135 lines
3.4 KiB
Rust
135 lines
3.4 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 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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let mut world = World::default();
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let mut renderer = Renderer::new();
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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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// Ground collider
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world.register_free_collider(
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ColliderBuilder::cuboid(250.0, 5.0, 250.0)
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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 controller = drone::pidcontroller::PIDController::default();
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controller.set_input(JoystickInput {
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throttle_input: 1.0,
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yaw_input: 0.05,
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roll_input: 0.0,
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pitch_input: 0.0,
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});
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let mut drone = drone::Drone::new(
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&mut world,
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Box::new(controller),
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drone::MotorCharacteristics {
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max_thrust: 3.0,
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max_torque: 2.0,
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..Default::default()
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},
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0.350,
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);
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loop {
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renderer.update_camera();
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if mq::is_key_pressed(mq::KeyCode::L) {
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renderer
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.light
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.set_location(renderer.camera.position, renderer.camera.front);
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renderer.update_light(&world);
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println!(
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"Light Pos: {}, Light Front Vec{}",
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renderer.light.position, renderer.light.front
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);
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}
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if mq::is_key_pressed(mq::KeyCode::C) {
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add_objects(&mut world);
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}
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if mq::is_key_pressed(mq::KeyCode::M) {
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renderer.apply_config();
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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.process_tick(&mut world);
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println!(
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"Translation: {:}",
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world.bodies.get(drone.rb_handle).unwrap().translation()
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);
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println!(
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"Angular Velocity: {:}",
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world.bodies.get(drone.rb_handle).unwrap().angvel()
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);
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println!(
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"Velocity: {:}",
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world.bodies.get(drone.rb_handle).unwrap().linvel()
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);
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println!(
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"Motor Throttles: {:?}",
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drone.controller.get_motor_throttles()
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);
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// Rendering
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renderer.draw(&mut world);
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if world.tick % 60 == 0 {
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world.clear_ofb();
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renderer.update_light(&world);
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mq::next_frame().await;
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}
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}
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}
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fn add_objects(world: &mut World) {
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for i in 0..1 {
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let body = world.register_body(
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RigidBodyBuilder::dynamic()
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.translation(vector![0.0, 50.0 + i as f32, 0.0])
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.rotation(vector![std::f32::consts::PI / 4.2, i as f32, i as f32])
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.build(),
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);
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world.register_collider(
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ColliderBuilder::cuboid(5.0, 5.0, 5.0)
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.restitution(0.3)
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.build(),
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body,
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None,
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);
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}
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}
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