From 2c9ce75b8b94dc50deab1aa29b0b2eb156f45af6 Mon Sep 17 00:00:00 2001 From: mitchellhansen Date: Sat, 13 Feb 2021 21:54:59 -0800 Subject: [PATCH] rotation from physics --- resources/ball.obj | 3212 ++++++++++++++++++++++---------------------- src/components.rs | 3 +- src/main.rs | 26 +- src/physics.rs | 53 +- src/render.rs | 18 +- 5 files changed, 1656 insertions(+), 1656 deletions(-) diff --git a/resources/ball.obj b/resources/ball.obj index b339a3e..cec50fd 100644 --- a/resources/ball.obj +++ b/resources/ball.obj @@ -1,494 +1,489 @@ # Blender v2.79 (sub 0) OBJ File: '' # www.blender.org mtllib ball.mtl -o Sphere -v 1.000021 0.591691 -0.977391 -v 1.000021 0.534785 -1.164984 -v 1.000021 0.442376 -1.337871 -v 1.000021 0.318013 -1.489407 -v 1.000021 0.166476 -1.613770 -v 1.000021 -0.006411 -1.706180 -v 1.000021 -0.194004 -1.763086 -v 1.000021 -0.389094 -1.782300 -v 1.000021 -0.584184 -1.763086 -v 1.000021 -1.220564 -1.337870 -v 1.038082 0.591691 -0.973642 -v 1.074679 0.534785 -1.157631 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a/src/main.rs +++ b/src/main.rs @@ -124,7 +124,7 @@ fn main() { resources.insert(renderer); let (physics_state, physics_pipeline) = - PhysicsState::build(rapier3d::math::Vector::new(0.0, -9.81, 0.0)); + PhysicsState::build(rapier3d::math::Vector::new(0.0, -9.81, 0.05)); resources.insert(physics_state); resources.insert(physics_pipeline); @@ -289,11 +289,11 @@ pub fn entity_loading(world: &mut World, renderer: &mut Renderer) { x: 1.0, y: 5.0, z: 2.0, - rot: Quaternion::from(Euler { + rot: Euler { x: Deg(90.0), y: Deg(45.0), z: Deg(15.0), - }), //mx: cgmath::Matrix4::from(transform), + }, //mx: cgmath::Matrix4::from(transform), }, monkey_mesh, Color { @@ -306,15 +306,15 @@ pub fn entity_loading(world: &mut World, renderer: &mut Renderer) { let mut dynamic_ball_body = RigidBodyBuilder::new_dynamic() .position(Isometry3::new( - Vector3::new(0.0, 0.0, 5.0), - Vector::y() * PI, + Vector3::new(0.0, 0.0, 0.0), + Vector::y(), )) .build(); let mut static_floor_body = RigidBodyBuilder::new_static() .position(Isometry3::new( Vector3::new(0.0, -8.0, 0.0), - Vector::y() * PI, + Vector::y(), )) .build(); @@ -328,11 +328,11 @@ pub fn entity_loading(world: &mut World, renderer: &mut Renderer) { x: 0.0, y: -8.0, z: 0.0, - rot: Quaternion::from(Euler { + rot: Euler { x: Deg(0.0), y: Deg(0.0), z: Deg(0.0), - }), + }, }, plane_mesh, Color { @@ -355,14 +355,14 @@ pub fn entity_loading(world: &mut World, renderer: &mut Renderer) { let ball_mesh: Entity = world.push(( Position { - x: 2.0, - y: 2.0, - z: 3.0, - rot: Quaternion::from(Euler { + x: 0.0, + y: 0.0, + z: 0.0, + rot: Euler { x: Deg(25.0), y: Deg(45.0), z: Deg(15.0), - }), + }, }, ball_mesh, Color { diff --git a/src/physics.rs b/src/physics.rs index b8873b4..a14954d 100644 --- a/src/physics.rs +++ b/src/physics.rs @@ -1,15 +1,17 @@ +use std::time::Instant; + +use cgmath::{Euler, Quaternion}; use legion::world::SubWorld; use legion::IntoQuery; +use legion::*; +use nalgebra::Quaternion as naQuaternion; use rapier3d::dynamics::{IntegrationParameters, JointSet, RigidBodySet}; use rapier3d::geometry::{BroadPhase, ColliderSet, NarrowPhase}; use rapier3d::pipeline::PhysicsPipeline; -use legion::*; +use crate::camera::{Camera, CameraController}; +use crate::components::{Collider, LoopState, Mesh, Physics, Position}; use crate::render::{EntityUniforms, Renderer}; -use cgmath::Quaternion; -use crate::components::{Collider, Physics, Mesh, Position, LoopState}; -use crate::camera::{CameraController, Camera}; -use std::time::Instant; pub struct PhysicsState { gravity: rapier3d::math::Vector, @@ -47,7 +49,6 @@ pub fn run_physics( #[resource] physics_state: &mut PhysicsState, #[resource] physics_pipeline: &mut PhysicsPipeline, ) { - // Make sure all the entities we care about are added to the system let mut query = <(&mut Collider, &mut Physics, &mut Mesh)>::query(); for (collider, physics, mesh) in query.iter_mut(world) { @@ -56,11 +57,15 @@ pub fn run_physics( let handle = physics_state.bodies.insert(physics.rigid_body.clone()); physics.rigid_body_handle = Some(handle); physics.rigid_body_handle.unwrap() - }, + } Some(handle) => handle, }; if collider.collider_handle == None { - let handle = physics_state.colliders.insert(collider.collider.clone(), rigid_body_handle, &mut physics_state.bodies); + let handle = physics_state.colliders.insert( + collider.collider.clone(), + rigid_body_handle, + &mut physics_state.bodies, + ); collider.collider_handle = Some(handle); } } @@ -77,17 +82,14 @@ pub fn run_physics( &mut physics_state.joints, None, None, - &event_handler + &event_handler, ); } #[system] #[write_component(Camera)] #[write_component(CameraController)] -pub fn update_camera( - world: &mut SubWorld, - #[resource] loop_state: &mut LoopState, -) { +pub fn update_camera(world: &mut SubWorld, #[resource] loop_state: &mut LoopState) { let mut query = <(&mut Camera, &mut CameraController)>::query(); for (mut camera, controller) in query.iter_mut(world) { controller.update_camera(&mut camera, loop_state.step_size) @@ -104,25 +106,32 @@ pub fn update_models( #[resource] physics_state: &mut PhysicsState, #[resource] physics_pipeline: &mut PhysicsPipeline, ) { - // Make sure all the entities we care about are added to the system let mut query = <(&mut Collider, &mut Physics, &mut Mesh, &mut Position)>::query(); for (collider, physics, mesh, position) in query.iter_mut(world) { - let pos = physics_state.bodies.get(physics.rigid_body_handle.unwrap()).unwrap().position(); + let pos = physics_state + .bodies + .get(physics.rigid_body_handle.unwrap()) + .unwrap() + .position(); position.x = pos.translation.x; position.y = pos.translation.y; position.z = pos.translation.z; - position.rot.s = pos.rotation.w; - position.rot.v.x = pos.rotation.i; - position.rot.v.y = pos.rotation.j; - position.rot.v.z = pos.rotation.k; + let q = Quaternion::new( + pos.rotation.w, + pos.rotation.i, + pos.rotation.j, + pos.rotation.k, + ); + let rotation = Euler::from(q); + position.rot.x = rotation.x.into(); + position.rot.y = rotation.y.into(); + position.rot.z = rotation.z.into(); // mx.x = pos.rotation.i; // mx.y = pos.rotation.j; // mx.z = pos.rotation.k; // mx.w = pos.rotation.w; - } - -} \ No newline at end of file +} diff --git a/src/render.rs b/src/render.rs index 190addb..13297f2 100644 --- a/src/render.rs +++ b/src/render.rs @@ -87,6 +87,8 @@ pub fn render_test(world: &mut SubWorld, #[resource] renderer: &mut Renderer) { let frame = renderer.get_current_frame(); + // Update the camera uniform buffers, need to make it support selection of + // cameras let mut query = <(&mut Camera)>::query(); for (camera) in query.iter_mut(world) { let matrix = camera.calc_matrix(renderer.camera_projection); @@ -104,16 +106,14 @@ pub fn render_test(world: &mut SubWorld, #[resource] renderer: &mut Renderer) { // Update the entity uniforms for (pos, mesh, color) in query.iter_mut(world) { - // let rotation = cgmath::Matrix4::from_angle_x(cgmath::Deg(2.0)); - // pos.mx = pos.mx * rotation; - - //let p = cgmath::Matrix4::from(pos.rot); - let q = cgmath::Matrix4::from_translation(Vector3::new(pos.x, pos.y, pos.z)); - - let z = q; // p + q; - + let d = Decomposed { + scale: 1.0, + rot: Quaternion::from(pos.rot), + disp: Vector3::new(pos.x, pos.y, pos.z) + }; + let m = Matrix4::from(d); let data = EntityUniforms { - model: z.into(), + model: m.into(), color: [ color.r as f32, color.g as f32,