adding physics and collision

Cargo.toml

@@ -28,5 +28,5 @@ ddsfile = "0.4"
 wgpu-subscriber = "0.1.0"
 tobj = "2.0.3"
 legion = "0.3.1"
-nalgebra = "0.20"
-ncollide3d = "0.22"
+nalgebra = "0.24.1"
+nphysics3d = "0.19.0"

src/main.rs

@@ -1,26 +1,36 @@
+extern crate nphysics3d;
 extern crate tobj;
 extern crate winit;
-extern crate ncollide3d;
 
+use std::f32::consts::PI;
 use std::rc::Rc;
 use std::sync::Arc;
 #[cfg(not(target_arch = "wasm32"))]
 use std::time::{Duration, Instant};
 
 use bytemuck::__core::ops::Range;
-use cgmath::{Matrix4, Point3, Decomposed, Quaternion, Rotation3, Deg, InnerSpace, SquareMatrix};
+use cgmath::{Decomposed, Deg, InnerSpace, Quaternion, Rotation3, SquareMatrix};
 use futures::task::LocalSpawn;
 use legion::*;
+use nphysics3d::math::Inertia;
+use nphysics3d::math::Velocity as VelocityN;
+use nphysics3d::nalgebra::{Isometry3, Matrix3, Matrix4, Point3, Point4, Vector3, Vector4};
+use nphysics3d::ncollide3d::pipeline::CollisionGroups;
+use nphysics3d::ncollide3d::shape::{Ball, ShapeHandle};
+use nphysics3d::object::{BodyStatus, ColliderDesc, RigidBodyDesc, DefaultBodySet, DefaultColliderSet, BodyPartHandle};
 use wgpu::{BindGroup, Buffer, TextureView};
 use wgpu_subscriber;
-use winit::platform::unix::x11::ffi::Time;
 use winit::{
     event::{self, WindowEvent},
     event_loop::{ControlFlow, EventLoop},
 };
+use winit::event::DeviceEvent::MouseMotion;
+use winit::platform::unix::x11::ffi::Time;
 
 use crate::render::Renderer;
-use winit::event::DeviceEvent::MouseMotion;
+use nphysics3d::world::{DefaultMechanicalWorld, DefaultGeometricalWorld};
+use nphysics3d::joint::DefaultJointConstraintSet;
+use nphysics3d::force_generator::DefaultForceGeneratorSet;
 
 mod framework;
 mod geometry;
@@ -30,7 +40,7 @@ mod render;
 /*
 
 Collision detection
-https://crates.io/crates/mgf
+https://nphysics.org/rigid_body_simulations_with_contacts/
 
 Obj file format
 http://paulbourke.net/dataformats/obj/
@@ -65,27 +75,13 @@ pub const OPENGL_TO_WGPU_MATRIX: cgmath::Matrix4<f32> = cgmath::Matrix4::new(
     0.0, 0.0, 0.5, 1.0,
 );
 
-#[allow(dead_code)]
-pub fn cast_slice<T>(data: &[T]) -> &[u8] {
-    use std::{mem::size_of, slice::from_raw_parts};
-
-    unsafe { from_raw_parts(data.as_ptr() as *const u8, data.len() * size_of::<T>()) }
-}
-
-#[allow(dead_code)]
-pub enum ShaderStage {
-    Vertex,
-    Fragment,
-    Compute,
-}
-
 // a component is any type that is 'static, sized, send and sync
 #[derive(Clone, Copy, Debug, PartialEq)]
 pub struct Position {
     x: f32,
     y: f32,
     z: f32,
-    mx: Matrix4<f32>,
+    mx: cgmath::Matrix4<f32>,
 }
 
 #[derive(Clone, Copy, Debug, PartialEq)]
@@ -129,7 +125,6 @@ pub struct Mesh {
 //log::info!("");
 
 fn main() {
-
     let mut world = World::default();
 
     let (mut pool, spawner) = {
@@ -170,9 +165,7 @@ fn main() {
     let mut resources = Resources::default();
     resources.insert(renderer);
 
-
     event_loop.run(move |event, _, control_flow| {
-
         // Artificially slows the loop rate to 10 millis
         // This is called after redraw events cleared
         *control_flow = ControlFlow::WaitUntil(Instant::now() + Duration::from_millis(10));
@@ -187,17 +180,16 @@ fn main() {
                 pool.run_until_stalled();
             }
             event::Event::DeviceEvent {
-                event: MouseMotion{ delta },
+                event: MouseMotion { delta },
                 ..
             } => {
-
                 resources
                     .get_mut::<Renderer>()
                     .unwrap()
                     .cam_look_delta((delta.0, delta.1));
 
                 //swap_chain = device.create_swap_chain(&surface, &sc_desc);
-            },
+            }
             // Resizing will queue a request_redraw
             event::Event::WindowEvent {
                 event: WindowEvent::Resized(size),
@@ -213,7 +205,7 @@ fn main() {
                     .resize(width, height);
 
                 //swap_chain = device.create_swap_chain(&surface, &sc_desc);
-            },
+            }
             event::Event::WindowEvent { event, .. } => match event {
                 WindowEvent::KeyboardInput {
                     input:
@@ -240,11 +232,64 @@ fn main() {
     });
 }
 
+pub fn physics() {
+
+    let mut mechanical_world = DefaultMechanicalWorld::new(Vector3::new(0.0, -9.81, 0.0));
+    let mut geometrical_world = DefaultGeometricalWorld::new();
+
+    let mut bodies = DefaultBodySet::new();
+    let mut colliders = DefaultColliderSet::new();
+    let mut joint_constraints = DefaultJointConstraintSet::new();
+    let mut force_generators = DefaultForceGeneratorSet::new();
+
+    // Run the simulation.
+    mechanical_world.step(
+        &mut geometrical_world,
+        &mut bodies,
+        &mut colliders,
+        &mut joint_constraints,
+        &mut force_generators
+    );
+
+    let rigid_body =
+        RigidBodyDesc::new()
+            // The rigid body position. Will override `.translation(...)` and `.rotation(...)`.
+            .position(Isometry3::new(
+                Vector3::new(1.0, 2.0, 3.0),
+                Vector3::y() * PI,
+            ))
+            .gravity_enabled(true)
+            .status(BodyStatus::Dynamic)
+            .velocity(VelocityN::linear(1.0, 2.0, 3.0))
+            .linear_damping(10.0)
+            .angular_damping(5.0)
+            .max_linear_velocity(10.0)
+            .max_angular_velocity(1.7)
+            .mass(1.2)
+            // Arbitrary user-defined data associated to the rigid body to be built.
+            .user_data(10)
+            .build();
+
+
+    // let parent_rigid_body = RigidBodyDesc::new()
+    //     .build();
+    let parent_handle = bodies.insert(rigid_body);
+
+    let shape = ShapeHandle::new(Ball::new(1.5));
+    let collider = ColliderDesc::new(shape)
+        .density(1.0)
+        .translation(Vector3::y() * 5.0)
+        .build(BodyPartHandle(parent_handle, 0));
+    let collider_handle = colliders.insert(collider);
+
+    // let ball = ShapeHandle::new(Ball::new(1.5));
+    //
+    // let collider = ColliderDesc::new(rigid_body)
+    //     .build();
+}
 
 pub fn entity_loading(world: &mut World, renderer: &mut Renderer) {
-
-    let untitled_mesh =
-        renderer.load_mesh_to_buffer("./resources/monkey.obj");
+    let untitled_mesh = renderer.load_mesh_to_buffer("./resources/monkey.obj");
 
     // This could be used for relationships between entities...???
     let light_entity: Entity = world.push((
@@ -288,15 +333,14 @@ pub fn entity_loading(world: &mut World, renderer: &mut Renderer) {
         },
     ));
 
-    let plane_mesh =
-        renderer.create_plane(7.0);
+    let plane_mesh = renderer.create_plane(7.0);
 
     let plane_entity: Entity = world.push((
         Position {
             x: 0.0,
             y: 0.0,
             z: 0.0,
-            mx:  cgmath::Matrix4::identity(),
+            mx: cgmath::Matrix4::identity(),
         },
         plane_mesh,
         Color {
@@ -306,5 +350,4 @@ pub fn entity_loading(world: &mut World, renderer: &mut Renderer) {
             a: 1.0,
         },
     ));
-
 }