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Refine physics #2

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merged 5 commits into from
Dec 9, 2023
Merged

Refine physics #2

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1e5ad48
Remove Gizmo for camera controls
kvark Dec 7, 2023
e75fc29
Add friction, improve camera controls
kvark Dec 7, 2023
4578a89
Prevent sleep, debug wheels UI
kvark Dec 8, 2023
e466f37
Bring back the wheel alignment, make it actually work
kvark Dec 9, 2023
246f22e
Simple README
kvark Dec 9, 2023
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11 changes: 0 additions & 11 deletions Cargo.lock
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1 change: 0 additions & 1 deletion Cargo.toml
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Original file line number Diff line number Diff line change
Expand Up @@ -6,7 +6,6 @@ edition = "2021"
[dependencies]
blade = { path = "../blade" }
egui = "0.23"
egui-gizmo = "0.12"
egui-winit = "0.23"
env_logger = "0.10"
nalgebra = { version = "0.32", features = ["mint"] }
Expand Down
5 changes: 5 additions & 0 deletions README.md
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@@ -0,0 +1,5 @@
# RayCraft

A simple vehicle simulator based on [Blade engine](https://github.com/kvark/blade).

![colliders](etc/collider-boxes.jpg)
2 changes: 2 additions & 0 deletions data/config.ron
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Original file line number Diff line number Diff line change
Expand Up @@ -17,6 +17,7 @@
colliders: [
(
mass: 100000.0,
friction: 1.0,
pos: (0, -1, 0),
shape: Cuboid(
half: (100000, 1, 100000),
Expand All @@ -29,6 +30,7 @@
distance: 5,
azimuth: 0,
altitude: 0.5,
speed: 0.0,
target: (0, 1, 0),
fov: 1.0,
),
Expand Down
5 changes: 3 additions & 2 deletions data/vehicles/raceFuture.ron
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Original file line number Diff line number Diff line change
Expand Up @@ -19,6 +19,7 @@
),
collider: (
mass: 1.0,
friction: 2.0,
pos: (0, 0, 0),
rot: (0, 0, 90),
shape: Cylinder(
Expand All @@ -34,8 +35,8 @@
z: 0.5,
steer: (
max_angle: 30,
stiffness: 100,
damping: 0,
stiffness: 1000,
damping: 1,
),
),
(
Expand Down
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155 changes: 66 additions & 89 deletions src/main.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -43,6 +43,7 @@ struct CameraConfig {
azimuth: f32,
altitude: f32,
distance: f32,
speed: f32,
target: [f32; 3],
fov: f32,
}
Expand All @@ -56,8 +57,9 @@ struct GameConfig {
}

struct Wheel {
_object: blade::ObjectHandle,
object: blade::ObjectHandle,
joint: blade::JointHandle,
local_rotation: nalgebra::UnitQuaternion<f32>,
}

struct WheelAxle {
Expand All @@ -76,7 +78,8 @@ struct Game {
// engine stuff
engine: blade::Engine,
last_physics_update: time::Instant,
is_paused: Option<egui_gizmo::GizmoMode>,
last_camera_base_quat: nalgebra::UnitQuaternion<f32>,
is_paused: bool,
// windowing
window: winit::window::Window,
egui_state: egui_winit::State,
Expand Down Expand Up @@ -125,7 +128,7 @@ impl Game {
let mut vehicle = Vehicle {
body_handle: engine.add_object(
&body_config,
nalgebra::Isometry3::translation(init_pos.x, init_pos.y, init_pos.z),
nalgebra::Isometry3::new(init_pos, nalgebra::Vector3::zeros()),
blade::BodyType::Dynamic,
),
drive_factor: veh_config.drive_factor,
Expand All @@ -136,6 +139,7 @@ impl Game {
visuals: vec![veh_config.wheel.visual],
colliders: vec![veh_config.wheel.collider],
};
//Note: in the vehicle coordinate system X=left, Y=up, Z=forward
for ac in veh_config.axles {
let offset_left = nalgebra::Vector3::new(ac.x, 0.0, ac.z);
let offset_right = nalgebra::Vector3::new(-ac.x, 0.0, ac.z);
Expand All @@ -154,6 +158,7 @@ impl Game {
blade::BodyType::Dynamic,
);

let joint_kind = blade::JointKind::Soft;
let has_steer = ac.steer.max_angle > 0.0;
let max_angle = ac.steer.max_angle.to_radians();
let locked_axes = if has_steer {
Expand All @@ -162,15 +167,16 @@ impl Game {
} else {
rapier3d::dynamics::JointAxesMask::LOCKED_REVOLUTE_AXES
};

let left_frame =
nalgebra::Isometry3::rotation(nalgebra::Vector3::y_axis().scale(consts::PI));
let joint_left = engine.add_joint(
vehicle.body_handle,
wheel_left,
rapier3d::dynamics::GenericJointBuilder::new(locked_axes)
.contacts_enabled(false)
.local_anchor1(offset_left.into())
.local_frame2(nalgebra::Isometry3::rotation(
nalgebra::Vector3::y_axis().scale(consts::PI),
))
.local_frame2(left_frame)
.limits(rapier3d::dynamics::JointAxis::AngY, [-max_angle, max_angle])
.motor_position(rapier3d::dynamics::JointAxis::AngX, 0.0, 1.0, 1.0)
.motor_position(
Expand All @@ -180,6 +186,7 @@ impl Game {
ac.steer.damping,
)
.build(),
joint_kind,
);
let joint_right = engine.add_joint(
vehicle.body_handle,
Expand All @@ -196,16 +203,19 @@ impl Game {
ac.steer.damping,
)
.build(),
joint_kind,
);

vehicle.wheel_axles.push(WheelAxle {
left: Wheel {
_object: wheel_left,
object: wheel_left,
joint: joint_left,
local_rotation: left_frame.rotation,
},
right: Wheel {
_object: wheel_right,
object: wheel_right,
joint: joint_right,
local_rotation: nalgebra::UnitQuaternion::default(),
},
steer: if has_steer { Some(ac.steer) } else { None },
});
Expand All @@ -214,7 +224,8 @@ impl Game {
Self {
engine,
last_physics_update: time::Instant::now(),
is_paused: None,
last_camera_base_quat: Default::default(),
is_paused: false,
window,
egui_state: egui_winit::State::new(event_loop),
egui_context: egui::Context::default(),
Expand All @@ -229,10 +240,10 @@ impl Game {
}

fn set_velocity(&mut self, velocity: f32) {
self.engine.wake_up(self.vehicle.body_handle);
for wax in self.vehicle.wheel_axles.iter() {
for &joint_handle in &[wax.left.joint, wax.right.joint] {
let joint = self.engine.get_joint_mut(joint_handle);
joint.data.set_motor_velocity(
self.engine[joint_handle].set_motor_velocity(
rapier3d::dynamics::JointAxis::AngX,
velocity,
self.vehicle.drive_factor,
Expand All @@ -248,8 +259,7 @@ impl Game {
None => continue,
};
for &joint_handle in &[wax.left.joint, wax.right.joint] {
let joint = self.engine.get_joint_mut(joint_handle);
joint.data.set_motor_position(
self.engine[joint_handle].set_motor_position(
rapier3d::dynamics::JointAxis::AngY,
angle_rad,
steer.stiffness,
Expand All @@ -259,6 +269,34 @@ impl Game {
}
}

/// When front wheels are steered, their axis changes.
/// This routine re-aligns the axis of rotation every frame.
fn align_wheels(&mut self) {
let veh_isometry = self.engine.get_object_isometry(self.vehicle.body_handle);
let veh_y_axis = veh_isometry.transform_vector(&nalgebra::Vector3::y_axis());
for wax in self.vehicle.wheel_axles.iter() {
if wax.steer.is_none() {
continue;
}
for &wheel in &[&wax.left, &wax.right] {
let w_isometry = *self.engine.get_object_isometry(wheel.object);
let mut joint = &mut self.engine[wheel.joint];
let veh_y_in_wheel_frame = w_isometry.inverse().transform_vector(&veh_y_axis);
let x_angle = veh_y_in_wheel_frame.z.atan2(veh_y_in_wheel_frame.y);
let sign = wheel
.local_rotation
.transform_vector(&nalgebra::Vector3::x_axis())
.x
.signum();
let local_rot = nalgebra::UnitQuaternion::from_axis_angle(
&nalgebra::Vector3::x_axis(),
sign * x_angle,
);
joint.local_frame2.rotation = wheel.local_rotation * local_rot;
}
}
}

fn on_event(&mut self, event: &winit::event::WindowEvent) -> bool {
let response = self.egui_state.on_event(&self.egui_context, event);
if response.consumed {
Expand Down Expand Up @@ -324,64 +362,6 @@ impl Game {
false
}

fn add_camera_manipulation(&mut self, ui: &mut egui::Ui) {
let mode = match self.is_paused {
Some(mode) => mode,
None => return,
};

let cc = &self.cam_config;
let eye_dir = nalgebra::Vector3::new(
-cc.azimuth.sin() * cc.altitude.cos(),
cc.altitude.sin(),
-cc.azimuth.cos() * cc.altitude.cos(),
);

let rotation = {
let z = eye_dir;
//let x = z.cross(&nalgebra::Vector3::y_axis()).normalize();
let x = nalgebra::Vector3::new(cc.azimuth.cos(), 0.0, -cc.azimuth.sin());
//let y = z.cross(&x);
let y = nalgebra::Vector3::new(
cc.altitude.sin() * -cc.azimuth.sin(),
-cc.altitude.cos(),
cc.altitude.sin() * -cc.azimuth.cos(),
);
nalgebra::geometry::UnitQuaternion::from_rotation_matrix(
&nalgebra::geometry::Rotation3::from_basis_unchecked(&[x, y, z]).transpose(),
)
};
let view = {
let t = rotation * (nalgebra::Vector3::from(cc.target) - eye_dir.scale(cc.distance));
nalgebra::geometry::Isometry3::from_parts(t.into(), rotation)
};

let aspect = self.engine.screen_aspect();
let depth_range = 1.0f32..10000.0; //TODO?
let projection_matrix =
nalgebra::Matrix4::new_perspective(aspect, cc.fov, depth_range.start, depth_range.end);

let gizmo = egui_gizmo::Gizmo::new("Object")
.model_matrix(view.to_homogeneous())
.projection_matrix(projection_matrix)
.mode(mode)
.orientation(egui_gizmo::GizmoOrientation::Global)
.snapping(true);

if let Some(result) = gizmo.interact(ui) {
let q = nalgebra::Unit::new_normalize(nalgebra::Quaternion::from(
result.rotation.to_array(),
));
let m = q.inverse().to_rotation_matrix();
self.cam_config.azimuth = -m[(2, 0)].atan2(m[(0, 0)]);
self.cam_config.altitude = (-m[(1, 1)]).acos();
let t_local = q
.inverse()
.transform_vector(&nalgebra::Vector3::from(result.translation.to_array()));
self.cam_config.target = (t_local + eye_dir.scale(self.cam_config.distance)).into();
}
}

fn populate_hud(&mut self, ui: &mut egui::Ui) {
egui::CollapsingHeader::new("Camera")
.default_open(true)
Expand All @@ -392,21 +372,13 @@ impl Game {
.clamp_range(1.0..=100.0),
);
ui.horizontal(|ui| {
ui.selectable_value(
&mut self.is_paused,
Some(egui_gizmo::GizmoMode::Translate),
"Target",
);
ui.label("Target");
ui.add(egui::DragValue::new(&mut self.cam_config.target[1]));
ui.add(egui::DragValue::new(&mut self.cam_config.target[2]));
});
ui.horizontal(|ui| {
let eps = 0.01;
ui.selectable_value(
&mut self.is_paused,
Some(egui_gizmo::GizmoMode::Rotate),
"Angle",
);
ui.label("Angle");
ui.add(
egui::DragValue::new(&mut self.cam_config.azimuth)
.clamp_range(-consts::FRAC_PI_2..=consts::FRAC_PI_2)
Expand All @@ -419,12 +391,9 @@ impl Game {
);
});
ui.add(egui::Slider::new(&mut self.cam_config.fov, 0.5f32..=2.0f32).text("FOV"));
if self.is_paused.is_some() && ui.button("Unpause").clicked() {
self.is_paused = None;
}
ui.toggle_value(&mut self.is_paused, "Pause");
});

self.add_camera_manipulation(ui);
self.engine.populate_hud(ui);
}

Expand Down Expand Up @@ -455,7 +424,8 @@ impl Game {
);
let engine_dt = self.last_physics_update.elapsed().as_secs_f32();
self.last_physics_update = time::Instant::now();
if self.is_paused.is_none() {
if !self.is_paused {
self.align_wheels();
self.engine.update(engine_dt);
}

Expand All @@ -470,12 +440,19 @@ impl Game {
let base_quat =
nalgebra::UnitQuaternion::new_normalize(nalgebra::Quaternion::from_parts(
veh_isometry.rotation.quaternion().w,
nalgebra::Vector3::y_axis().scale(projection.abs()),
nalgebra::Vector3::y_axis().scale(projection),
));

let cc = &self.cam_config;
let smooth_t = (-engine_dt * cc.speed).exp();
let smooth_quat = nalgebra::UnitQuaternion::new_normalize(
base_quat.lerp(&self.last_camera_base_quat, smooth_t),
);
let base =
nalgebra::geometry::Isometry3::from_parts(veh_isometry.translation, base_quat);
nalgebra::geometry::Isometry3::from_parts(veh_isometry.translation, smooth_quat);
self.last_camera_base_quat = smooth_quat;

//TODO: `nalgebra::Point3::from(mint::Vector3)` doesn't exist?
let cc = &self.cam_config;
let source = nalgebra::Vector3::from(cc.target)
+ nalgebra::Vector3::new(
-cc.azimuth.sin() * cc.altitude.cos(),
Expand Down