feat: migrate to glam whenever relevant + migrate testbed to kiss3d instead of bevy + release v0.32.0 (#909)
* feat: migrate to glam whenever relevant + migrate testbed to kiss3d instead of bevy * chore: update changelog * Fix warnings and tests * Release v0.32.0
This commit is contained in:
Sébastien Crozet
GitHub
@@ -1,9 +1,11 @@
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use kiss3d::color::Color;
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use rapier_testbed3d::{
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KeyCode, PhysicsState, TestbedGraphics,
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ui::egui::{Align2, ComboBox, Slider, Ui, Window},
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egui::{Align2, ComboBox, Slider, Ui, Window},
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};
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use rapier3d::{
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control::{CharacterLength, KinematicCharacterController, PidController},
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math::Vector,
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prelude::*,
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};
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@@ -50,36 +52,38 @@ fn character_movement_from_inputs(
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gfx: &TestbedGraphics,
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mut speed: Real,
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artificial_gravity: bool,
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) -> Vector<Real> {
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let mut desired_movement = Vector::zeros();
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) -> Vector {
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let mut desired_movement = Vector::ZERO;
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let rot = gfx.camera_rotation();
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let mut rot_x = rot * Vector::x();
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let mut rot_z = rot * Vector::z();
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rot_x.y = 0.0;
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rot_z.y = 0.0;
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let mut rot_x_na = rot * SimdVector::x();
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let mut rot_z_na = rot * SimdVector::z();
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rot_x_na.y = 0.0;
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rot_z_na.y = 0.0;
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let rot_x = Vector::new(rot_x_na.x, rot_x_na.y, rot_x_na.z);
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let rot_z = Vector::new(rot_z_na.x, rot_z_na.y, rot_z_na.z);
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for key in gfx.keys().get_pressed() {
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match *key {
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KeyCode::ArrowRight => {
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KeyCode::Right => {
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desired_movement += rot_x;
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}
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KeyCode::ArrowLeft => {
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KeyCode::Left => {
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desired_movement -= rot_x;
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}
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KeyCode::ArrowUp => {
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KeyCode::Up => {
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desired_movement -= rot_z;
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}
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KeyCode::ArrowDown => {
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KeyCode::Down => {
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desired_movement += rot_z;
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}
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KeyCode::Space => {
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desired_movement += Vector::y() * 2.0;
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desired_movement += Vector::Y * 2.0;
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}
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KeyCode::ControlRight => {
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desired_movement -= Vector::y();
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KeyCode::RControl => {
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desired_movement -= Vector::Y;
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}
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KeyCode::ShiftLeft => {
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KeyCode::LShift => {
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speed /= 10.0;
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}
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_ => {}
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@@ -89,7 +93,7 @@ fn character_movement_from_inputs(
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desired_movement *= speed;
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if artificial_gravity {
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desired_movement -= Vector::y() * speed;
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desired_movement -= Vector::Y * speed;
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}
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desired_movement
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@@ -107,11 +111,11 @@ fn update_pid_controller(
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// Adjust the controlled axis depending on the keys pressed by the user.
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// - If the user is jumping, enable control over Y.
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// - If the user isn’t pressing any key, disable all linear controls to let
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// - If the user isn't pressing any key, disable all linear controls to let
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// gravity/collision do their thing freely.
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let mut axes = AxesMask::ANG_X | AxesMask::ANG_Y | AxesMask::ANG_Z;
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if desired_movement.norm() != 0.0 {
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if desired_movement.length() != 0.0 {
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axes |= if desired_movement.y == 0.0 {
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AxesMask::LIN_X | AxesMask::LIN_Z
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} else {
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@@ -121,10 +125,12 @@ fn update_pid_controller(
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pid.set_axes(axes);
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let target_translation = character_body.translation() + desired_movement;
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let target_pose = Pose::from_parts(target_translation, *character_body.rotation());
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let corrective_vel = pid.rigid_body_correction(
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phx.integration_parameters.dt,
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character_body,
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(character_body.translation() + desired_movement).into(),
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target_pose,
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RigidBodyVelocity::zero(),
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);
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let new_vel = *character_body.vels() + corrective_vel;
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@@ -160,14 +166,14 @@ fn update_kinematic_controller(
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&query_pipeline.as_ref(),
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&*character_shape,
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&character_pose,
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desired_movement.cast::<Real>(),
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desired_movement,
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|c| collisions.push(c),
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);
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if mvt.grounded {
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gfx.set_body_color(character_handle, [0.1, 0.8, 0.1]);
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gfx.set_body_color(character_handle, Color::new(0.1, 0.8, 0.1, 1.0), true);
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} else {
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gfx.set_body_color(character_handle, [0.8, 0.1, 0.1]);
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gfx.set_body_color(character_handle, Color::new(0.8, 0.1, 0.1, 1.0), true);
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}
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controller.solve_character_collision_impulses(
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@@ -180,7 +186,7 @@ fn update_kinematic_controller(
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let character_body = &mut phx.bodies[character_handle];
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let pose = character_body.position();
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character_body.set_next_kinematic_translation(pose.translation.vector + mvt.translation);
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character_body.set_next_kinematic_translation(pose.translation + mvt.translation);
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}
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fn character_control_ui(
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@@ -191,7 +197,7 @@ fn character_control_ui(
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) {
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Window::new("Character Control")
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.anchor(Align2::RIGHT_TOP, [-15.0, 15.0])
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.show(gfx.ui_context_mut().ctx_mut(), |ui| {
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.show(gfx.egui_context(), |ui| {
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ComboBox::from_label("control mode")
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.selected_text(format!("{:?}", *control_mode))
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.show_ui(ui, |ui| {
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@@ -230,12 +236,12 @@ fn pid_control_ui(ui: &mut Ui, pid_controller: &mut PidController, speed: &mut R
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ui.add(Slider::new(&mut ang_ki, 0.0..=10.0).text("angular Ki"));
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ui.add(Slider::new(&mut ang_kd, 0.0..=1.0).text("angular Kd"));
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pid_controller.pd.lin_kp.fill(lin_kp);
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pid_controller.lin_ki.fill(lin_ki);
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pid_controller.pd.lin_kd.fill(lin_kd);
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pid_controller.pd.ang_kp.fill(ang_kp);
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pid_controller.ang_ki.fill(ang_ki);
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pid_controller.pd.ang_kd.fill(ang_kd);
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pid_controller.pd.lin_kp = Vector::splat(lin_kp);
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pid_controller.lin_ki = Vector::splat(lin_ki);
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pid_controller.pd.lin_kd = Vector::splat(lin_kd);
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pid_controller.pd.ang_kp = Vector::splat(ang_kp);
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pid_controller.ang_ki = Vector::splat(ang_ki);
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pid_controller.pd.ang_kd = Vector::splat(ang_kd);
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}
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fn kinematic_control_ui(
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@@ -250,12 +256,12 @@ fn kinematic_control_ui(
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#[allow(clippy::useless_conversion)]
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{
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ui.add(Slider::new(&mut character_controller.max_slope_climb_angle, 0.0..=std::f32::consts::TAU.into()).text("max_slope_climb_angle"))
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.on_hover_text("The maximum angle (radians) between the floor’s normal and the `up` vector that the character is able to climb.");
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.on_hover_text("The maximum angle (radians) between the floor's normal and the `up` vector that the character is able to climb.");
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ui.add(Slider::new(&mut character_controller.min_slope_slide_angle, 0.0..=std::f32::consts::FRAC_PI_2.into()).text("min_slope_slide_angle"))
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.on_hover_text("The minimum angle (radians) between the floor’s normal and the `up` vector before the character starts to slide down automatically.");
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.on_hover_text("The minimum angle (radians) between the floor's normal and the `up` vector before the character starts to slide down automatically.");
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}
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let mut is_snapped = character_controller.snap_to_ground.is_some();
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if ui.checkbox(&mut is_snapped, "snap_to_ground").changed {
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if ui.checkbox(&mut is_snapped, "snap_to_ground").changed() {
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match is_snapped {
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true => {
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character_controller.snap_to_ground = Some(CharacterLength::Relative(0.1));
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