Merge remote-tracking branch 'refs/remotes/origin/master'
This commit is contained in:
franchioping
commit
e89426191a
|
|
@ -0,0 +1 @@
|
|||
target/
|
||||
|
|
@ -0,0 +1,17 @@
|
|||
-- You must enable the exrc setting in neovim for this config file to be used.
|
||||
local rust_analyzer = {
|
||||
cargo = {
|
||||
target = "xtensa-esp32-none-elf",
|
||||
allTargets = false,
|
||||
},
|
||||
}
|
||||
rust_analyzer.cargo.extraEnv = { RUST_TOOLCHAIN = "esp" }
|
||||
rust_analyzer.check = { extraEnv = { RUST_TOOLCHAIN = "esp" } }
|
||||
rust_analyzer.server = { extraEnv = { RUST_TOOLCHAIN = "stable" } }
|
||||
|
||||
-- Note the neovim name of the language server is rust_analyzer with an underscore.
|
||||
vim.lsp.config("rust_analyzer", {
|
||||
settings = {
|
||||
["rust-analyzer"] = rust_analyzer
|
||||
},
|
||||
})
|
||||
|
|
@ -0,0 +1,63 @@
|
|||
|
||||
|
||||
|
||||
set(CARGO_BUILD_TYPE "release")
|
||||
set(CARGO_BUILD_ARG "--release")
|
||||
if(CONFIG_IDF_TARGET_ARCH_RISCV)
|
||||
set(CARGO_TARGET "riscv32imc-esp-espidf")
|
||||
set(CARGO_FEATURES_ARG "")
|
||||
elseif(CONFIG_IDF_TARGET_ARCH_XTENSA)
|
||||
set(CARGO_TARGET "xtensa-esp32-espidf")
|
||||
set(CARGO_FEATURES_ARG "--features=std")
|
||||
endif()
|
||||
|
||||
set(RUST_PROJECT_DIR "${CMAKE_CURRENT_LIST_DIR}")
|
||||
set(RUST_BUILD_DIR "${CMAKE_CURRENT_BINARY_DIR}")
|
||||
set(RUST_TARGET_DIR "${RUST_BUILD_DIR}/target")
|
||||
set(RUST_INCLUDE_DIR "${RUST_TARGET_DIR}")
|
||||
set(RUST_INCLUDE_HEADER "${RUST_INCLUDE_DIR}/drone_controller.h")
|
||||
set(RUST_STATIC_LIBRARY "${RUST_TARGET_DIR}/${CARGO_TARGET}/${CARGO_BUILD_TYPE}/libdrone_controller.a")
|
||||
|
||||
|
||||
idf_component_register(
|
||||
SRCS "placeholder.c"
|
||||
INCLUDE_DIRS "" "${RUST_INCLUDE_DIR}"
|
||||
PRIV_REQUIRES "${RUST_DEPS}"
|
||||
)
|
||||
idf_build_get_property(sdkconfig SDKCONFIG)
|
||||
ExternalProject_Add(
|
||||
drone_controller_project
|
||||
PREFIX "${RUST_PROJECT_DIR}"
|
||||
DOWNLOAD_COMMAND ""
|
||||
CONFIGURE_COMMAND ${CMAKE_COMMAND} -E env
|
||||
CARGO_BUILD_TARGET=${CARGO_TARGET}
|
||||
CARGO_BUILD_TARGET_DIR=${RUST_TARGET_DIR}
|
||||
cargo clean
|
||||
BUILD_COMMAND ${CMAKE_COMMAND} -E env
|
||||
CARGO_BUILD_TARGET=${CARGO_TARGET}
|
||||
CARGO_BUILD_TARGET_DIR=${RUST_TARGET_DIR}
|
||||
CARGO_CMAKE_BUILD_INCLUDES=$<TARGET_PROPERTY:${COMPONENT_LIB},INCLUDE_DIRECTORIES>
|
||||
CARGO_CMAKE_BUILD_LINK_LIBRARIES=$<TARGET_PROPERTY:${COMPONENT_LIB},LINK_LIBRARIES>
|
||||
CARGO_CMAKE_BUILD_SDKCONFIG=${sdkconfig}
|
||||
CARGO_CMAKE_BUILD_COMPILER=${CMAKE_C_COMPILER}
|
||||
cargo build ${CARGO_BUILD_ARG} ${CARGO_FEATURES_ARG}
|
||||
INSTALL_COMMAND ""
|
||||
BUILD_ALWAYS TRUE
|
||||
TMP_DIR "${RUST_BUILD_DIR}/tmp"
|
||||
STAMP_DIR "${RUST_BUILD_DIR}/stamp"
|
||||
DOWNLOAD_DIR "${RUST_BUILD_DIR}"
|
||||
SOURCE_DIR "${RUST_PROJECT_DIR}"
|
||||
BINARY_DIR "${RUST_PROJECT_DIR}"
|
||||
INSTALL_DIR "${RUST_BUILD_DIR}"
|
||||
BUILD_BYPRODUCTS
|
||||
"${RUST_INCLUDE_HEADER}"
|
||||
"${RUST_STATIC_LIBRARY}"
|
||||
)
|
||||
|
||||
set_source_files_properties("${RUST_INCLUDE_HEADER}" PROPERTIES GENERATED true)
|
||||
|
||||
add_prebuilt_library(drone_controller_lib "${RUST_STATIC_LIBRARY}" PRIV_REQUIRES "${RUST_DEPS}")
|
||||
add_dependencies(drone_controller_lib drone_codrone_controllerr_project)
|
||||
|
||||
target_include_directories(${COMPONENT_LIB} PUBLIC "${RUST_INCLUDE_DIR}")
|
||||
target_link_libraries(${COMPONENT_LIB} PRIVATE drone_controller_lib)
|
||||
|
|
@ -2,18 +2,6 @@
|
|||
# It is not intended for manual editing.
|
||||
version = 4
|
||||
|
||||
[[package]]
|
||||
name = "adler2"
|
||||
version = "2.0.1"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "320119579fcad9c21884f5c4861d16174d0e06250625266f50fe6898340abefa"
|
||||
|
||||
[[package]]
|
||||
name = "allocator-api2"
|
||||
version = "0.2.21"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "683d7910e743518b0e34f1186f92494becacb047c7b6bf616c96772180fef923"
|
||||
|
||||
[[package]]
|
||||
name = "android_system_properties"
|
||||
version = "0.1.5"
|
||||
|
|
@ -73,6 +61,12 @@ dependencies = [
|
|||
"windows-sys",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "anyhow"
|
||||
version = "1.0.102"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "7f202df86484c868dbad7eaa557ef785d5c66295e41b460ef922eca0723b842c"
|
||||
|
||||
[[package]]
|
||||
name = "approx"
|
||||
version = "0.5.1"
|
||||
|
|
@ -82,12 +76,6 @@ dependencies = [
|
|||
"num-traits",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "arrayvec"
|
||||
version = "0.7.6"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "7c02d123df017efcdfbd739ef81735b36c5ba83ec3c59c80a9d7ecc718f92e50"
|
||||
|
||||
[[package]]
|
||||
name = "autocfg"
|
||||
version = "1.5.0"
|
||||
|
|
@ -100,18 +88,6 @@ version = "0.22.1"
|
|||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "72b3254f16251a8381aa12e40e3c4d2f0199f8c6508fbecb9d91f575e0fbb8c6"
|
||||
|
||||
[[package]]
|
||||
name = "bit-vec"
|
||||
version = "0.8.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "5e764a1d40d510daf35e07be9eb06e75770908c27d411ee6c92109c9840eaaf7"
|
||||
|
||||
[[package]]
|
||||
name = "bitflags"
|
||||
version = "1.3.2"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "bef38d45163c2f1dde094a7dfd33ccf595c92905c8f8f4fdc18d06fb1037718a"
|
||||
|
||||
[[package]]
|
||||
name = "bitflags"
|
||||
version = "2.11.0"
|
||||
|
|
@ -131,10 +107,23 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
|
|||
checksum = "c8efb64bd706a16a1bdde310ae86b351e4d21550d98d056f22f8a7f7a2183fec"
|
||||
|
||||
[[package]]
|
||||
name = "byteorder"
|
||||
version = "1.5.0"
|
||||
name = "cbindgen"
|
||||
version = "0.29.2"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "1fd0f2584146f6f2ef48085050886acf353beff7305ebd1ae69500e27c67f64b"
|
||||
checksum = "befbfd072a8e81c02f8c507aefce431fe5e7d051f83d48a23ffc9b9fe5a11799"
|
||||
dependencies = [
|
||||
"clap",
|
||||
"heck",
|
||||
"indexmap 2.13.0",
|
||||
"log",
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"serde",
|
||||
"serde_json",
|
||||
"syn",
|
||||
"tempfile",
|
||||
"toml",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "cc"
|
||||
|
|
@ -204,12 +193,6 @@ version = "1.0.0"
|
|||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "3a822ea5bc7590f9d40f1ba12c0dc3c2760f3482c6984db1573ad11031420831"
|
||||
|
||||
[[package]]
|
||||
name = "color_quant"
|
||||
version = "1.1.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "3d7b894f5411737b7867f4827955924d7c254fc9f4d91a6aad6b097804b1018b"
|
||||
|
||||
[[package]]
|
||||
name = "colorchoice"
|
||||
version = "1.0.4"
|
||||
|
|
@ -222,15 +205,6 @@ version = "0.8.7"
|
|||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "773648b94d0e5d620f64f280777445740e61fe701025087ec8b57f45c791888b"
|
||||
|
||||
[[package]]
|
||||
name = "crc32fast"
|
||||
version = "1.5.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "9481c1c90cbf2ac953f07c8d4a58aa3945c425b7185c9154d67a65e4230da511"
|
||||
dependencies = [
|
||||
"cfg-if",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "darling"
|
||||
version = "0.21.3"
|
||||
|
|
@ -276,20 +250,13 @@ dependencies = [
|
|||
"serde_core",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "downcast-rs"
|
||||
version = "2.0.2"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "117240f60069e65410b3ae1bb213295bd828f707b5bec6596a1afc8793ce0cbc"
|
||||
|
||||
[[package]]
|
||||
name = "drone_controller"
|
||||
version = "0.1.0"
|
||||
dependencies = [
|
||||
"cbindgen",
|
||||
"clap",
|
||||
"macroquad",
|
||||
"nalgebra",
|
||||
"rapier3d",
|
||||
"serde",
|
||||
"serde_json",
|
||||
"serde_with",
|
||||
|
|
@ -302,21 +269,6 @@ version = "1.0.20"
|
|||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "d0881ea181b1df73ff77ffaaf9c7544ecc11e82fba9b5f27b262a3c73a332555"
|
||||
|
||||
[[package]]
|
||||
name = "either"
|
||||
version = "1.15.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "48c757948c5ede0e46177b7add2e67155f70e33c07fea8284df6576da70b3719"
|
||||
|
||||
[[package]]
|
||||
name = "ena"
|
||||
version = "0.14.4"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "eabffdaee24bd1bf95c5ef7cec31260444317e72ea56c4c91750e8b7ee58d5f1"
|
||||
dependencies = [
|
||||
"log",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "equivalent"
|
||||
version = "1.0.2"
|
||||
|
|
@ -324,30 +276,27 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
|
|||
checksum = "877a4ace8713b0bcf2a4e7eec82529c029f1d0619886d18145fea96c3ffe5c0f"
|
||||
|
||||
[[package]]
|
||||
name = "fdeflate"
|
||||
version = "0.3.7"
|
||||
name = "errno"
|
||||
version = "0.3.14"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "1e6853b52649d4ac5c0bd02320cddc5ba956bdb407c4b75a2c6b75bf51500f8c"
|
||||
checksum = "39cab71617ae0d63f51a36d69f866391735b51691dbda63cf6f96d042b63efeb"
|
||||
dependencies = [
|
||||
"simd-adler32",
|
||||
"libc",
|
||||
"windows-sys",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "fastrand"
|
||||
version = "2.3.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "37909eebbb50d72f9059c3b6d82c0463f2ff062c9e95845c43a6c9c0355411be"
|
||||
|
||||
[[package]]
|
||||
name = "find-msvc-tools"
|
||||
version = "0.1.9"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "5baebc0774151f905a1a2cc41989300b1e6fbb29aff0ceffa1064fdd3088d582"
|
||||
|
||||
[[package]]
|
||||
name = "flate2"
|
||||
version = "1.1.9"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "843fba2746e448b37e26a819579957415c8cef339bf08564fe8b7ddbd959573c"
|
||||
dependencies = [
|
||||
"crc32fast",
|
||||
"miniz_oxide",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "fnv"
|
||||
version = "1.0.7"
|
||||
|
|
@ -361,19 +310,16 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
|
|||
checksum = "d9c4f5dac5e15c24eb999c26181a6ca40b39fe946cbe4c263c7209467bc83af2"
|
||||
|
||||
[[package]]
|
||||
name = "foldhash"
|
||||
version = "0.2.0"
|
||||
name = "getrandom"
|
||||
version = "0.4.2"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "77ce24cb58228fbb8aa041425bb1050850ac19177686ea6e0f41a70416f56fdb"
|
||||
|
||||
[[package]]
|
||||
name = "fontdue"
|
||||
version = "0.9.3"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "2e57e16b3fe8ff4364c0661fdaac543fb38b29ea9bc9c2f45612d90adf931d2b"
|
||||
checksum = "0de51e6874e94e7bf76d726fc5d13ba782deca734ff60d5bb2fb2607c7406555"
|
||||
dependencies = [
|
||||
"hashbrown 0.15.5",
|
||||
"ttf-parser",
|
||||
"cfg-if",
|
||||
"libc",
|
||||
"r-efi",
|
||||
"wasip2",
|
||||
"wasip3",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
|
|
@ -472,15 +418,6 @@ version = "0.30.10"
|
|||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "19fc433e8437a212d1b6f1e68c7824af3aed907da60afa994e7f542d18d12aa9"
|
||||
|
||||
[[package]]
|
||||
name = "hash32"
|
||||
version = "0.3.1"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "47d60b12902ba28e2730cd37e95b8c9223af2808df9e902d4df49588d1470606"
|
||||
dependencies = [
|
||||
"byteorder",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "hashbrown"
|
||||
version = "0.12.3"
|
||||
|
|
@ -493,9 +430,7 @@ version = "0.15.5"
|
|||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "9229cfe53dfd69f0609a49f65461bd93001ea1ef889cd5529dd176593f5338a1"
|
||||
dependencies = [
|
||||
"allocator-api2",
|
||||
"equivalent",
|
||||
"foldhash 0.1.5",
|
||||
"foldhash",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
|
|
@ -503,19 +438,6 @@ name = "hashbrown"
|
|||
version = "0.16.1"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "841d1cc9bed7f9236f321df977030373f4a4163ae1a7dbfe1a51a2c1a51d9100"
|
||||
dependencies = [
|
||||
"foldhash 0.2.0",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "heapless"
|
||||
version = "0.8.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "0bfb9eb618601c89945a70e254898da93b13be0388091d42117462b265bb3fad"
|
||||
dependencies = [
|
||||
"hash32",
|
||||
"stable_deref_trait",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "heck"
|
||||
|
|
@ -553,25 +475,18 @@ dependencies = [
|
|||
"cc",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "id-arena"
|
||||
version = "2.3.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "3d3067d79b975e8844ca9eb072e16b31c3c1c36928edf9c6789548c524d0d954"
|
||||
|
||||
[[package]]
|
||||
name = "ident_case"
|
||||
version = "1.0.1"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "b9e0384b61958566e926dc50660321d12159025e767c18e043daf26b70104c39"
|
||||
|
||||
[[package]]
|
||||
name = "image"
|
||||
version = "0.24.9"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "5690139d2f55868e080017335e4b94cb7414274c74f1669c84fb5feba2c9f69d"
|
||||
dependencies = [
|
||||
"bytemuck",
|
||||
"byteorder",
|
||||
"color_quant",
|
||||
"num-traits",
|
||||
"png",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "indexmap"
|
||||
version = "1.9.3"
|
||||
|
|
@ -617,6 +532,12 @@ dependencies = [
|
|||
"wasm-bindgen",
|
||||
]
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|
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|
|
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|
||||
version = "0.21.1"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "2c591d83f69777866b9126b24c6dd9a18351f177e49d625920d19f989fd31cf8"
|
||||
|
||||
[[package]]
|
||||
name = "typenum"
|
||||
version = "1.19.0"
|
||||
|
|
@ -1327,6 +1025,12 @@ version = "1.0.24"
|
|||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "e6e4313cd5fcd3dad5cafa179702e2b244f760991f45397d14d4ebf38247da75"
|
||||
|
||||
[[package]]
|
||||
name = "unicode-xid"
|
||||
version = "0.2.6"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "ebc1c04c71510c7f702b52b7c350734c9ff1295c464a03335b00bb84fc54f853"
|
||||
|
||||
[[package]]
|
||||
name = "utf8parse"
|
||||
version = "0.2.2"
|
||||
|
|
@ -1334,10 +1038,22 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
|
|||
checksum = "06abde3611657adf66d383f00b093d7faecc7fa57071cce2578660c9f1010821"
|
||||
|
||||
[[package]]
|
||||
name = "vec_map"
|
||||
version = "0.8.2"
|
||||
name = "wasip2"
|
||||
version = "1.0.2+wasi-0.2.9"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "f1bddf1187be692e79c5ffeab891132dfb0f236ed36a43c7ed39f1165ee20191"
|
||||
checksum = "9517f9239f02c069db75e65f174b3da828fe5f5b945c4dd26bd25d89c03ebcf5"
|
||||
dependencies = [
|
||||
"wit-bindgen",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "wasip3"
|
||||
version = "0.4.0+wasi-0.3.0-rc-2026-01-06"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "5428f8bf88ea5ddc08faddef2ac4a67e390b88186c703ce6dbd955e1c145aca5"
|
||||
dependencies = [
|
||||
"wit-bindgen",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "wasm-bindgen"
|
||||
|
|
@ -1384,6 +1100,40 @@ dependencies = [
|
|||
"unicode-ident",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "wasm-encoder"
|
||||
version = "0.244.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "990065f2fe63003fe337b932cfb5e3b80e0b4d0f5ff650e6985b1048f62c8319"
|
||||
dependencies = [
|
||||
"leb128fmt",
|
||||
"wasmparser",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "wasm-metadata"
|
||||
version = "0.244.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "bb0e353e6a2fbdc176932bbaab493762eb1255a7900fe0fea1a2f96c296cc909"
|
||||
dependencies = [
|
||||
"anyhow",
|
||||
"indexmap 2.13.0",
|
||||
"wasm-encoder",
|
||||
"wasmparser",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "wasmparser"
|
||||
version = "0.244.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "47b807c72e1bac69382b3a6fb3dbe8ea4c0ed87ff5629b8685ae6b9a611028fe"
|
||||
dependencies = [
|
||||
"bitflags",
|
||||
"hashbrown 0.15.5",
|
||||
"indexmap 2.13.0",
|
||||
"semver",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "wide"
|
||||
version = "0.7.33"
|
||||
|
|
@ -1394,28 +1144,6 @@ dependencies = [
|
|||
"safe_arch",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "winapi"
|
||||
version = "0.3.9"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "5c839a674fcd7a98952e593242ea400abe93992746761e38641405d28b00f419"
|
||||
dependencies = [
|
||||
"winapi-i686-pc-windows-gnu",
|
||||
"winapi-x86_64-pc-windows-gnu",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "winapi-i686-pc-windows-gnu"
|
||||
version = "0.4.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "ac3b87c63620426dd9b991e5ce0329eff545bccbbb34f3be09ff6fb6ab51b7b6"
|
||||
|
||||
[[package]]
|
||||
name = "winapi-x86_64-pc-windows-gnu"
|
||||
version = "0.4.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "712e227841d057c1ee1cd2fb22fa7e5a5461ae8e48fa2ca79ec42cfc1931183f"
|
||||
|
||||
[[package]]
|
||||
name = "windows-core"
|
||||
version = "0.62.2"
|
||||
|
|
@ -1490,6 +1218,94 @@ version = "0.7.15"
|
|||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "df79d97927682d2fd8adb29682d1140b343be4ac0f08fd68b7765d9c059d3945"
|
||||
|
||||
[[package]]
|
||||
name = "wit-bindgen"
|
||||
version = "0.51.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "d7249219f66ced02969388cf2bb044a09756a083d0fab1e566056b04d9fbcaa5"
|
||||
dependencies = [
|
||||
"wit-bindgen-rust-macro",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "wit-bindgen-core"
|
||||
version = "0.51.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "ea61de684c3ea68cb082b7a88508a8b27fcc8b797d738bfc99a82facf1d752dc"
|
||||
dependencies = [
|
||||
"anyhow",
|
||||
"heck",
|
||||
"wit-parser",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "wit-bindgen-rust"
|
||||
version = "0.51.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "b7c566e0f4b284dd6561c786d9cb0142da491f46a9fbed79ea69cdad5db17f21"
|
||||
dependencies = [
|
||||
"anyhow",
|
||||
"heck",
|
||||
"indexmap 2.13.0",
|
||||
"prettyplease",
|
||||
"syn",
|
||||
"wasm-metadata",
|
||||
"wit-bindgen-core",
|
||||
"wit-component",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "wit-bindgen-rust-macro"
|
||||
version = "0.51.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "0c0f9bfd77e6a48eccf51359e3ae77140a7f50b1e2ebfe62422d8afdaffab17a"
|
||||
dependencies = [
|
||||
"anyhow",
|
||||
"prettyplease",
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"syn",
|
||||
"wit-bindgen-core",
|
||||
"wit-bindgen-rust",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "wit-component"
|
||||
version = "0.244.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "9d66ea20e9553b30172b5e831994e35fbde2d165325bec84fc43dbf6f4eb9cb2"
|
||||
dependencies = [
|
||||
"anyhow",
|
||||
"bitflags",
|
||||
"indexmap 2.13.0",
|
||||
"log",
|
||||
"serde",
|
||||
"serde_derive",
|
||||
"serde_json",
|
||||
"wasm-encoder",
|
||||
"wasm-metadata",
|
||||
"wasmparser",
|
||||
"wit-parser",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "wit-parser"
|
||||
version = "0.244.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "ecc8ac4bc1dc3381b7f59c34f00b67e18f910c2c0f50015669dde7def656a736"
|
||||
dependencies = [
|
||||
"anyhow",
|
||||
"id-arena",
|
||||
"indexmap 2.13.0",
|
||||
"log",
|
||||
"semver",
|
||||
"serde",
|
||||
"serde_derive",
|
||||
"serde_json",
|
||||
"unicode-xid",
|
||||
"wasmparser",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "zmij"
|
||||
version = "1.0.21"
|
||||
|
|
|
|||
28
Cargo.toml
28
Cargo.toml
|
|
@ -1,8 +1,16 @@
|
|||
|
||||
[package]
|
||||
name = "drone_controller"
|
||||
version = "0.1.0"
|
||||
edition = "2024"
|
||||
|
||||
[lib]
|
||||
crate-type = ["staticlib", "lib"]
|
||||
|
||||
[build-dependencies]
|
||||
cbindgen = "0.29"
|
||||
|
||||
|
||||
[dependencies]
|
||||
|
||||
nalgebra = { version = "0.34" }
|
||||
|
|
@ -14,8 +22,20 @@ serde_json = "1.0.149"
|
|||
|
||||
clap = { version = "4", features = ["derive"] }
|
||||
|
||||
[lib]
|
||||
crate-type = ["lib", "cdylib"]
|
||||
[features]
|
||||
std = []
|
||||
|
||||
[build-dependencies]
|
||||
cbindgen = "0.29"
|
||||
[profile.dev]
|
||||
# Optimization level 1 is similar to "g" in gcc/clang, although for some reason
|
||||
# Cargo doesn't support that flag.
|
||||
#opt-level = 1
|
||||
opt-level = "s"
|
||||
|
||||
[profile.release]
|
||||
debug = true
|
||||
opt-level = "z"
|
||||
#debug = true
|
||||
#lto = true
|
||||
#opt-level = "z"
|
||||
#codegen-units = 1
|
||||
#panic = "abort"
|
||||
|
|
|
|||
35
build.rs
35
build.rs
|
|
@ -1,11 +1,32 @@
|
|||
extern crate cbindgen;
|
||||
|
||||
use std::env;
|
||||
use std::path::{Path, PathBuf};
|
||||
use std::{env, time};
|
||||
|
||||
fn main() {
|
||||
let crate_dir = env::var("CARGO_MANIFEST_DIR").unwrap();
|
||||
if env::var("CARGO_BUILD_TARGET_DIR").is_ok() {
|
||||
let cargo_dir = PathBuf::from(env::var("CARGO_MANIFEST_DIR").unwrap());
|
||||
let target_dir = PathBuf::from(env::var("CARGO_BUILD_TARGET_DIR").unwrap());
|
||||
|
||||
let _ = cbindgen::generate(crate_dir)
|
||||
.unwrap()
|
||||
.write_to_file("bindings.h");
|
||||
run_cbindgen(&cargo_dir, &target_dir);
|
||||
}
|
||||
}
|
||||
|
||||
fn run_cbindgen(cargo_dir: &Path, target_dir: &Path) {
|
||||
let out = target_dir.join("drone_controller.h");
|
||||
|
||||
cbindgen::Builder::new()
|
||||
.with_crate(cargo_dir)
|
||||
.with_language(cbindgen::Language::Cxx)
|
||||
.with_pragma_once(true)
|
||||
.generate()
|
||||
.expect("Unable to generate bindings")
|
||||
.write_to_file(&out);
|
||||
|
||||
println!("cargo:rerun-if-changed={}", out.display());
|
||||
println!(
|
||||
"cargo:rerun-if-changed={}",
|
||||
time::SystemTime::now()
|
||||
.duration_since(time::UNIX_EPOCH)
|
||||
.unwrap()
|
||||
.as_secs()
|
||||
);
|
||||
}
|
||||
|
|
|
|||
115
cbindgen.toml
115
cbindgen.toml
|
|
@ -8,10 +8,25 @@
|
|||
language = "C++"
|
||||
|
||||
|
||||
include_guard = "my_bindings_h"
|
||||
autogen_warning = "/* Warning, this file is autogenerated by cbindgen. Don't modify this manually. */"
|
||||
include_version = true
|
||||
############## Options for Wrapping the Contents of the Header #################
|
||||
|
||||
# header = "/* Text to put at the beginning of the generated file. Probably a license. */"
|
||||
# trailer = "/* Text to put at the end of the generated file */"
|
||||
# include_guard = "my_bindings_h"
|
||||
pragma_once = true
|
||||
# autogen_warning = "/* Warning, this file is autogenerated by cbindgen. Don't modify this manually. */"
|
||||
include_version = false
|
||||
namespace = "dcont"
|
||||
# namespaces = []
|
||||
using_namespaces = []
|
||||
sys_includes = []
|
||||
includes = []
|
||||
no_includes = false
|
||||
# cpp_compat = true
|
||||
after_includes = ""
|
||||
|
||||
|
||||
############################ Code Style Options ################################
|
||||
|
||||
braces = "SameLine"
|
||||
line_length = 100
|
||||
|
|
@ -19,18 +34,104 @@ tab_width = 2
|
|||
documentation = true
|
||||
documentation_style = "auto"
|
||||
documentation_length = "full"
|
||||
line_endings = "LF"
|
||||
line_endings = "LF" # also "CR", "CRLF", "Native"
|
||||
|
||||
namespace = "dcont"
|
||||
|
||||
############################# Codegen Options ##################################
|
||||
|
||||
style = "both"
|
||||
sort_by = "Name"
|
||||
sort_by = "Name" # default for `fn.sort_by` and `const.sort_by`
|
||||
usize_is_size_t = true
|
||||
|
||||
|
||||
[defines]
|
||||
# "target_os = freebsd" = "DEFINE_FREEBSD"
|
||||
# "feature = serde" = "DEFINE_SERDE"
|
||||
|
||||
|
||||
[export]
|
||||
include = []
|
||||
exclude = []
|
||||
# prefix = "DCONT_"
|
||||
# prefix = "CAPI_"
|
||||
item_types = []
|
||||
renaming_overrides_prefixing = false
|
||||
|
||||
|
||||
[export.rename]
|
||||
|
||||
|
||||
[export.body]
|
||||
|
||||
|
||||
[export.mangle]
|
||||
|
||||
|
||||
[fn]
|
||||
rename_args = "None"
|
||||
# must_use = "MUST_USE_FUNC"
|
||||
# deprecated = "DEPRECATED_FUNC"
|
||||
# deprecated_with_note = "DEPRECATED_FUNC_WITH_NOTE"
|
||||
# no_return = "NO_RETURN"
|
||||
# prefix = "START_FUNC"
|
||||
# postfix = "END_FUNC"
|
||||
args = "auto"
|
||||
sort_by = "Name"
|
||||
|
||||
|
||||
[struct]
|
||||
rename_fields = "None"
|
||||
# must_use = "MUST_USE_STRUCT"
|
||||
# deprecated = "DEPRECATED_STRUCT"
|
||||
# deprecated_with_note = "DEPRECATED_STRUCT_WITH_NOTE"
|
||||
rename_associated_constant = "None"
|
||||
derive_constructor = false
|
||||
derive_eq = false
|
||||
derive_neq = false
|
||||
derive_lt = false
|
||||
derive_lte = false
|
||||
derive_gt = false
|
||||
derive_gte = false
|
||||
|
||||
|
||||
[enum]
|
||||
rename_variants = "None"
|
||||
# must_use = "MUST_USE_ENUM"
|
||||
# deprecated = "DEPRECATED_ENUM"
|
||||
# deprecated_with_note = "DEPRECATED_ENUM_WITH_NOTE"
|
||||
add_sentinel = false
|
||||
prefix_with_name = false
|
||||
derive_helper_methods = false
|
||||
derive_const_casts = false
|
||||
derive_mut_casts = false
|
||||
# cast_assert_name = "ASSERT"
|
||||
derive_tagged_enum_destructor = false
|
||||
derive_tagged_enum_copy_constructor = false
|
||||
enum_class = true
|
||||
private_default_tagged_enum_constructor = false
|
||||
|
||||
|
||||
[const]
|
||||
allow_static_const = true
|
||||
allow_constexpr = false
|
||||
sort_by = "Name"
|
||||
|
||||
|
||||
[macro_expansion]
|
||||
bitflags = false
|
||||
|
||||
|
||||
############## Options for How Your Rust library Should Be Parsed ##############
|
||||
|
||||
[parse]
|
||||
parse_deps = false
|
||||
# include = []
|
||||
exclude = []
|
||||
clean = false
|
||||
extra_bindings = []
|
||||
|
||||
|
||||
[parse.expand]
|
||||
crates = []
|
||||
all_features = false
|
||||
default_features = true
|
||||
features = []
|
||||
|
|
|
|||
|
|
@ -0,0 +1,13 @@
|
|||
/* Hello World Example
|
||||
|
||||
This example code is in the Public Domain (or CC0 licensed, at your option.)
|
||||
|
||||
Unless required by applicable law or agreed to in writing, this
|
||||
software is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR
|
||||
CONDITIONS OF ANY KIND, either express or implied.
|
||||
*/
|
||||
|
||||
/* This is an empty source file to force the build of a CMake library that
|
||||
can participate in the CMake dependency graph. This placeholder library
|
||||
will depend on the actual library generated by external Rust build.
|
||||
*/
|
||||
|
|
@ -0,0 +1,2 @@
|
|||
[toolchain]
|
||||
channel = "esp"
|
||||
|
|
@ -0,0 +1,96 @@
|
|||
use crate::*;
|
||||
use nalgebra as na;
|
||||
|
||||
#[unsafe(no_mangle)]
|
||||
pub extern "C" fn create(c: config::ControllerConfig) -> *mut StackedController {
|
||||
return Box::into_raw(Box::new(StackedController::new(c)));
|
||||
}
|
||||
|
||||
|
||||
#[unsafe(no_mangle)]
|
||||
pub unsafe extern "C" fn destroy(ptr: *mut StackedController) {
|
||||
assert!(!ptr.is_null());
|
||||
let _x = unsafe { Box::from_raw(ptr) };
|
||||
}
|
||||
|
||||
#[repr(C)]
|
||||
pub struct MotorThrottles {
|
||||
pub values: [f32; 4],
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
#[unsafe(no_mangle)]
|
||||
pub extern "C" fn get_throttles(ptr: *mut StackedController) -> MotorThrottles {
|
||||
let controller = unsafe {
|
||||
assert!(!ptr.is_null());
|
||||
&mut *ptr
|
||||
};
|
||||
|
||||
return MotorThrottles {
|
||||
values: controller.get_motor_throttles(),
|
||||
};
|
||||
}
|
||||
|
||||
#[unsafe(no_mangle)]
|
||||
pub extern "C" fn set_cur_time(ptr: *mut StackedController, time: f32) {
|
||||
let controller = unsafe {
|
||||
assert!(!ptr.is_null());
|
||||
&mut *ptr
|
||||
};
|
||||
|
||||
controller.set_time(time);
|
||||
}
|
||||
|
||||
#[unsafe(no_mangle)]
|
||||
pub extern "C" fn set_input(ptr: *mut StackedController, inp: Input) {
|
||||
let controller = unsafe {
|
||||
assert!(!ptr.is_null());
|
||||
&mut *ptr
|
||||
};
|
||||
|
||||
controller.set_input(inp);
|
||||
}
|
||||
|
||||
#[unsafe(no_mangle)]
|
||||
pub extern "C" fn set_cur_rot(ptr: *mut StackedController, parts: Vec3C, scalar: f32) {
|
||||
let controller = unsafe {
|
||||
assert!(!ptr.is_null());
|
||||
&mut *ptr
|
||||
};
|
||||
|
||||
let quat: na::UnitQuaternion<f32> =
|
||||
na::UnitQuaternion::from_quaternion(na::Quaternion::from_parts(scalar, parts.into()));
|
||||
controller.set_rotation(quat);
|
||||
}
|
||||
|
||||
#[unsafe(no_mangle)]
|
||||
pub extern "C" fn set_cur_angvel(ptr: *mut StackedController, angvel: Vec3C) {
|
||||
let controller = unsafe {
|
||||
assert!(!ptr.is_null());
|
||||
&mut *ptr
|
||||
};
|
||||
|
||||
controller.set_angular_velocity(angvel.into());
|
||||
}
|
||||
|
||||
#[unsafe(no_mangle)]
|
||||
pub extern "C" fn set_cur_linvel(ptr: *mut StackedController, vel: Vec3C) {
|
||||
let controller = unsafe {
|
||||
assert!(!ptr.is_null());
|
||||
&mut *ptr
|
||||
};
|
||||
|
||||
controller.set_linvel(vel.into());
|
||||
}
|
||||
|
||||
#[unsafe(no_mangle)]
|
||||
pub extern "C" fn set_cur_pos(ptr: *mut StackedController, pos: Vec3C) {
|
||||
let controller = unsafe {
|
||||
assert!(!ptr.is_null());
|
||||
&mut *ptr
|
||||
};
|
||||
|
||||
controller.set_pos(pos.into());
|
||||
}
|
||||
|
|
@ -0,0 +1,82 @@
|
|||
use nalgebra as na;
|
||||
|
||||
#[repr(C)]
|
||||
pub struct Vec3C {
|
||||
pub x: f32,
|
||||
pub y: f32,
|
||||
pub z: f32,
|
||||
}
|
||||
|
||||
#[repr(C)]
|
||||
pub struct QuatC {
|
||||
pub i: f32,
|
||||
pub j: f32,
|
||||
pub k: f32,
|
||||
pub w: f32,
|
||||
}
|
||||
|
||||
impl Into<na::UnitQuaternion<f32>> for QuatC {
|
||||
fn into(self) -> na::UnitQuaternion<f32> {
|
||||
na::UnitQuaternion::from_quaternion(na::Quaternion::from_parts(
|
||||
self.w,
|
||||
na::vector![self.i, self.j, self.k],
|
||||
))
|
||||
}
|
||||
}
|
||||
|
||||
impl Into<na::Vector3<f32>> for Vec3C {
|
||||
fn into(self) -> na::Vector3<f32> {
|
||||
na::vector![self.x, self.y, self.z]
|
||||
}
|
||||
}
|
||||
|
||||
impl From<na::Vector3<f32>> for Vec3C {
|
||||
fn from(value: na::Vector3<f32>) -> Self {
|
||||
Vec3C { x: value.x, y: value.y, z: value.z }
|
||||
}
|
||||
}
|
||||
|
||||
#[unsafe(no_mangle)]
|
||||
pub extern "C" fn apply_rot(vec_ptr: *const Vec3C, quat_ptr: *const QuatC) -> Vec3C {
|
||||
if vec_ptr.is_null() || quat_ptr.is_null() {
|
||||
return Vec3C { x: 0.0, y: 0.0, z: 0.0 };
|
||||
}
|
||||
|
||||
unsafe {
|
||||
let v_raw = &*vec_ptr;
|
||||
let q_raw = &*quat_ptr;
|
||||
|
||||
let v = na::Vector3::new(v_raw.x, v_raw.y, v_raw.z);
|
||||
|
||||
let q = na::UnitQuaternion::from_quaternion(
|
||||
na::Quaternion::new(q_raw.w , q_raw.i, q_raw.j, q_raw.k)
|
||||
);
|
||||
|
||||
let rotated = q.transform_vector(&v);
|
||||
|
||||
Vec3C { x: rotated.x, y: rotated.y, z: rotated.z }
|
||||
}
|
||||
}
|
||||
|
||||
#[unsafe(no_mangle)]
|
||||
pub extern "C" fn multiply_vec_by(vec_ptr: *mut Vec3C, k: f32) {
|
||||
assert!(!vec_ptr.is_null());
|
||||
|
||||
unsafe {
|
||||
(*vec_ptr).x *= k;
|
||||
(*vec_ptr).y *= k;
|
||||
(*vec_ptr).z *= k;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
#[unsafe(no_mangle)]
|
||||
pub extern "C" fn add_to_vec(vec_ptr: *mut Vec3C, to_add_ptr: *const Vec3C){
|
||||
assert!(!vec_ptr.is_null());
|
||||
assert!(!to_add_ptr.is_null());
|
||||
unsafe {
|
||||
(*vec_ptr).x += (*to_add_ptr).x;
|
||||
(*vec_ptr).y += (*to_add_ptr).y;
|
||||
(*vec_ptr).z += (*to_add_ptr).z;
|
||||
}
|
||||
}
|
||||
109
src/lib.rs
109
src/lib.rs
|
|
@ -1,5 +1,3 @@
|
|||
use nalgebra::{self as na, Quaternion, Unit};
|
||||
|
||||
pub mod config;
|
||||
pub mod controller;
|
||||
pub mod input;
|
||||
|
|
@ -10,106 +8,7 @@ pub use controller::*;
|
|||
pub use input::*;
|
||||
pub use stacked::*;
|
||||
|
||||
#[unsafe(no_mangle)]
|
||||
pub extern "C" fn create(c: config::ControllerConfig) -> *mut StackedController {
|
||||
return Box::into_raw(Box::new(StackedController::new(c)));
|
||||
}
|
||||
|
||||
|
||||
#[unsafe(no_mangle)]
|
||||
pub unsafe extern "C" fn destroy(ptr: *mut ControllerConfig) {
|
||||
assert!(!ptr.is_null());
|
||||
let _x = unsafe { Box::from_raw(ptr) };
|
||||
}
|
||||
|
||||
#[repr(C)]
|
||||
pub struct MotorThrottles {
|
||||
pub values: [f32; 4],
|
||||
}
|
||||
|
||||
#[repr(C)]
|
||||
pub struct Vec3C {
|
||||
pub x: f32,
|
||||
pub y: f32,
|
||||
pub z: f32,
|
||||
}
|
||||
|
||||
impl Into<na::Vector3<f32>> for Vec3C {
|
||||
fn into(self) -> na::Vector3<f32> {
|
||||
na::vector![self.x, self.y, self.z]
|
||||
}
|
||||
}
|
||||
|
||||
#[unsafe(no_mangle)]
|
||||
pub extern "C" fn get_throttles(ptr: *mut StackedController) -> MotorThrottles {
|
||||
let controller = unsafe {
|
||||
assert!(!ptr.is_null());
|
||||
&mut *ptr
|
||||
};
|
||||
|
||||
return MotorThrottles {
|
||||
values: controller.get_motor_throttles(),
|
||||
};
|
||||
}
|
||||
|
||||
#[unsafe(no_mangle)]
|
||||
pub extern "C" fn set_cur_time(ptr: *mut StackedController, time: f32) {
|
||||
let controller = unsafe {
|
||||
assert!(!ptr.is_null());
|
||||
&mut *ptr
|
||||
};
|
||||
|
||||
controller.set_time(time);
|
||||
}
|
||||
|
||||
#[unsafe(no_mangle)]
|
||||
pub extern "C" fn set_input(ptr: *mut StackedController, inp: Input) {
|
||||
let controller = unsafe {
|
||||
assert!(!ptr.is_null());
|
||||
&mut *ptr
|
||||
};
|
||||
|
||||
controller.set_input(inp);
|
||||
}
|
||||
|
||||
#[unsafe(no_mangle)]
|
||||
pub extern "C" fn set_cur_rot(ptr: *mut StackedController, parts: Vec3C, scalar: f32) {
|
||||
let controller = unsafe {
|
||||
assert!(!ptr.is_null());
|
||||
&mut *ptr
|
||||
};
|
||||
|
||||
let quat: na::UnitQuaternion<f32> =
|
||||
na::UnitQuaternion::from_quaternion(Quaternion::from_parts(scalar, parts.into()));
|
||||
controller.set_rotation(quat);
|
||||
}
|
||||
|
||||
#[unsafe(no_mangle)]
|
||||
pub extern "C" fn set_cur_angvel(ptr: *mut StackedController, angvel: Vec3C) {
|
||||
let controller = unsafe {
|
||||
assert!(!ptr.is_null());
|
||||
&mut *ptr
|
||||
};
|
||||
|
||||
controller.set_angular_velocity(angvel.into());
|
||||
}
|
||||
|
||||
#[unsafe(no_mangle)]
|
||||
pub extern "C" fn set_cur_linvel(ptr: *mut StackedController, vel: Vec3C) {
|
||||
let controller = unsafe {
|
||||
assert!(!ptr.is_null());
|
||||
&mut *ptr
|
||||
};
|
||||
|
||||
controller.set_linvel(vel.into());
|
||||
}
|
||||
|
||||
#[unsafe(no_mangle)]
|
||||
pub extern "C" fn set_cur_pos(ptr: *mut StackedController, pos: Vec3C) {
|
||||
let controller = unsafe {
|
||||
assert!(!ptr.is_null());
|
||||
&mut *ptr
|
||||
};
|
||||
|
||||
controller.set_pos(pos.into());
|
||||
}
|
||||
pub mod ccont;
|
||||
pub mod cmath;
|
||||
pub use ccont::*;
|
||||
pub use cmath::*;
|
||||
|
|
|
|||
Loading…
Reference in New Issue