before cargo fix

Cargo.lock

@@ -3,7 +3,7 @@
 version = 4
 
 [[package]]
-name = "RaylibRustPhysics"
+name = "RustPhysicsMQ"
 version = "0.1.0"
 dependencies = [
  "clearscreen",

Cargo.toml

@@ -1,8 +1,8 @@
 [package]
-name = "RaylibRustPhysics"
+name = "RustPhysicsMQ"
 version = "0.1.0"
 edition = "2024"
-default-run = "RaylibRustPhysics"
+default-run = "RustPhysicsMQ"
 
 [dependencies]
 macroquad = "0.4.14"
@@ -17,9 +17,11 @@ serde = {version = "1.0.228", features = ["serde_derive"]}
 toml = "0.9.8"
 
 
+
 [[bin]]
-name = "tools"
-path = "src/tools/main.rs"
+name = "batch"
+path = "src/main_batch.rs"
+
 
 [profile.dev.package.rapier3d]
 opt-level = 3

src/drone/fpvcontroller.rs

@@ -3,7 +3,7 @@ use std::any::Any;
 
 use crate::drone::controller::DroneController;
 
-use crate::drone::JoystickInput;
+pub use crate::drone::JoystickInput;
 
 pub struct FPVController {
     input: JoystickInput,

src/main.rs

@@ -1,154 +1,55 @@
+use gilrs;
 use macroquad::prelude as mq;
+use nalgebra as na;
+use rapier3d::prelude::*;
 
 mod engine;
 use engine::*;
+
 mod camera;
-mod config;
 mod drone;
-mod helpers;
 mod rendering;
-mod simulation;
 
 mod graphics_util;
 
-use crate::drone::input::*;
-use crate::simulation::{SimMode, Simulation};
-
-use crate::config::SimulationConfig;
-use helpers::list_files;
-use std::fs;
-
-const INPUTS_DIR: &str = "inputs/";
-const CONFIGS_DIR: &str = "configurations/";
-const RESULTS_DIR: &str = "results/";
+use crate::{drone::fpvcontroller::JoystickInput, rendering::Renderer};
 
 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()
     }
 }
 
-use std::env;
-use std::path::PathBuf;
-use std::thread::JoinHandle;
-
-enum RunMode {
-    Batch,
-    Record { output: String },
-}
-
-fn parse_cli() -> RunMode {
-    let mut args = env::args().skip(1);
-
-    match args.next().as_deref() {
-        Some("record") => {
-            let output = args.next().expect("record mode requires output file path");
-            RunMode::Record { output }
-        }
-        Some("batch") | None => RunMode::Batch,
-        Some(other) => panic!("Unknown mode: {}", other),
-    }
-}
-
 #[macroquad::main(window_conf)]
 async fn main() {
-    match parse_cli() {
-        RunMode::Batch => run_batch().await,
-        RunMode::Record { output } => run_record(output).await,
-    }
-}
+    /* World Setup */
+    let mut world = World::default();
 
-async fn run_batch() {
-    fs::remove_dir_all(RESULTS_DIR).unwrap();
-    fs::create_dir_all(RESULTS_DIR).unwrap();
-
-    let input_files = list_files(INPUTS_DIR);
-    let config_files = list_files(CONFIGS_DIR);
-
-    let mut handles: Vec<JoinHandle<()>> = Default::default();
-
-    for input_path in input_files {
-        for config_path in &config_files {
-            let cp = config_path.clone();
-            let ip = input_path.clone();
-            handles.push(std::thread::spawn(move || {
-                run(&ip, &cp);
-            }));
-        }
-    }
-    for handle in handles {
-        handle.join().unwrap();
-    }
-
-    println!("All simulations completed.");
-}
-
-fn run(input_path: &PathBuf, config_path: &PathBuf) {
-    let input_name = input_path.file_stem().unwrap().to_string_lossy();
-
-    let inputs = InputRecording::load_inputs_from_csv(input_path.to_str().unwrap())
-        .expect("Failed to load input recording");
-    let config_name = config_path.file_stem().unwrap().to_string_lossy();
-
-    let config: SimulationConfig =
-        toml::from_str(&fs::read_to_string(config_path).unwrap()).expect("Invalid config file");
-
-    println!(
-        "Running simulation: input={} config={}",
-        input_name, config_name
+    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,
     );
 
-    /* World */
-    let mut world = World::new(config.tickrate);
-
-    /* Drone */
-    let drone = drone::Drone::new(
+    let mut drone_controller = drone::pidcontroller::PIDController::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::pidcontroller::PIDController {
-            target_rate: config.target_rate,
-            proportional_multiplier: config.proportional(),
-            integral_multiplier: config.integral(),
-            diferential_multiplier: config.diferential(),
-            ..Default::default()
-        }),
-        drone::MotorCharacteristics {
-            max_thrust: config.max_thrust,
-            max_torque: config.max_torque,
-            ..Default::default()
-        },
-        config.mass,
-    );
-
-    let result_file = format!("{}/{}_{}.csv", RESULTS_DIR, input_name, config_name);
-
-    let mut sim = Simulation::new(
-        drone,
-        world,
-        false,
-        SimMode::Playback(inputs.clone(), 0.0),
-        Some(result_file),
-        config.drone_tick_rate,
-    );
-
-    sim.run().unwrap();
-}
-
-async fn run_record(output: String) {
-    println!("Recording inputs to {}", output);
-
-    let tickrate = 60000.0;
-    let mut world = World::new(tickrate);
-
-    let drone = drone::Drone::new(
-        &mut world,
-        Box::new(drone::pidcontroller::PIDController {
-            ..Default::default()
-        }),
+        Box::new(drone_controller),
         drone::MotorCharacteristics {
             max_thrust: 2.6,
             max_torque: 0.5,
@@ -157,14 +58,59 @@ async fn run_record(output: String) {
         0.350,
     );
 
-    let mut sim = Simulation::new(
-        drone,
-        world,
-        true,
-        SimMode::Record(InputRecording::default(), output),
-        None,
-        600,
+    /* 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));
 
-    sim.run().unwrap();
+    renderer.light.set_location(
+        vector![70.0, 150.0, -90.0].into(),
+        vector![-0.4, -0.7, 0.6].into(),
+    );
+    renderer.update_light(&world);
+
+    let mut input = JoystickInput::default();
+
+    loop {
+        renderer.update_camera(&world);
+
+        if mq::is_key_pressed(mq::KeyCode::Q) {
+            break;
+        }
+
+        // Physics
+        world.step();
+        let _ = clearscreen::clear();
+        drone_obj.process_tick(&mut world);
+
+        // Rendering
+        renderer.draw(&mut world);
+
+        if world.tick % (20) == 0 {
+            // renderer.update_light(&world);
+            // world.clear_ofb();
+            mq::next_frame().await;
+        }
+    }
+}
+
+fn add_objects(world: &mut World) {
+    for i in 0..1 {
+        let body = world.register_body(
+            RigidBodyBuilder::dynamic()
+                .translation(vector![0.0, 50.0 + i as f32, 0.0])
+                .rotation(vector![std::f32::consts::PI / 4.2, i as f32, i as f32])
+                .build(),
+        );
+        world.register_collider(
+            ColliderBuilder::cuboid(2.0, 2.0, 2.0)
+                .restitution(0.1)
+                .build(),
+            body,
+            None,
+        );
+    }
 }

src/main_batch.rs

@@ -0,0 +1,170 @@
+use macroquad::prelude as mq;
+
+mod engine;
+use engine::*;
+mod camera;
+mod config;
+mod drone;
+mod helpers;
+mod rendering;
+mod simulation;
+
+mod graphics_util;
+
+use crate::drone::input::*;
+use crate::simulation::{SimMode, Simulation};
+
+use crate::config::SimulationConfig;
+use helpers::list_files;
+use std::fs;
+
+const INPUTS_DIR: &str = "inputs/";
+const CONFIGS_DIR: &str = "configurations/";
+const RESULTS_DIR: &str = "results/";
+
+fn window_conf() -> mq::Conf {
+    mq::Conf {
+        window_title: "RustDroneSim".to_owned(),
+        window_resizable: true,
+        platform: mq::miniquad::conf::Platform {
+            ..Default::default()
+        },
+        ..Default::default()
+    }
+}
+
+use std::env;
+use std::path::PathBuf;
+use std::thread::JoinHandle;
+
+enum RunMode {
+    Batch,
+    Record { output: String },
+}
+
+fn parse_cli() -> RunMode {
+    let mut args = env::args().skip(1);
+
+    match args.next().as_deref() {
+        Some("record") => {
+            let output = args.next().expect("record mode requires output file path");
+            RunMode::Record { output }
+        }
+        Some("batch") | None => RunMode::Batch,
+        Some(other) => panic!("Unknown mode: {}", other),
+    }
+}
+
+#[macroquad::main(window_conf)]
+async fn main() {
+    match parse_cli() {
+        RunMode::Batch => run_batch().await,
+        RunMode::Record { output } => run_record(output).await,
+    }
+}
+
+async fn run_batch() {
+    fs::remove_dir_all(RESULTS_DIR).unwrap();
+    fs::create_dir_all(RESULTS_DIR).unwrap();
+
+    let input_files = list_files(INPUTS_DIR);
+    let config_files = list_files(CONFIGS_DIR);
+
+    let mut handles: Vec<JoinHandle<()>> = Default::default();
+
+    for input_path in input_files {
+        for config_path in &config_files {
+            let cp = config_path.clone();
+            let ip = input_path.clone();
+            handles.push(std::thread::spawn(move || {
+                run(&ip, &cp);
+            }));
+        }
+    }
+    for handle in handles {
+        handle.join().unwrap();
+    }
+
+    println!("All simulations completed.");
+}
+
+fn run(input_path: &PathBuf, config_path: &PathBuf) {
+    let input_name = input_path.file_stem().unwrap().to_string_lossy();
+
+    let inputs = InputRecording::load_inputs_from_csv(input_path.to_str().unwrap())
+        .expect("Failed to load input recording");
+    let config_name = config_path.file_stem().unwrap().to_string_lossy();
+
+    let config: SimulationConfig =
+        toml::from_str(&fs::read_to_string(config_path).unwrap()).expect("Invalid config file");
+
+    println!(
+        "Running simulation: input={} config={}",
+        input_name, config_name
+    );
+
+    /* World */
+    let mut world = World::new(config.tickrate);
+
+    /* Drone */
+    let drone = drone::Drone::new(
+        &mut world,
+        Box::new(drone::pidcontroller::PIDController {
+            target_rate: config.target_rate,
+            proportional_multiplier: config.proportional(),
+            integral_multiplier: config.integral(),
+            diferential_multiplier: config.diferential(),
+            ..Default::default()
+        }),
+        drone::MotorCharacteristics {
+            max_thrust: config.max_thrust,
+            max_torque: config.max_torque,
+            ..Default::default()
+        },
+        config.mass,
+    );
+
+    let result_file = format!("{}/{}_{}.csv", RESULTS_DIR, input_name, config_name);
+
+    let mut sim = Simulation::new(
+        drone,
+        world,
+        false,
+        SimMode::Playback(inputs.clone(), 0.0),
+        Some(result_file),
+        config.drone_tick_rate,
+    );
+
+    sim.run().unwrap();
+}
+
+async fn run_record(output: String) {
+    println!("Recording inputs to {}", output);
+
+    let tickrate = 60000.0;
+    let mut world = World::new(tickrate);
+
+    let drone = drone::Drone::new(
+        &mut world,
+        Box::new(drone::pidcontroller::PIDController {
+            ..Default::default()
+        }),
+        drone::MotorCharacteristics {
+            max_thrust: 2.6,
+            max_torque: 0.5,
+            ..Default::default()
+        },
+        0.350,
+    );
+
+    let mut sim = Simulation::new(
+        drone,
+        world,
+        true,
+        SimMode::Record(InputRecording::default(), output),
+        None,
+        600,
+    );
+
+    sim.run().unwrap();
+}