pre aerodynamics

src/camera.rs

@@ -1,7 +1,7 @@
 use macroquad::prelude::*;
 
-const MOVE_SPEED: f32 = 1.0;
+const MOVE_SPEED: f32 = 0.1;
-const LOOK_SPEED: f32 = 0.01;
+const LOOK_SPEED: f32 = 0.05;
 
 pub struct FirstPersonCamera {
     pub position: Vec3,

src/drone.rs

@@ -43,6 +43,8 @@ pub struct Drone {
     pub rb_handle: rp::RigidBodyHandle,
     motor_characteristics: MotorCharacteristics,
     pub controller: Box<dyn DroneController>,
+    width: f32,
+    height: f32,
 }
 
 impl Drone {
@@ -63,18 +65,20 @@ impl Drone {
                  * Values are kind of random for now. Calculating them requires the final model
                  * 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(),
         );
+        let width = 0.40;
+        let height = 0.25;
         world.register_collider(
-            rp::ColliderBuilder::cuboid(5.0, 0.5, 5.0)
+            rp::ColliderBuilder::cuboid(width / 2.0, height / 2.0, width / 2.0)
                 .mass(mass)
                 .restitution(0.3)
                 .build(),
             drone_rb_handle,
             Some(ColliderExtraData {
-                color: macroquad::color::WHITE,
+                color: macroquad::color::RED,
             }),
         );
 
@@ -86,6 +90,8 @@ impl Drone {
             rb_handle: drone_rb_handle,
             controller: controller,
             motor_characteristics: motor_characteristics,
+            width,
+            height,
         };
     }
 

src/drone/pidcontroller.rs

@@ -65,7 +65,12 @@ impl DroneController for PIDController {
     fn set_motor_characteristics(&self, _motor_characteristics: &MotorCharacteristics) {}
     fn get_motor_throttles(&self) -> [f32; 4] {
         self.get_angular_velocity();
-        return [1.0, 1.0, 1.0, 1.0];
+        return [
+            self.input.throttle_input,
+            self.input.throttle_input,
+            self.input.throttle_input,
+            self.input.throttle_input,
+        ];
     }
 
     /*

src/engine.rs

@@ -121,7 +121,8 @@ impl World {
 impl Default for World {
     fn default() -> Self {
         let gravity: na::Vector3<f32> = rp::vector![0.0, -9.81, 0.0];
-        let integration_parameters = rp::IntegrationParameters::default();
+        let mut integration_parameters = rp::IntegrationParameters::default();
+        integration_parameters.set_inv_dt(800.0);
         let physics_pipeline = rp::PhysicsPipeline::new();
         let island_manager = rp::IslandManager::new();
         let broad_phase = rp::DefaultBroadPhase::new();

src/main.rs

@@ -18,7 +18,7 @@ fn window_conf() -> mq::Conf {
         window_resizable: true,
         // fullscreen: true,
         platform: mq::miniquad::conf::Platform {
-            // linux_backend: mq::miniquad::conf::LinuxBackend::WaylandOnly,
+            linux_backend: mq::miniquad::conf::LinuxBackend::WaylandOnly,
             ..Default::default()
         },
         ..Default::default()
@@ -38,7 +38,7 @@ async fn main() {
 
     // Ground collider
     world.register_free_collider(
-        ColliderBuilder::cuboid(250.0, 5.0, 250.0)
+        ColliderBuilder::cuboid(20.0, 1.0, 20.0)
             .restitution(0.5)
             .build(),
         None,
@@ -46,7 +46,7 @@ async fn main() {
 
     let mut controller = drone::pidcontroller::PIDController::default();
     controller.set_input(JoystickInput {
-        throttle_input: 1.0,
+        throttle_input: 0.4,
         yaw_input: 0.05,
         roll_input: 0.0,
         pitch_input: 0.0,
@@ -55,8 +55,8 @@ async fn main() {
         &mut world,
         Box::new(controller),
         drone::MotorCharacteristics {
-            max_thrust: 3.0,
+            max_thrust: 2.3,
-            max_torque: 2.0,
+            max_torque: 0.01,
             ..Default::default()
         },
         0.350,
@@ -107,7 +107,7 @@ async fn main() {
         // Rendering
         renderer.draw(&mut world);
 
-        if world.tick % 60 == 0 {
+        if world.tick % (800 / 30) == 0 {
             world.clear_ofb();
             renderer.update_light(&world);
             mq::next_frame().await;

src/rendering.rs

@@ -171,7 +171,7 @@ impl Renderer {
             .set_filter(mq::FilterMode::Nearest);
 
         let light = Light::new();
-        let camera = FirstPersonCamera::new(mq::vec3(-400.0, 100.0, 0.0));
+        let camera = FirstPersonCamera::new(mq::vec3(-50.0, 20.0, 0.0));
         let mut r = Renderer {
             base_material: material,
             depth_material,
@@ -269,7 +269,7 @@ impl Renderer {
 
         // mq::draw_sphere(self.light.position, 0.25, None, mq::WHITE);
 
-        mq::draw_grid(20, 1., mq::BLACK, mq::GRAY);
+        // mq::draw_grid(20, 1., mq::BLACK, mq::GRAY);
         mq::gl_use_default_material();
         mq::set_default_camera();
     }