diff options
Diffstat (limited to 'src_testbed/testbed.rs')
| -rw-r--r-- | src_testbed/testbed.rs | 142 |
1 files changed, 135 insertions, 7 deletions
diff --git a/src_testbed/testbed.rs b/src_testbed/testbed.rs index 3d4f814..7de339c 100644 --- a/src_testbed/testbed.rs +++ b/src_testbed/testbed.rs @@ -8,16 +8,17 @@ use crate::plugin::TestbedPlugin; use crate::{debug_render, ui}; use crate::{graphics::GraphicsManager, harness::RunState}; -use na::{self, Point2, Point3, Vector3}; +use na::{self, Point2, Point3, Quaternion, Unit, Vector3}; +use rapier::control::{CharacterAutostep, CharacterLength, KinematicCharacterController}; use rapier::dynamics::{ ImpulseJointSet, IntegrationParameters, MultibodyJointSet, RigidBodyActivation, RigidBodyHandle, RigidBodySet, }; +#[cfg(feature = "dim3")] +use rapier::geometry::Ray; use rapier::geometry::{ColliderHandle, ColliderSet, NarrowPhase}; use rapier::math::{Real, Vector}; -use rapier::pipeline::PhysicsHooks; -#[cfg(feature = "dim3")] -use rapier::{geometry::Ray, pipeline::QueryFilter}; +use rapier::pipeline::{PhysicsHooks, QueryFilter}; #[cfg(all(feature = "dim2", feature = "other-backends"))] use crate::box2d_backend::Box2dWorld; @@ -98,6 +99,7 @@ pub struct TestbedState { pub running: RunMode, pub draw_colls: bool, pub highlighted_body: Option<RigidBodyHandle>, + pub character_body: Option<RigidBodyHandle>, // pub grabbed_object: Option<DefaultBodyPartHandle>, // pub grabbed_object_constraint: Option<DefaultJointConstraintHandle>, pub grabbed_object_plane: (Point3<f32>, Vector3<f32>), @@ -133,6 +135,7 @@ pub struct TestbedGraphics<'a, 'b, 'c, 'd, 'e, 'f> { meshes: &'a mut Assets<Mesh>, materials: &'a mut Assets<BevyMaterial>, components: &'a mut Query<'b, 'f, (&'c mut Transform,)>, + camera_transform: GlobalTransform, camera: &'a mut OrbitCamera, } @@ -173,6 +176,7 @@ impl TestbedApp { running: RunMode::Running, draw_colls: false, highlighted_body: None, + character_body: None, // grabbed_object: None, // grabbed_object_constraint: None, grabbed_object_plane: (Point3::origin(), na::zero()), @@ -447,6 +451,10 @@ impl<'a, 'b, 'c, 'd, 'e, 'f> Testbed<'a, 'b, 'c, 'd, 'e, 'f> { self.state.nsteps = nsteps } + pub fn set_character_body(&mut self, handle: RigidBodyHandle) { + self.state.character_body = Some(handle); + } + pub fn allow_grabbing_behind_ground(&mut self, allow: bool) { self.state.can_grab_behind_ground = allow; } @@ -502,6 +510,7 @@ impl<'a, 'b, 'c, 'd, 'e, 'f> Testbed<'a, 'b, 'c, 'd, 'e, 'f> { .action_flags .set(TestbedActionFlags::RESET_WORLD_GRAPHICS, true); + self.state.character_body = None; self.state.highlighted_body = None; #[cfg(all(feature = "dim2", feature = "other-backends"))] @@ -614,6 +623,121 @@ impl<'a, 'b, 'c, 'd, 'e, 'f> Testbed<'a, 'b, 'c, 'd, 'e, 'f> { self.plugins.0.push(Box::new(plugin)); } + fn update_character_controller(&mut self, events: &Input<KeyCode>) { + if self.state.running == RunMode::Stop { + return; + } + + if let Some(character_handle) = self.state.character_body { + let mut desired_movement = Vector::zeros(); + let mut speed = 0.1; + + #[cfg(feature = "dim2")] + for key in events.get_pressed() { + match *key { + KeyCode::Right => { + desired_movement += Vector::x(); + } + KeyCode::Left => { + desired_movement -= Vector::x(); + } + KeyCode::Space => { + desired_movement += Vector::y() * 2.0; + } + KeyCode::RControl => { + desired_movement -= Vector::y(); + } + KeyCode::RShift => { + speed /= 10.0; + } + _ => {} + } + } + + #[cfg(feature = "dim3")] + { + let (_, rot, _) = self + .graphics + .as_ref() + .unwrap() + .camera_transform + .to_scale_rotation_translation(); + let rot = Unit::new_unchecked(Quaternion::new(rot.w, rot.x, rot.y, rot.z)); + let mut rot_x = rot * Vector::x(); + let mut rot_z = rot * Vector::z(); + rot_x.y = 0.0; + rot_z.y = 0.0; + + for key in events.get_pressed() { + match *key { + KeyCode::Right => { + desired_movement += rot_x; + } + KeyCode::Left => { + desired_movement -= rot_x; + } + KeyCode::Up => { + desired_movement -= rot_z; + } + KeyCode::Down => { + desired_movement += rot_z; + } + KeyCode::Space => { + desired_movement += Vector::y() * 2.0; + } + KeyCode::RControl => { + desired_movement -= Vector::y(); + } + KeyCode::RShift => { + speed /= 10.0; + } + _ => {} + } + } + } + + desired_movement *= speed; + desired_movement -= Vector::y() * speed; + + let controller = KinematicCharacterController::default(); + let phx = &mut self.harness.physics; + let character_body = &phx.bodies[character_handle]; + let character_collider = &phx.colliders[character_body.colliders()[0]]; + let character_mass = character_body.mass(); + + let mut collisions = vec![]; + let mvt = controller.move_shape( + phx.integration_parameters.dt, + &phx.bodies, + &phx.colliders, + &phx.query_pipeline, + character_collider.shape(), + character_collider.position(), + desired_movement, + QueryFilter::new().exclude_rigid_body(character_handle), + |c| collisions.push(c), + ); + + for collision in &collisions { + controller.solve_character_collision_impulses( + phx.integration_parameters.dt, + &mut phx.bodies, + &phx.colliders, + &phx.query_pipeline, + character_collider.shape(), + character_mass, + collision, + QueryFilter::new().exclude_rigid_body(character_handle), + ) + } + + let character_body = &mut phx.bodies[character_handle]; + let pos = character_body.position(); + character_body.set_next_kinematic_translation(pos.translation.vector + mvt.translation); + // character_body.set_translation(pos.translation.vector + mvt.translation, false); + } + } + fn handle_common_events(&mut self, events: &Input<KeyCode>) { for key in events.get_just_released() { match *key { @@ -923,7 +1047,8 @@ fn update_testbed( meshes: &mut *meshes, materials: &mut *materials, components: &mut gfx_components, - camera: &mut cameras.iter_mut().next().unwrap().2, + camera_transform: *cameras.single().1, + camera: &mut cameras.single_mut().2, }; let mut testbed = Testbed { @@ -936,6 +1061,7 @@ fn update_testbed( }; testbed.handle_common_events(&*keys); + testbed.update_character_controller(&*keys); } // Update UI @@ -1010,7 +1136,8 @@ fn update_testbed( meshes: &mut *meshes, materials: &mut *materials, components: &mut gfx_components, - camera: &mut cameras.iter_mut().next().unwrap().2, + camera_transform: *cameras.single().1, + camera: &mut cameras.single_mut().2, }; let mut testbed = Testbed { @@ -1160,7 +1287,8 @@ fn update_testbed( meshes: &mut *meshes, materials: &mut *materials, components: &mut gfx_components, - camera: &mut cameras.iter_mut().next().unwrap().2, + camera_transform: *cameras.single().1, + camera: &mut cameras.single_mut().2, }; harness.step_with_graphics(Some(&mut testbed_graphics)); |