rotation from physics

src/components.rs

@@ -4,6 +4,7 @@ use rapier3d::dynamics::{RigidBody, RigidBodyHandle};
 use rapier3d::geometry::ColliderHandle;
 use rapier3d::geometry::Collider as r3dCollider;
 use std::time::{Duration, Instant};
+use cgmath::Deg;
 
 // a component is any type that is 'static, sized, send and sync
 
@@ -19,7 +20,7 @@ pub struct Position {
     pub x: f32,
     pub y: f32,
     pub z: f32,
-    pub rot: cgmath::Quaternion<f32>,
+    pub rot: cgmath::Euler<Deg<f32>>,
 }
 
 #[derive(Clone, Copy, Debug, PartialEq)]

src/main.rs

@@ -124,7 +124,7 @@ fn main() {
     resources.insert(renderer);
 
     let (physics_state, physics_pipeline) =
-        PhysicsState::build(rapier3d::math::Vector::new(0.0, -9.81, 0.0));
+        PhysicsState::build(rapier3d::math::Vector::new(0.0, -9.81, 0.05));
     resources.insert(physics_state);
     resources.insert(physics_pipeline);
 
@@ -289,11 +289,11 @@ pub fn entity_loading(world: &mut World, renderer: &mut Renderer) {
             x: 1.0,
             y: 5.0,
             z: 2.0,
-            rot: Quaternion::from(Euler {
+            rot: Euler {
                 x: Deg(90.0),
                 y: Deg(45.0),
                 z: Deg(15.0),
-            }), //mx: cgmath::Matrix4::from(transform),
+            }, //mx: cgmath::Matrix4::from(transform),
         },
         monkey_mesh,
         Color {
@@ -306,15 +306,15 @@ pub fn entity_loading(world: &mut World, renderer: &mut Renderer) {
 
     let mut dynamic_ball_body = RigidBodyBuilder::new_dynamic()
         .position(Isometry3::new(
-            Vector3::new(0.0, 0.0, 5.0),
-            Vector::y() * PI,
+            Vector3::new(0.0, 0.0, 0.0),
+            Vector::y(),
         ))
         .build();
 
     let mut static_floor_body = RigidBodyBuilder::new_static()
         .position(Isometry3::new(
             Vector3::new(0.0, -8.0, 0.0),
-            Vector::y() * PI,
+            Vector::y(),
         ))
         .build();
 
@@ -328,11 +328,11 @@ pub fn entity_loading(world: &mut World, renderer: &mut Renderer) {
             x: 0.0,
             y: -8.0,
             z: 0.0,
-            rot: Quaternion::from(Euler {
+            rot: Euler {
                 x: Deg(0.0),
                 y: Deg(0.0),
                 z: Deg(0.0),
-            }),
+            },
         },
         plane_mesh,
         Color {
@@ -355,14 +355,14 @@ pub fn entity_loading(world: &mut World, renderer: &mut Renderer) {
 
     let ball_mesh: Entity = world.push((
         Position {
-            x: 2.0,
-            y: 2.0,
-            z: 3.0,
-            rot: Quaternion::from(Euler {
+            x: 0.0,
+            y: 0.0,
+            z: 0.0,
+            rot: Euler {
                 x: Deg(25.0),
                 y: Deg(45.0),
                 z: Deg(15.0),
-            }),
+            },
         },
         ball_mesh,
         Color {

src/physics.rs

@@ -1,15 +1,17 @@
+use std::time::Instant;
+
+use cgmath::{Euler, Quaternion};
 use legion::world::SubWorld;
 use legion::IntoQuery;
+use legion::*;
+use nalgebra::Quaternion as naQuaternion;
 use rapier3d::dynamics::{IntegrationParameters, JointSet, RigidBodySet};
 use rapier3d::geometry::{BroadPhase, ColliderSet, NarrowPhase};
 use rapier3d::pipeline::PhysicsPipeline;
-use legion::*;
 
+use crate::camera::{Camera, CameraController};
+use crate::components::{Collider, LoopState, Mesh, Physics, Position};
 use crate::render::{EntityUniforms, Renderer};
-use cgmath::Quaternion;
-use crate::components::{Collider, Physics, Mesh, Position, LoopState};
-use crate::camera::{CameraController, Camera};
-use std::time::Instant;
 
 pub struct PhysicsState {
     gravity: rapier3d::math::Vector<f32>,
@@ -47,7 +49,6 @@ pub fn run_physics(
     #[resource] physics_state: &mut PhysicsState,
     #[resource] physics_pipeline: &mut PhysicsPipeline,
 ) {
-
     // Make sure all the entities we care about are added to the system
     let mut query = <(&mut Collider, &mut Physics, &mut Mesh)>::query();
     for (collider, physics, mesh) in query.iter_mut(world) {
@@ -56,11 +57,15 @@ pub fn run_physics(
                 let handle = physics_state.bodies.insert(physics.rigid_body.clone());
                 physics.rigid_body_handle = Some(handle);
                 physics.rigid_body_handle.unwrap()
-            },
+            }
             Some(handle) => handle,
         };
         if collider.collider_handle == None {
-            let handle = physics_state.colliders.insert(collider.collider.clone(), rigid_body_handle, &mut physics_state.bodies);
+            let handle = physics_state.colliders.insert(
+                collider.collider.clone(),
+                rigid_body_handle,
+                &mut physics_state.bodies,
+            );
             collider.collider_handle = Some(handle);
         }
     }
@@ -77,17 +82,14 @@ pub fn run_physics(
         &mut physics_state.joints,
         None,
         None,
-        &event_handler
+        &event_handler,
     );
 }
 
 #[system]
 #[write_component(Camera)]
 #[write_component(CameraController)]
-pub fn update_camera(
-    world: &mut SubWorld,
-    #[resource] loop_state: &mut LoopState,
-) {
+pub fn update_camera(world: &mut SubWorld, #[resource] loop_state: &mut LoopState) {
     let mut query = <(&mut Camera, &mut CameraController)>::query();
     for (mut camera, controller) in query.iter_mut(world) {
         controller.update_camera(&mut camera, loop_state.step_size)
@@ -104,25 +106,32 @@ pub fn update_models(
     #[resource] physics_state: &mut PhysicsState,
     #[resource] physics_pipeline: &mut PhysicsPipeline,
 ) {
-
     // Make sure all the entities we care about are added to the system
     let mut query = <(&mut Collider, &mut Physics, &mut Mesh, &mut Position)>::query();
     for (collider, physics, mesh, position) in query.iter_mut(world) {
-        let pos = physics_state.bodies.get(physics.rigid_body_handle.unwrap()).unwrap().position();
+        let pos = physics_state
+            .bodies
+            .get(physics.rigid_body_handle.unwrap())
+            .unwrap()
+            .position();
         position.x = pos.translation.x;
         position.y = pos.translation.y;
         position.z = pos.translation.z;
 
-        position.rot.s   = pos.rotation.w;
-        position.rot.v.x = pos.rotation.i;
-        position.rot.v.y = pos.rotation.j;
-        position.rot.v.z = pos.rotation.k;
+        let q = Quaternion::new(
+            pos.rotation.w,
+            pos.rotation.i,
+            pos.rotation.j,
+            pos.rotation.k,
+        );
+        let rotation = Euler::from(q);
+        position.rot.x = rotation.x.into();
+        position.rot.y = rotation.y.into();
+        position.rot.z = rotation.z.into();
 
         // mx.x = pos.rotation.i;
         // mx.y = pos.rotation.j;
         // mx.z = pos.rotation.k;
         // mx.w = pos.rotation.w;
-
     }
-
-}
+}

src/render.rs

@@ -87,6 +87,8 @@ pub fn render_test(world: &mut SubWorld, #[resource] renderer: &mut Renderer) {
 
     let frame = renderer.get_current_frame();
 
+    // Update the camera uniform buffers, need to make it support selection of
+    // cameras
     let mut query = <(&mut Camera)>::query();
     for (camera) in query.iter_mut(world) {
         let matrix = camera.calc_matrix(renderer.camera_projection);
@@ -104,16 +106,14 @@ pub fn render_test(world: &mut SubWorld, #[resource] renderer: &mut Renderer) {
 
     // Update the entity uniforms
     for (pos, mesh, color) in query.iter_mut(world) {
-        // let rotation = cgmath::Matrix4::from_angle_x(cgmath::Deg(2.0));
-        // pos.mx = pos.mx * rotation;
-
-        //let p = cgmath::Matrix4::from(pos.rot);
-        let q = cgmath::Matrix4::from_translation(Vector3::new(pos.x, pos.y, pos.z));
-
-        let z = q; // p + q;
-
+        let d = Decomposed {
+            scale: 1.0,
+            rot: Quaternion::from(pos.rot),
+            disp: Vector3::new(pos.x, pos.y, pos.z)
+        };
+        let m = Matrix4::from(d);
         let data = EntityUniforms {
-            model: z.into(),
+            model: m.into(),
             color: [
                 color.r as f32,
                 color.g as f32,