Torque impulses

blade-render/Cargo.toml

@@ -25,7 +25,7 @@ exr = { version = "1.6", optional = true }
 gltf = { workspace = true, features = ["names", "utils"], optional = true }
 glam = { workspace = true }
 log = { workspace = true }
-mikktspace = { package = "bevy_mikktspace", version = "0.10", optional = true }
+mikktspace = { package = "bevy_mikktspace", version = "0.12", optional = true }
 mint = { workspace = true }
 profiling = { workspace = true }
 slab = { workspace = true, optional = true }

blade-render/src/model/mod.rs

@@ -1,6 +1,6 @@
 use std::{
     borrow::Cow,
     collections::hash_map::{Entry, HashMap},
     fmt, hash, mem,
     ops::Range,
     ptr, str,
@@ -27,9 +27,7 @@
 }
 
 fn encode_normal(v: [f32; 3]) -> u32 {
-    let raw = pack4x8snorm([v[0], v[1], v[2], 0.0]);
-    assert_ne!(raw, 0, "Zero normal detected");
-    raw
+    pack4x8snorm([v[0], v[1], v[2], 0.0])
 }
 
 pub struct Geometry {
@@ -258,6 +256,7 @@
                         );
                         for (v, normal) in pre_vertices.iter_mut().zip(iter) {
                             v.normal = normal;
+                            assert_ne!(encode_normal(normal), 0);
                         }
                     } else {
                         log::warn!("No normals in {name}");
@@ -486,11 +485,11 @@
 
     fn cook(
         &self,
         source: &[u8],
         extension: &str,
         meta: Meta,
         cooker: Arc<blade_asset::Cooker<Self>>,
         exe_context: &choir::ExecutionContext,
     ) {
         match extension {
             #[cfg(feature = "asset")]
@@ -589,10 +588,6 @@
                         if meta.generate_tangents {
                             let ok = mikktspace::generate_tangents(&mut fg);
                             assert!(ok, "MikkTSpace failed");
-                        } else {
-                            for v in fg.0.iter_mut() {
-                                v.tangent = [1.0, 0.0, 0.0, 0.0];
-                            }
                         }
                         let (indices, vertices) = fg.reconstruct_indices();
                         let mut model = model_clone.lock().unwrap();

src/lib.rs

@@ -783,6 +783,12 @@ impl Engine {
         body.apply_impulse(impulse, false)
     }
 
+    pub fn apply_torque_impulse(&mut self, handle: ObjectHandle, impulse: nalgebra::Vector3<f32>) {
+        let object = &self.objects[handle.0];
+        let body = &mut self.physics.rigid_bodies[object.rigid_body];
+        body.apply_torque_impulse(impulse, false)
+    }
+
     pub fn teleport_object(&mut self, handle: ObjectHandle, isometry: nalgebra::Isometry3<f32>) {
         let object = &self.objects[handle.0];
         let body = &mut self.physics.rigid_bodies[object.rigid_body];