96 lines
2.2 KiB
Rust
96 lines
2.2 KiB
Rust
use macroquad::prelude as mq;
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use rapier3d::prelude::*;
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mod engine;
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use engine::*;
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mod camera;
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mod drone;
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mod rendering;
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mod config;
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mod graphics_util;
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use crate::{drone::fpvcontroller::JoystickInput, rendering::Renderer};
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fn window_conf() -> mq::Conf {
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mq::Conf {
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window_title: "RustDroneSim".to_owned(),
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window_resizable: true,
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// fullscreen: true,
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platform: mq::miniquad::conf::Platform {
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// linux_backend: mq::miniquad::conf::LinuxBackend::WaylandOnly,
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..Default::default()
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},
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..Default::default()
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}
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}
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#[macroquad::main(window_conf)]
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async fn main() {
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/* World Setup */
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let mut world = World::new(600.0);
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world.register_free_collider(
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ColliderBuilder::cuboid(30.0, 1.0, 30.0)
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.translation(vector![0.0, -2.0, 0.0])
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.restitution(0.5)
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.build(),
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None,
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);
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let mut drone_controller = drone::pidcontroller::PIDController::default();
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drone_controller.set_input(JoystickInput {
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throttle_input: 0.2,
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yaw_input: 0.2,
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roll_input: 0.2,
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pitch_input: 0.0,
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});
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let mut drone_obj = drone::Drone::new(
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&mut world,
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Box::new(drone_controller),
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drone::MotorCharacteristics {
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max_thrust: 2.6,
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max_torque: 0.5,
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..Default::default()
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},
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0.350,
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);
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/* Renderer Setup */
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let camera = camera::AttachedCamera::new(
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drone_obj.rb_handle,
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vector![1.0, 0.0, 0.0],
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vector![0.5, 0.0, 0.0],
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);
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let mut renderer = Renderer::new(Box::new(camera));
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renderer.light.set_location(
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vector![70.0, 150.0, -90.0].into(),
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vector![-0.4, -0.7, 0.6].into(),
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);
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renderer.update_light(&world);
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loop {
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renderer.update_camera(&world);
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if mq::is_key_pressed(mq::KeyCode::Q) {
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break;
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}
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// Physics
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world.step();
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let _ = clearscreen::clear();
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drone_obj.process_tick(&mut world);
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// Rendering
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renderer.draw(&mut world);
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if world.tick % (10) == 0 {
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// renderer.update_light(&world);
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// world.clear_ofb();
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mq::next_frame().await;
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}
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}
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}
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