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#[macro_use]
extern crate log;
extern crate ncollide3d as ncollide;
extern crate nphysics3d as nphysics;
use std::collections::HashMap;
pub use nalgebra as math;
use nalgebra::{RealField, Scalar};
use nphysics::{
object::{BodyHandle, ColliderHandle},
world::World,
};
use specs::world::Index;
pub use self::{
body::{PhysicsBody, PhysicsBodyBuilder},
collider::{PhysicsCollider, PhysicsColliderBuilder, Shape},
};
use specs::{Component, DenseVecStorage, Dispatcher, DispatcherBuilder, Entity, FlaggedStorage};
use specs_hierarchy::Parent;
use self::{
body::Position,
math::Vector3,
systems::{
PhysicsStepperSystem,
SyncBodiesToPhysicsSystem,
SyncCollidersToPhysicsSystem,
SyncGravityToPhysicsSystem,
SyncPositionsFromPhysicsSystem,
},
};
pub mod body;
pub mod collider;
pub mod systems;
pub struct Physics<N: RealField> {
world: World<N>,
body_handles: HashMap<Index, BodyHandle>,
collider_handles: HashMap<Index, ColliderHandle>,
}
impl<N: RealField> Default for Physics<N> {
fn default() -> Self {
Self {
world: World::new(),
body_handles: HashMap::new(),
collider_handles: HashMap::new(),
}
}
}
pub struct Gravity<N: RealField + Scalar>(Vector3<N>);
impl<N: RealField + Scalar> Default for Gravity<N> {
fn default() -> Self {
Self(Vector3::repeat(N::zero()))
}
}
pub struct TimeStep<N: RealField>(N);
#[derive(Debug, Clone, Eq, Ord, PartialEq, PartialOrd)]
pub struct PhysicsParent {
pub entity: Entity,
}
impl Component for PhysicsParent {
type Storage = FlaggedStorage<Self, DenseVecStorage<Self>>;
}
impl Parent for PhysicsParent {
fn parent_entity(&self) -> Entity {
self.entity
}
}
pub fn physics_dispatcher<'a, 'b, N, P>() -> Dispatcher<'a, 'b>
where
N: RealField,
P: Component<Storage = FlaggedStorage<P, DenseVecStorage<P>>> + Position<N> + Send + Sync,
{
let mut dispatcher_builder = DispatcherBuilder::new();
register_physics_systems::<N, P>(&mut dispatcher_builder);
dispatcher_builder.build()
}
pub fn register_physics_systems<N, P>(dispatcher_builder: &mut DispatcherBuilder)
where
N: RealField,
P: Component<Storage = FlaggedStorage<P, DenseVecStorage<P>>> + Position<N> + Send + Sync,
{
dispatcher_builder.add(
SyncBodiesToPhysicsSystem::<N, P>::default(),
"sync_bodies_to_physics_system",
&[],
);
dispatcher_builder.add(
SyncCollidersToPhysicsSystem::<N, P>::default(),
"sync_colliders_to_physics_system",
&["sync_bodies_to_physics_system"],
);
dispatcher_builder.add(
SyncGravityToPhysicsSystem::<N>::default(),
"sync_gravity_to_physics_system",
&[],
);
dispatcher_builder.add(
PhysicsStepperSystem::<N>::default(),
"physics_stepper_system",
&[
"sync_bodies_to_physics_system",
"sync_colliders_to_physics_system",
"sync_gravity_to_physics_system",
],
);
dispatcher_builder.add(
SyncPositionsFromPhysicsSystem::<N, P>::default(),
"sync_positions_from_physics_system",
&["physics_stepper_system"],
);
}