|
[[package]]
|
||||||
name = "windows-link"
|
name = "windows-link"
|
||||||
version = "0.2.1"
|
version = "0.2.1"
|
||||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
checksum = "f0805222e57f7521d6a62e36fa9163bc891acd422f971defe97d64e70d0a4fe5"
|
checksum = "f0805222e57f7521d6a62e36fa9163bc891acd422f971defe97d64e70d0a4fe5"
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "windows-numerics"
|
||||||
|
version = "0.3.1"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "6e2e40844ac143cdb44aead537bbf727de9b044e107a0f1220392177d15b0f26"
|
||||||
|
dependencies = [
|
||||||
|
"windows-core",
|
||||||
|
"windows-link",
|
||||||
|
]
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "windows-result"
|
||||||
|
version = "0.4.1"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "7781fa89eaf60850ac3d2da7af8e5242a5ea78d1a11c49bf2910bb5a73853eb5"
|
||||||
|
dependencies = [
|
||||||
|
"windows-link",
|
||||||
|
]
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "windows-strings"
|
||||||
|
version = "0.5.1"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "7837d08f69c77cf6b07689544538e017c1bfcf57e34b4c0ff58e6c2cd3b37091"
|
||||||
|
dependencies = [
|
||||||
|
"windows-link",
|
||||||
|
]
|
||||||
|
|
||||||
[[package]]
|
[[package]]
|
||||||
name = "windows-sys"
|
name = "windows-sys"
|
||||||
version = "0.59.0"
|
version = "0.59.0"
|
||||||
|
|
@ -1126,6 +1432,15 @@ dependencies = [
|
||||||
"windows_x86_64_msvc",
|
"windows_x86_64_msvc",
|
||||||
]
|
]
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "windows-threading"
|
||||||
|
version = "0.2.1"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "3949bd5b99cafdf1c7ca86b43ca564028dfe27d66958f2470940f73d86d75b37"
|
||||||
|
dependencies = [
|
||||||
|
"windows-link",
|
||||||
|
]
|
||||||
|
|
||||||
[[package]]
|
[[package]]
|
||||||
name = "windows_aarch64_gnullvm"
|
name = "windows_aarch64_gnullvm"
|
||||||
version = "0.52.6"
|
version = "0.52.6"
|
||||||
|
|
|
||||||
|
|
@ -12,6 +12,8 @@ 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"
|
clearscreen = "4.0.2"
|
||||||
|
gilrs = "0.11.0"
|
||||||
|
|
||||||
|
|
||||||
[[bin]]
|
[[bin]]
|
||||||
name = "tools"
|
name = "tools"
|
||||||
|
|
|
||||||
|
|
@ -13,6 +13,7 @@
|
||||||
mkShell rec {
|
mkShell rec {
|
||||||
buildInputs = [
|
buildInputs = [
|
||||||
pkg-config
|
pkg-config
|
||||||
|
udev
|
||||||
rustup
|
rustup
|
||||||
alsa-lib
|
alsa-lib
|
||||||
|
|
||||||
|
|
|
||||||
|
|
@ -1,8 +1,62 @@
|
||||||
use macroquad::prelude::*;
|
use macroquad::prelude::*;
|
||||||
|
use std::any::Any;
|
||||||
|
|
||||||
|
mod drone_cam;
|
||||||
|
pub use drone_cam::AttachedCamera;
|
||||||
|
|
||||||
|
use crate::engine::World;
|
||||||
|
|
||||||
const MOVE_SPEED: f32 = 0.1;
|
const MOVE_SPEED: f32 = 0.1;
|
||||||
const LOOK_SPEED: f32 = 0.05;
|
const LOOK_SPEED: f32 = 0.05;
|
||||||
|
|
||||||
|
pub trait CameraController {
|
||||||
|
fn update(&mut self, delta: f32, world: &World);
|
||||||
|
|
||||||
|
fn apply(&self);
|
||||||
|
|
||||||
|
fn get_position(&self) -> Vec3;
|
||||||
|
fn get_front(&self) -> Vec3;
|
||||||
|
|
||||||
|
fn as_any(&self) -> &dyn Any;
|
||||||
|
fn as_mut_any(&mut self) -> &mut dyn Any;
|
||||||
|
}
|
||||||
|
|
||||||
|
impl CameraController for FirstPersonCamera {
|
||||||
|
fn update(&mut self, delta: f32, _world: &World) {
|
||||||
|
if is_key_pressed(KeyCode::Tab) {
|
||||||
|
self.grabbed = !self.grabbed;
|
||||||
|
set_cursor_grab(self.grabbed);
|
||||||
|
show_mouse(!self.grabbed);
|
||||||
|
}
|
||||||
|
|
||||||
|
self.handle_keyboard();
|
||||||
|
self.handle_mouse(delta);
|
||||||
|
}
|
||||||
|
|
||||||
|
fn apply(&self) {
|
||||||
|
set_camera(&Camera3D {
|
||||||
|
position: self.position,
|
||||||
|
up: self.up,
|
||||||
|
target: self.position + self.front,
|
||||||
|
..Default::default()
|
||||||
|
});
|
||||||
|
}
|
||||||
|
|
||||||
|
fn get_front(&self) -> Vec3 {
|
||||||
|
return self.front;
|
||||||
|
}
|
||||||
|
fn get_position(&self) -> Vec3 {
|
||||||
|
return self.position;
|
||||||
|
}
|
||||||
|
|
||||||
|
fn as_any(&self) -> &dyn Any {
|
||||||
|
self
|
||||||
|
}
|
||||||
|
fn as_mut_any(&mut self) -> &mut dyn Any {
|
||||||
|
self
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
pub struct FirstPersonCamera {
|
pub struct FirstPersonCamera {
|
||||||
pub position: Vec3,
|
pub position: Vec3,
|
||||||
yaw: f32,
|
yaw: f32,
|
||||||
|
|
@ -100,24 +154,4 @@ impl FirstPersonCamera {
|
||||||
self.position -= Vec3::Y * MOVE_SPEED;
|
self.position -= Vec3::Y * MOVE_SPEED;
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
pub fn update(&mut self, delta: f32) {
|
|
||||||
if is_key_pressed(KeyCode::Tab) {
|
|
||||||
self.grabbed = !self.grabbed;
|
|
||||||
set_cursor_grab(self.grabbed);
|
|
||||||
show_mouse(!self.grabbed);
|
|
||||||
}
|
|
||||||
|
|
||||||
self.handle_keyboard();
|
|
||||||
self.handle_mouse(delta);
|
|
||||||
}
|
|
||||||
|
|
||||||
pub fn apply(&self) {
|
|
||||||
set_camera(&Camera3D {
|
|
||||||
position: self.position,
|
|
||||||
up: self.up,
|
|
||||||
target: self.position + self.front,
|
|
||||||
..Default::default()
|
|
||||||
});
|
|
||||||
}
|
|
||||||
}
|
}
|
||||||
|
|
|
||||||
|
|
@ -0,0 +1,64 @@
|
||||||
|
use macroquad::prelude as mq;
|
||||||
|
use nalgebra as na;
|
||||||
|
use rapier3d::prelude as rp;
|
||||||
|
use std::any::Any;
|
||||||
|
|
||||||
|
use crate::{camera::CameraController, engine::World};
|
||||||
|
|
||||||
|
pub struct AttachedCamera {
|
||||||
|
pub attached_handle: rp::RigidBodyHandle,
|
||||||
|
pub front_local_direction: na::Vector3<f32>,
|
||||||
|
pub offset: na::Vector3<f32>,
|
||||||
|
translation: na::Vector3<f32>,
|
||||||
|
front: na::Vector3<f32>,
|
||||||
|
up: na::Vector3<f32>,
|
||||||
|
}
|
||||||
|
|
||||||
|
impl AttachedCamera {
|
||||||
|
pub fn new(
|
||||||
|
rb_handle: rp::RigidBodyHandle,
|
||||||
|
front_direction: na::Vector3<f32>,
|
||||||
|
offset: na::Vector3<f32>,
|
||||||
|
) -> AttachedCamera {
|
||||||
|
AttachedCamera {
|
||||||
|
attached_handle: rb_handle,
|
||||||
|
front_local_direction: front_direction,
|
||||||
|
offset,
|
||||||
|
translation: Default::default(),
|
||||||
|
front: Default::default(),
|
||||||
|
up: Default::default(),
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
impl CameraController for AttachedCamera {
|
||||||
|
fn get_position(&self) -> mq::Vec3 {
|
||||||
|
self.translation.into()
|
||||||
|
}
|
||||||
|
fn get_front(&self) -> mq::Vec3 {
|
||||||
|
self.front.into()
|
||||||
|
}
|
||||||
|
|
||||||
|
fn apply(&self) {
|
||||||
|
mq::set_camera(&mq::Camera3D {
|
||||||
|
position: self.translation.into(),
|
||||||
|
up: self.up.into(),
|
||||||
|
target: (self.translation + self.front).into(),
|
||||||
|
fovy: 2.0,
|
||||||
|
..Default::default()
|
||||||
|
});
|
||||||
|
}
|
||||||
|
fn update(&mut self, _delta: f32, world: &World) {
|
||||||
|
let rb = world.bodies.get(self.attached_handle).unwrap();
|
||||||
|
self.translation = *rb.translation() + rb.rotation().transform_vector(&self.offset);
|
||||||
|
self.up = rb.rotation().transform_vector(&na::vector![0.0, 1.0, 0.0]);
|
||||||
|
self.front = rb.position().transform_vector(&self.front_local_direction);
|
||||||
|
}
|
||||||
|
|
||||||
|
fn as_any(&self) -> &dyn Any {
|
||||||
|
self
|
||||||
|
}
|
||||||
|
fn as_mut_any(&mut self) -> &mut dyn Any {
|
||||||
|
self
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
@ -10,7 +10,7 @@ use controller::*;
|
||||||
|
|
||||||
const AIR_DENSITY: f32 = 1.23;
|
const AIR_DENSITY: f32 = 1.23;
|
||||||
const DRAG_CONSTANT: f32 = 1.3;
|
const DRAG_CONSTANT: f32 = 1.3;
|
||||||
const DRAG_MAGIC_NUM: f32 = 0.5;
|
const DRAG_MAGIC_NUM: f32 = 0.25;
|
||||||
|
|
||||||
pub struct MotorCharacteristics {
|
pub struct MotorCharacteristics {
|
||||||
pub relative_motor_positions: [na::OPoint<f32, na::Const<3>>; 4],
|
pub relative_motor_positions: [na::OPoint<f32, na::Const<3>>; 4],
|
||||||
|
|
@ -74,7 +74,7 @@ impl Drone {
|
||||||
* A Poor Man's fluid simulation :D
|
* A Poor Man's fluid simulation :D
|
||||||
*/
|
*/
|
||||||
// .linear_damping(0.2) // Damps velocity slowly
|
// .linear_damping(0.2) // Damps velocity slowly
|
||||||
// .angular_damping(0.2) // Damps angular velocity slowly
|
.angular_damping(0.2) // Damps angular velocity slowly
|
||||||
.build(),
|
.build(),
|
||||||
);
|
);
|
||||||
let width = 0.40;
|
let width = 0.40;
|
||||||
|
|
@ -160,8 +160,8 @@ impl Drone {
|
||||||
rp::vector![0.0, -torque, 0.0]
|
rp::vector![0.0, -torque, 0.0]
|
||||||
};
|
};
|
||||||
drone_rb.add_torque(drone_rb.rotation().transform_vector(&torque), true);
|
drone_rb.add_torque(drone_rb.rotation().transform_vector(&torque), true);
|
||||||
println!("Torque: \n{:?}", torque);
|
// println!("Torque: \n{:?}", torque);
|
||||||
println!("Thrust: \n{:?}", thrust);
|
// println!("Thrust: \n{:?}", thrust);
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
|
||||||
|
|
@ -3,7 +3,7 @@ use std::any::Any;
|
||||||
|
|
||||||
use crate::drone::MotorCharacteristics;
|
use crate::drone::MotorCharacteristics;
|
||||||
|
|
||||||
#[derive(Default)]
|
#[derive(Default, Clone, Copy)]
|
||||||
pub struct JoystickInput {
|
pub struct JoystickInput {
|
||||||
// Value should be between 0 and 1
|
// Value should be between 0 and 1
|
||||||
pub throttle_input: f32,
|
pub throttle_input: f32,
|
||||||
|
|
|
||||||
|
|
@ -24,6 +24,7 @@ impl PControllerState {
|
||||||
pub struct PController {
|
pub struct PController {
|
||||||
input: JoystickInput,
|
input: JoystickInput,
|
||||||
pub target_rate: f32,
|
pub target_rate: f32,
|
||||||
|
pub multiply_mode: bool,
|
||||||
state: PControllerState,
|
state: PControllerState,
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
@ -33,6 +34,7 @@ impl Default for PController {
|
||||||
input: JoystickInput::default(),
|
input: JoystickInput::default(),
|
||||||
target_rate: f32::consts::PI,
|
target_rate: f32::consts::PI,
|
||||||
state: Default::default(),
|
state: Default::default(),
|
||||||
|
multiply_mode: false,
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
@ -47,9 +49,9 @@ impl PController {
|
||||||
|
|
||||||
pub fn get_desired_angular_velocity(&self) -> na::Vector3<f32> {
|
pub fn get_desired_angular_velocity(&self) -> na::Vector3<f32> {
|
||||||
let coords = na::Vector3::new(
|
let coords = na::Vector3::new(
|
||||||
self.input.pitch_input,
|
|
||||||
self.input.yaw_input,
|
|
||||||
self.input.roll_input,
|
self.input.roll_input,
|
||||||
|
self.input.yaw_input,
|
||||||
|
self.input.pitch_input,
|
||||||
) * self.target_rate;
|
) * self.target_rate;
|
||||||
return coords;
|
return coords;
|
||||||
}
|
}
|
||||||
|
|
@ -74,35 +76,36 @@ impl DroneController for PController {
|
||||||
let target = self.get_desired_angular_velocity();
|
let target = self.get_desired_angular_velocity();
|
||||||
|
|
||||||
let diff = target - current;
|
let diff = target - current;
|
||||||
println!("Target: {:}", target);
|
|
||||||
println!("Current: {:}", current);
|
|
||||||
println!("Diff: {:}", diff);
|
|
||||||
let throttle = self.input.throttle_input;
|
let throttle = self.input.throttle_input;
|
||||||
|
|
||||||
let roll = diff.z * 0.01;
|
let roll = diff.z * 0.01;
|
||||||
|
|
||||||
let pitch = diff.x * 0.01;
|
let pitch = diff.x * 0.01;
|
||||||
|
|
||||||
let yaw = diff.y;
|
let yaw = diff.y;
|
||||||
|
|
||||||
/*
|
let mut motors: [f32; 4] = match self.multiply_mode {
|
||||||
* Motor position indices
|
true => {
|
||||||
* ^ - Front
|
let mut t = [
|
||||||
* |
|
1.0 + yaw - pitch + roll,
|
||||||
* |
|
1.0 - yaw - pitch - roll,
|
||||||
* 1 --- 0
|
1.0 + yaw + pitch - roll,
|
||||||
* | |
|
1.0 - yaw + pitch + roll,
|
||||||
* | |
|
];
|
||||||
* 2 --- 3
|
for m in t.iter_mut() {
|
||||||
*/
|
*m *= self.input.throttle_input;
|
||||||
let mut motors = [
|
}
|
||||||
throttle + yaw - pitch + roll,
|
t
|
||||||
throttle - yaw - pitch - roll,
|
}
|
||||||
throttle + yaw + pitch - roll,
|
false => {
|
||||||
throttle - yaw + pitch + roll,
|
let mut t = [
|
||||||
];
|
throttle + yaw - pitch + roll,
|
||||||
|
throttle - yaw - pitch - roll,
|
||||||
|
throttle + yaw + pitch - roll,
|
||||||
|
throttle - yaw + pitch + roll,
|
||||||
|
];
|
||||||
|
t
|
||||||
|
}
|
||||||
|
};
|
||||||
|
|
||||||
// motors.max
|
|
||||||
let max = motors
|
let max = motors
|
||||||
.iter()
|
.iter()
|
||||||
.copied()
|
.copied()
|
||||||
|
|
@ -113,13 +116,10 @@ impl DroneController for PController {
|
||||||
*v /= max;
|
*v /= max;
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
return motors;
|
return motors;
|
||||||
}
|
}
|
||||||
|
|
||||||
/*
|
|
||||||
* 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
|
||||||
}
|
}
|
||||||
|
|
|
||||||
|
|
@ -62,7 +62,7 @@ impl World {
|
||||||
pub fn clear_ofb(&mut self) {
|
pub fn clear_ofb(&mut self) {
|
||||||
let mut coll_to_del: Vec<ColliderHandle> = Vec::new();
|
let mut coll_to_del: Vec<ColliderHandle> = Vec::new();
|
||||||
for (handle, col) in self.colliders.iter() {
|
for (handle, col) in self.colliders.iter() {
|
||||||
if (col.translation().y < -15.0) {
|
if col.translation().y < -30.0 {
|
||||||
coll_to_del.push(handle);
|
coll_to_del.push(handle);
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
|
||||||
155
src/main.rs
155
src/main.rs
|
|
@ -1,4 +1,6 @@
|
||||||
|
use gilrs;
|
||||||
use macroquad::prelude as mq;
|
use macroquad::prelude as mq;
|
||||||
|
use nalgebra as na;
|
||||||
use rapier3d::prelude::*;
|
use rapier3d::prelude::*;
|
||||||
|
|
||||||
mod engine;
|
mod engine;
|
||||||
|
|
@ -27,8 +29,42 @@ fn window_conf() -> mq::Conf {
|
||||||
|
|
||||||
#[macroquad::main(window_conf)]
|
#[macroquad::main(window_conf)]
|
||||||
async fn main() {
|
async fn main() {
|
||||||
|
/* World Setup */
|
||||||
let mut world = World::default();
|
let mut world = World::default();
|
||||||
let mut renderer = Renderer::new();
|
|
||||||
|
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::PController::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(
|
renderer.light.set_location(
|
||||||
vector![70.0, 150.0, -90.0].into(),
|
vector![70.0, 150.0, -90.0].into(),
|
||||||
|
|
@ -36,44 +72,23 @@ async fn main() {
|
||||||
);
|
);
|
||||||
renderer.update_light(&world);
|
renderer.update_light(&world);
|
||||||
|
|
||||||
// Ground collider
|
/* Command Setup */
|
||||||
world.register_free_collider(
|
// let mut gilrs = gilrs::Gilrs::new().unwrap();
|
||||||
ColliderBuilder::cuboid(20.0, 1.0, 20.0)
|
//
|
||||||
.translation(vector![0.0, -2.0, 0.0])
|
// // Iterate over all connected gamepads
|
||||||
.restitution(0.5)
|
// for (_id, gamepad) in gilrs.gamepads() {
|
||||||
.build(),
|
// println!("{} is {:?}", gamepad.name(), gamepad.power_info());
|
||||||
None,
|
// }
|
||||||
);
|
|
||||||
|
|
||||||
let mut controller = drone::pidcontroller::PController::default();
|
let mut input = JoystickInput::default();
|
||||||
controller.set_input(JoystickInput {
|
|
||||||
throttle_input: 0.75,
|
|
||||||
yaw_input: 0.4,
|
|
||||||
roll_input: 0.7,
|
|
||||||
pitch_input: 0.0,
|
|
||||||
});
|
|
||||||
let mut drone = drone::Drone::new(
|
|
||||||
&mut world,
|
|
||||||
Box::new(controller),
|
|
||||||
drone::MotorCharacteristics {
|
|
||||||
max_thrust: 2.6,
|
|
||||||
max_torque: 0.1,
|
|
||||||
..Default::default()
|
|
||||||
},
|
|
||||||
0.350,
|
|
||||||
);
|
|
||||||
|
|
||||||
loop {
|
loop {
|
||||||
renderer.update_camera();
|
renderer.update_camera(&world);
|
||||||
if mq::is_key_pressed(mq::KeyCode::L) {
|
if mq::is_key_pressed(mq::KeyCode::L) {
|
||||||
renderer
|
renderer
|
||||||
.light
|
.light
|
||||||
.set_location(renderer.camera.position, renderer.camera.front);
|
.set_location(renderer.camera.get_position(), renderer.camera.get_front());
|
||||||
renderer.update_light(&world);
|
renderer.update_light(&world);
|
||||||
println!(
|
|
||||||
"Light Pos: {}, Light Front Vec{}",
|
|
||||||
renderer.light.position, renderer.light.front
|
|
||||||
);
|
|
||||||
}
|
}
|
||||||
|
|
||||||
if mq::is_key_pressed(mq::KeyCode::C) {
|
if mq::is_key_pressed(mq::KeyCode::C) {
|
||||||
|
|
@ -83,43 +98,59 @@ async fn main() {
|
||||||
renderer.apply_config();
|
renderer.apply_config();
|
||||||
}
|
}
|
||||||
|
|
||||||
|
if mq::is_key_down(mq::KeyCode::W) {
|
||||||
|
input.throttle_input += 4.0 * mq::get_frame_time();
|
||||||
|
}
|
||||||
|
if mq::is_key_down(mq::KeyCode::S) {
|
||||||
|
input.throttle_input -= 4.0 * mq::get_frame_time();
|
||||||
|
}
|
||||||
|
|
||||||
|
if mq::is_key_down(mq::KeyCode::A) {
|
||||||
|
input.yaw_input = 1.0;
|
||||||
|
} else if mq::is_key_down(mq::KeyCode::D) {
|
||||||
|
input.yaw_input = -1.0;
|
||||||
|
} else {
|
||||||
|
input.yaw_input = 0.0;
|
||||||
|
}
|
||||||
|
|
||||||
|
if mq::is_key_down(mq::KeyCode::Up) {
|
||||||
|
input.pitch_input = -1.0;
|
||||||
|
} else if mq::is_key_down(mq::KeyCode::Down) {
|
||||||
|
input.pitch_input = 1.0;
|
||||||
|
} else {
|
||||||
|
input.pitch_input = 0.0;
|
||||||
|
}
|
||||||
|
|
||||||
|
if mq::is_key_down(mq::KeyCode::Left) {
|
||||||
|
input.roll_input = -1.0;
|
||||||
|
} else if mq::is_key_down(mq::KeyCode::Right) {
|
||||||
|
input.roll_input = 1.0;
|
||||||
|
} else {
|
||||||
|
input.roll_input = 0.0;
|
||||||
|
}
|
||||||
|
input = input.clamp();
|
||||||
|
match drone_obj
|
||||||
|
.controller
|
||||||
|
.as_mut_any()
|
||||||
|
.downcast_mut::<drone::pidcontroller::PController>()
|
||||||
|
{
|
||||||
|
Some(cont) => {
|
||||||
|
cont.set_input(input);
|
||||||
|
}
|
||||||
|
None => {}
|
||||||
|
};
|
||||||
|
|
||||||
// Physics
|
// Physics
|
||||||
world.step();
|
world.step();
|
||||||
let _ = clearscreen::clear();
|
let _ = clearscreen::clear();
|
||||||
drone.process_tick(&mut world);
|
drone_obj.process_tick(&mut world);
|
||||||
// println!(
|
|
||||||
// "Translation: {:}",
|
|
||||||
// world.bodies.get(drone.rb_handle).unwrap().translation()
|
|
||||||
// );
|
|
||||||
println!(
|
|
||||||
"Angular Velocity: {:}",
|
|
||||||
world.bodies.get(drone.rb_handle).unwrap().angvel()
|
|
||||||
);
|
|
||||||
println!(
|
|
||||||
"Rotation: {:?}",
|
|
||||||
world
|
|
||||||
.bodies
|
|
||||||
.get(drone.rb_handle)
|
|
||||||
.unwrap()
|
|
||||||
.rotation()
|
|
||||||
.euler_angles()
|
|
||||||
);
|
|
||||||
// println!(
|
|
||||||
// "Velocity: {:}",
|
|
||||||
// world.bodies.get(drone.rb_handle).unwrap().linvel()
|
|
||||||
// );
|
|
||||||
|
|
||||||
println!(
|
|
||||||
"Motor Throttles: {:?}",
|
|
||||||
drone.controller.get_motor_throttles()
|
|
||||||
);
|
|
||||||
|
|
||||||
// Rendering
|
// Rendering
|
||||||
renderer.draw(&mut world);
|
renderer.draw(&mut world);
|
||||||
|
|
||||||
if world.tick % (60 / 30) == 0 {
|
if world.tick % (60 / 30) == 0 {
|
||||||
// world.clear_ofb();
|
|
||||||
renderer.update_light(&world);
|
renderer.update_light(&world);
|
||||||
|
world.clear_ofb();
|
||||||
}
|
}
|
||||||
mq::next_frame().await;
|
mq::next_frame().await;
|
||||||
}
|
}
|
||||||
|
|
@ -134,8 +165,8 @@ fn add_objects(world: &mut World) {
|
||||||
.build(),
|
.build(),
|
||||||
);
|
);
|
||||||
world.register_collider(
|
world.register_collider(
|
||||||
ColliderBuilder::cuboid(5.0, 5.0, 5.0)
|
ColliderBuilder::cuboid(2.0, 2.0, 2.0)
|
||||||
.restitution(0.3)
|
.restitution(0.1)
|
||||||
.build(),
|
.build(),
|
||||||
body,
|
body,
|
||||||
None,
|
None,
|
||||||
|
|
|
||||||
|
|
@ -57,7 +57,7 @@ pub struct Renderer {
|
||||||
depth_material: mq::Material,
|
depth_material: mq::Material,
|
||||||
depth_target: mq::RenderTarget,
|
depth_target: mq::RenderTarget,
|
||||||
pub light: Light,
|
pub light: Light,
|
||||||
pub camera: cam::FirstPersonCamera,
|
pub camera: Box<dyn cam::CameraController>,
|
||||||
ui_state: ui::MaterialUi,
|
ui_state: ui::MaterialUi,
|
||||||
pub enable_shadows: bool,
|
pub enable_shadows: bool,
|
||||||
}
|
}
|
||||||
|
|
@ -115,7 +115,7 @@ impl MaterialUni {
|
||||||
}
|
}
|
||||||
|
|
||||||
impl Renderer {
|
impl Renderer {
|
||||||
pub fn new() -> Renderer {
|
pub fn new(camera: Box<dyn cam::CameraController>) -> Renderer {
|
||||||
let material = mq::load_material(
|
let material = mq::load_material(
|
||||||
mq::ShaderSource::Glsl {
|
mq::ShaderSource::Glsl {
|
||||||
vertex: include_str!("shaders/shader.vert"),
|
vertex: include_str!("shaders/shader.vert"),
|
||||||
|
|
@ -171,7 +171,6 @@ impl Renderer {
|
||||||
.set_filter(mq::FilterMode::Nearest);
|
.set_filter(mq::FilterMode::Nearest);
|
||||||
|
|
||||||
let light = Light::new();
|
let light = Light::new();
|
||||||
let camera = FirstPersonCamera::new(mq::vec3(-50.0, 20.0, 0.0));
|
|
||||||
let mut r = Renderer {
|
let mut r = Renderer {
|
||||||
base_material: material,
|
base_material: material,
|
||||||
depth_material,
|
depth_material,
|
||||||
|
|
@ -190,14 +189,14 @@ impl Renderer {
|
||||||
self.ui_state.apply(&self.base_material);
|
self.ui_state.apply(&self.base_material);
|
||||||
self.enable_shadows = self.ui_state.render_shadows_bool;
|
self.enable_shadows = self.ui_state.render_shadows_bool;
|
||||||
}
|
}
|
||||||
pub fn update_camera(&mut self) {
|
pub fn update_camera(&mut self, world: &World) {
|
||||||
self.camera.update(mq::get_frame_time());
|
self.camera.update(mq::get_frame_time(), world);
|
||||||
}
|
}
|
||||||
pub fn update_light(&mut self, world: &World) {
|
pub fn update_light(&mut self, world: &World) {
|
||||||
let light_view = self.light.view_matrix;
|
let light_view = self.light.view_matrix;
|
||||||
|
|
||||||
let mut min_ls = mq::vec3(f32::MAX, f32::MAX, f32::MAX);
|
let mut min_ls = mq::vec3(f32::MAX, 0.0, f32::MAX);
|
||||||
let mut max_ls = mq::vec3(f32::MIN, f32::MIN, f32::MIN);
|
let mut max_ls = mq::vec3(f32::MIN, 50.0, f32::MIN);
|
||||||
|
|
||||||
// 1. iterate all world objects
|
// 1. iterate all world objects
|
||||||
for (handle, _) in world.colliders.iter() {
|
for (handle, _) in world.colliders.iter() {
|
||||||
|
|
|
||||||
Loading…
Reference in New Issue