update `glam`, add tests to the physics

Cargo.lock

@@ -1,5 +1,7 @@
 # This file is automatically @generated by Cargo.
 # It is not intended for manual editing.
+version = 3
+
 [[package]]
 name = "adler32"
 version = "1.0.4"
@@ -297,9 +299,9 @@ dependencies = [
 
 [[package]]
 name = "glam"
-version = "0.8.5"
+version = "0.20.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "bb24d4e1b92ceed0450bbf803ac894b597c5b8d0e16f175f7ef28c42024d8cbd"
+checksum = "68270e16582ea40f9c5b2fcd588fbc9cb696577222e04a64d9085cc314806a8a"
 
 [[package]]
 name = "hermit-abi"

Cargo.toml

@@ -15,7 +15,8 @@ float-ord = "0.2.0"
 futures = "0.3.8"
 futures-util = "0.3.9"
 gl = "0.14.0"
-glam = "0.8.5"
+# glam = "0.8.5"
+glam = "0.20.1"
 iota = "0.2.1"
 maplit = "1.0.2"
 partial-min-max = "0.4.0"

src/bin/platformer.rs

@@ -24,5 +24,62 @@ async fn main () -> Result <()> {
 	
 	window.gl_make_current (&gl_ctx).map_err (|e| anyhow! ("Can't make OpenGL context current: {}", e))?;
 	
+	let mut event_pump = sdl_context.event_pump ().unwrap ();
+	
+	let mut time_step = TimeStep::new (60, 1000);
+	let mut graphics_frames = 0;
+	
+	let shader_program = shader::shader_from_files ("shaders/terrain-vert.glsl", "shaders/terrain-frag.glsl");
+	let shader_locations = ShaderLocations::new (&shader_program)?;
+	
+	let mesh_cube = renderable_from_iqm_file ("cube.iqm");
+	
+	'running: loop {
+		let _frames_to_do = time_step.step ();
+		
+		for event in event_pump.poll_iter () {
+			match event {
+				Event::Quit {..} |
+				Event::KeyDown { keycode: Some (Keycode::Escape), .. } => {
+					break 'running
+				},
+				_ => (),
+			}
+		}
+		
+		window.gl_make_current (&gl_ctx).unwrap ();
+		
+		glezz::enable (gl::DEPTH_TEST);
+		
+		glezz::clear_color (0.392f32, 0.710f32, 0.965f32, 1.0f32);
+		glezz::clear (gl::COLOR_BUFFER_BIT | gl::DEPTH_BUFFER_BIT | gl::STENCIL_BUFFER_BIT);
+		
+		window.gl_swap_window ();
+		
+		tokio::time::sleep (Duration::from_millis (15)).await;
+	}
+	
 	Ok (())
 }
+
+struct ShaderLocations {
+	attr_pos: u32,
+	attr_normal: u32,
+	attr_color: u32,
+	uni_mvp: i32,
+}
+
+impl ShaderLocations {
+	pub fn new (shader_program: &shader::ShaderProgram) -> anyhow::Result <Self> 
+	{
+		let attr = |name: &str| shader_program.get_attribute_location (&CString::new (name.as_bytes ())?).try_into ().context ("Attribute location negative");
+		let uni = |name: &str| shader_program.get_uniform_location (&CString::new (name.as_bytes ())?).try_into ().context ("Uniform location bad");
+		
+		Ok (Self {
+			attr_pos:    attr ("attr_pos")?,
+			attr_normal: attr ("attr_normal")?,
+			attr_color:  attr ("attr_color")?,
+			uni_mvp:     uni ("uni_mvp")?,
+		})
+	}
+}

src/bin/pumpkin.rs

@@ -25,9 +25,9 @@ where V: Into <Vec3>
 	let rgb: Vec3 = rgb.into ();
 	
 	Vec3::from ((
-		rgb.x () / 255.0,
+		rgb.x / 255.0,
-		rgb.y () / 255.0,
+		rgb.y / 255.0,
-		rgb.z () / 255.0
+		rgb.z / 255.0
 	))
 }
 
@@ -293,9 +293,9 @@ impl FlightState {
 			// Forces
 			let gravity = Vec3::from ((0.0, 0.0, -0.25));
 			let thrust = 0.125 * nose * throttle;
-			let linear_drag = 0.0 * 0.25 * speed * -object_space_dir.y () * nose;
+			let linear_drag = 0.0 * 0.25 * speed * -object_space_dir.y * nose;
 			
-			let turbulent_dir = Vec3::from ((-1.0 * object_space_dir.x (), -0.03125 * object_space_dir.y (), -16.0 * object_space_dir.z ()));
+			let turbulent_dir = Vec3::from ((-1.0 * object_space_dir.x, -0.03125 * object_space_dir.y, -16.0 * object_space_dir.z));
 			let quadratic_drag = speed * speed * airplane.ori.mul_vec3 (turbulent_dir);
 			
 			let air_drag = linear_drag + quadratic_drag;
@@ -305,9 +305,9 @@ impl FlightState {
 			airplane.vel += dt * (thrust + gravity + air_drag);
 			airplane.pos += dt * airplane.vel;
 			
-			if airplane.pos.z () < 0.0 {
+			if airplane.pos.z < 0.0 {
-				airplane.vel.set_z (0.0);
+				airplane.vel.z = 0.0;
-				airplane.pos.set_z (0.0);
+				airplane.pos.z = 0.0;
 			}
 			
 			if microstep == microsteps - 1 {
@@ -325,10 +325,10 @@ impl FlightState {
 				];
 				
 				// Gauges
-				let alti = airplane.pos.z () * 100.0;
+				let alti = airplane.pos.z * 100.0;
-				let sink_rate = -airplane.vel.z () * 100.0;
+				let sink_rate = -airplane.vel.z * 100.0;
 				let air_speed = speed * 100.0;
-				let ground_vel = Vec3::from ((airplane.vel.x (), airplane.vel.y (), 0.0));
+				let ground_vel = Vec3::from ((airplane.vel.x, airplane.vel.y, 0.0));
 				let ground_speed = ground_vel.length () * 100.0;
 				let glide_ratio = if sink_rate > 1.0 && throttle == 0.0 {
 					Some (ground_speed / sink_rate)
@@ -457,8 +457,8 @@ fn make_object_space_vec (inverse_model_mat: &Mat4, world_space_vec: &Vec3)
 -> Vec3
 {
 	let v = world_space_vec;
-	let v4 = *inverse_model_mat * Vec4::from ((v.x (), v.y (), v.z (), 0.0));
+	let v4 = *inverse_model_mat * Vec4::from ((v.x, v.y, v.z, 0.0));
-	Vec3::from ((v4.x (), v4.y (), v4.z ()))
+	Vec3::from ((v4.x, v4.y, v4.z))
 }
 
 #[derive (Clone)]
@@ -861,11 +861,12 @@ impl GameGraphics {
 		
 		let light = state.wind_tunnel.sunlight.to_vec3 ();
 		
-		let shadow_mat = {
+		let shadow_mat = Mat4::from_cols (
-			let mut mat = Mat4::identity ();
+			(1.0, 0.0, 0.0, 0.0).into (),
-			mat.set_z_axis ((-light.x () / light.z (), -light.y () / light.z (), 0.0, 0.0).into ());
+			(0.0, 1.0, 0.0, 0.0).into (),
-			mat
+			(-light.x / light.z, -light.y / light.z, 0.0, 0.0).into (),
-		};
+			(0.0, 0.0, 0.0, 1.0).into (),
+		);
 		
 		let mut passes = self.passes.iter ();
 		//println! ("Started frame");
@@ -931,7 +932,7 @@ impl GameGraphics {
 		let inverse_truck = truck_model_mat.inverse ();
 		let truck_model_mat = truck_model_mat * Mat4::from_scale ((airplane_scale, airplane_scale, airplane_scale).into ());
 		
-		let world_model_mat = Mat4::identity ();
+		let world_model_mat = Mat4::IDENTITY;
 		
 		use uniforms::*;
 		
@@ -1272,7 +1273,7 @@ fn main () {
 				let gravity = (0.0, 0.0, -1.0).into ();
 				
 				let wind = state.wind.to_vec3 () * -1.0;
-				let wind_force = (wind.x (), 0.125 * wind.y (), wind.z ()).into ();
+				let wind_force = (wind.x, 0.125 * wind.y, wind.z).into ();
 				
 				let get_flash = |control_type, default_color| {
 					if state.user_control == control_type {
@@ -1314,10 +1315,10 @@ fn main () {
 			
 			let d = arrow.direction / dir_len;
 			
-			let up: Vec3 = if d.z () > 0.5 {
+			let up: Vec3 = if d.z > 0.5 {
 				(-1.0, 0.0, 0.0)
 			}
-			else if d.z () < -0.5 {
+			else if d.z < -0.5 {
 				(-1.0, 0.0, 0.0)
 			}
 			else {
@@ -1329,11 +1330,12 @@ fn main () {
 			let left = d.cross (up);
 			let up = d.cross (left);
 			
-			let mut dir_mat = Mat4::identity ();
+			let dir_mat = Mat4::from_cols (
-			
+				(left, 0.0).into (),
-			dir_mat.set_x_axis ((left.x (), left.y (), left.z (), 0.0).into ());
+				(up, 0.0).into (),
-			dir_mat.set_y_axis ((up.x (), up.y (), up.z (), 0.0).into ());
+				(d, 0.0).into (),
-			dir_mat.set_z_axis ((d.x (), d.y (), d.z (), 0.0).into ());
+				(0.0, 0.0, 0.0, 1.0).into (),
+			);
 			
 			let s = dir_len * 0.0625;
 			

src/gpu_buffers.rs

@@ -9,8 +9,6 @@ use std::io::Cursor;
 
 pub struct VertexBuffer {
 	id: u32,
-	// Not bytes. 
-	len: usize,
 }
 
 const FLOAT_SIZE: usize = 4;
@@ -59,7 +57,6 @@ impl VertexBuffer {
 		
 		Self {
 			id,
-			len,
 		}
 	}
 	
@@ -74,7 +71,6 @@ impl VertexBuffer {
 		
 		Self {
 			id,
-			len,
 		}
 	}
 	
@@ -103,9 +99,6 @@ pub struct IndexBuffer {
 	/// The OpenGL ID of the buffer
 	id: u32,
 	
-	/// The count of 32-bit indices the buffer can store
-	len: usize,
-	
 	/// The largest index stored in the buffer when it was created
 	max: u32,
 }
@@ -144,7 +137,6 @@ impl IndexBuffer {
 		
 		Self {
 			id,
-			len: slice.len () / IDX_SIZE,
 			max: max.unwrap (),
 		}
 	}
@@ -166,7 +158,6 @@ impl IndexBuffer {
 		
 		Self {
 			id,
-			len: slice.len (),
 			max: *max.unwrap (),
 		}
 	}

src/physics.rs

@@ -1,39 +1,37 @@
 use glam::{Vec2, Vec3};
 use partial_min_max::{min, max};
 
+#[derive (Debug, PartialEq)]
 pub struct PhysicsBody {
 	pos: Vec3,
 	vel: Vec3,
 }
 
+#[derive (Debug, PartialEq)]
 pub struct PhysicsResult {
-	body: PhysicsBody,
+	pub body: PhysicsBody,
-	triangles_hit: Vec <usize>,
+	pub triangles_hit: Vec <usize>,
-	kill: bool,
+	pub kill: bool,
 }
 
+#[derive (Copy, Clone)]
 pub struct Triangle {
 	verts: [Vec3; 3],
 }
 
-pub trait MeshBuffer {
-	fn num_triangles (&self) -> usize;
-	fn get_triangle (&self, i: usize) -> Triangle;
-}
-
 fn vec_min (a: &Vec3, b: &Vec3) -> Vec3 {
 	Vec3::from ((
-		min (a.x (), b.x ()),
+		min (a.x, b.x),
-		min (a.y (), b.y ()),
+		min (a.y, b.y),
-		min (a.z (), b.z ())
+		min (a.z, b.z)
 	))
 }
 
 fn vec_max (a: &Vec3, b: &Vec3) -> Vec3 {
 	Vec3::from ((
-		max (a.x (), b.x ()),
+		max (a.x, b.x),
-		max (a.y (), b.y ()),
+		max (a.y, b.y),
-		max (a.z (), b.z ())
+		max (a.z, b.z)
 	))
 }
 
@@ -53,7 +51,7 @@ impl Triangle {
 	}
 }
 
-#[derive (Clone)]
+#[derive (Clone, Debug, PartialEq)]
 pub struct Collision {
 	t: f32,
 	p_impact: Vec3,
@@ -72,11 +70,9 @@ impl Collision {
 	}
 }
 
-pub fn get_candidate <MB> (world: &MB, p0: Vec3, p1: Vec3)
+pub fn get_candidate (world: &[Triangle], p0: Vec3, p1: Vec3, radius: f32)
 -> Collision
-where MB: MeshBuffer
 {
-	let radius = 0.0625f32;
 	let radius3 = Vec3::from ((
 		radius,
 		radius,
@@ -91,19 +87,17 @@ where MB: MeshBuffer
 		i: 0,
 	};
 	
-	for i in 0..world.num_triangles () {
+	for (i, tri) in world.iter ().enumerate () {
-		let tri = world.get_triangle (i);
-		
 		let tri_min = tri.min () - radius3;
 		let tri_max = tri.max () + radius3;
 		
-		let ray_min = min (p0, p1);
+		let ray_min = p0.min (p1);
-		let ray_max = max (p0, p1);
+		let ray_max = p0.max (p1);
 		
 		if 
-			ray_max.x () < tri_min.x () || ray_min.x () > tri_max.x () ||
+			ray_max.x < tri_min.x || ray_min.x > tri_max.x ||
-			ray_max.y () < tri_min.y () || ray_min.y () > tri_max.y () ||
+			ray_max.y < tri_min.y || ray_min.y > tri_max.y ||
-			ray_max.z () < tri_min.z () || ray_min.z () > tri_max.z ()
+			ray_max.z < tri_min.z || ray_min.z > tri_max.z
 		{
 			// AABB reject
 			continue;
@@ -189,14 +183,14 @@ where MB: MeshBuffer
 			// and Y is the cross of those.
 			
 			// I forgot the maths word for this
-			let discriminant = radius * radius - a_ray.y () * a_ray.y ();
+			let discriminant = radius * radius - a_ray.y * a_ray.y;
 			
 			if discriminant < 0.0 {
 				// No possible collision
 				continue;
 			}
 			
-			let t = (a_ray.x () - discriminant.sqrt ()) / (p1 - p0).length ();
+			let t = (a_ray.x - discriminant.sqrt ()) / (p1 - p0).length ();
 			
 			if t < 0.0 || t > 1.0 {
 				// The cylinder is along the line,
@@ -280,25 +274,31 @@ where MB: MeshBuffer
 	candidate
 }
 
-pub fn physics_step <MB> (input: &PhysicsBody, world: &MB)
+pub struct Params {
--> PhysicsResult
+	dt: f32,
-where MB: MeshBuffer
+	gravity: Vec3,
+	margin: f32,
+}
+
+pub fn physics_step (
+	params: &Params, world: &[Triangle], 
+	radius: f32, input: &PhysicsBody, 
+) -> PhysicsResult
 {
-	let dt = 1.0 / 60.0;
+	let margin = params.margin;
-	let z = Vec3::from ((0.0, 0.0, 1.0));
+	let dt = params.dt;
-	let gravity = z * -16.0 * dt;
-	let margin = 0.00125;
 	
 	let mut t_remaining = 1.0;
 	
 	let mut old_pos = input.pos;
-	let mut new_vel = input.vel + gravity;
+	let mut new_vel = input.vel + params.gravity;
 	let mut new_pos = old_pos + new_vel * dt * t_remaining;
 	
 	let mut triangles_hit = Vec::new ();
 	
-	for i in 0..5 {
+	// Do 5 iterations of the sub-step, trying to converge on a valid state
-		let candidate = get_candidate (world, old_pos, new_pos);
+	for _ in 0..5 {
+		let candidate = get_candidate (world, old_pos, new_pos, radius);
 		
 		if candidate.t <= 1.0 {
 			t_remaining *= 1.0 - candidate.t;
@@ -315,6 +315,8 @@ where MB: MeshBuffer
 			new_vel += candidate.normal * speed_towards_normal;
 			// But also compensate for the slide distance it lost
 			new_pos = push_out_pos + new_vel * dt * t_remaining;
+			
+			triangles_hit.push (candidate.i);
 		}
 		else {
 			t_remaining = 0.0;
@@ -332,3 +334,121 @@ where MB: MeshBuffer
 		kill: false,
 	}
 }
+
+#[cfg (test)]
+mod test {
+	use super::*;
+	
+	#[test]
+	fn test_physics () {
+		// Remember, Z is up
+		
+		let params = Params {
+			dt: 1.0,
+			gravity: (0.0, 0.0, 0.0).into (),
+			margin: 0.00125,
+		};
+		
+		let world: Vec <_> = vec! [
+			(
+				(0.0, 0.0, 0.0),
+				(0.0, 2.0, 0.0),
+				(2.0, 0.0, 0.0),
+			),
+		].into_iter ()
+		.map (|(v0, v1, v2)| {
+			Triangle {
+				verts: [
+					v0.into (),
+					v1.into (),
+					v2.into (),
+				],
+			}
+		})
+		.collect ();
+		
+		let magic_0 = f32::sqrt (f32::powf (0.5 + params.margin, 2.0) / 2.0);
+		
+		for ((radius, body_before), e) in [
+			// Ray striking triangle from above, stops at triangle
+			(
+				(
+					0.0,
+					PhysicsBody {
+						pos: (0.5, 0.5, 0.5).into (),
+						vel: (0.0, 0.0, -1.0).into (),
+					},
+				),
+				PhysicsResult {
+					body: PhysicsBody {
+						pos: (0.5, 0.5, params.margin).into (),
+						vel: (0.0, 0.0, 0.0).into (),
+					},
+					triangles_hit: vec! [0],
+					kill: false,
+				},
+			),
+			// Ball striking triangle from above, stops at ball radius
+			(
+				(
+					0.5,
+					PhysicsBody {
+						pos: (0.5, 0.5, 2.0).into (),
+						vel: (0.0, 0.0, -2.0).into (),
+					},
+				),
+				PhysicsResult {
+					body: PhysicsBody {
+						pos: (0.5, 0.5, params.margin + 0.5).into (),
+						vel: (0.0, 0.0, 0.0).into (),
+					},
+					triangles_hit: vec! [0],
+					kill: false,
+				},
+			),
+			// Ball striking triangle on edge
+			(
+				(
+					0.5,
+					PhysicsBody {
+						pos: (-2.0, 1.0, 0.0).into (),
+						vel: (2.0, 0.0, 0.0).into (),
+					},
+				),
+				PhysicsResult {
+					body: PhysicsBody {
+						pos: (-params.margin - 0.5, 1.0, 0.0).into (),
+						vel: (0.0, 0.0, 0.0).into (),
+					},
+					triangles_hit: vec! [0],
+					kill: false,
+				},
+			),
+			// Ball striking triangle on diagonal edge
+			(
+				(
+					0.5,
+					PhysicsBody {
+						pos: (2.0, 2.0, 0.0).into (),
+						vel: (-2.0, -2.0, 0.0).into (),
+					},
+				),
+				PhysicsResult {
+					body: PhysicsBody {
+						pos: (1.0 + magic_0, 1.0 + magic_0, 0.0).into (),
+						vel: (0.0, 0.0, 0.0).into (),
+					},
+					triangles_hit: vec! [0],
+					kill: false,
+				},
+			),
+		] {
+			let a = physics_step (&params, &world, radius, &body_before);
+			
+			assert! (a.body.pos.distance_squared (e.body.pos) < 0.00125);
+			assert! (a.body.vel.distance_squared (e.body.vel) < 0.00125);
+			assert_eq! (a.triangles_hit, e.triangles_hit);
+			assert_eq! (a.kill, e.kill);
+		}
+	}
+}

src/prelude.rs

@@ -30,6 +30,7 @@ pub use crate::{
 	gpu_buffers,
 	network_protocol::*,
 	quinn_common::make_client_endpoint,
+	renderable_model::renderable_from_iqm_file,
 	shader,
 	timestep::TimeStep,
 };

src/renderable_model.rs

@@ -18,7 +18,6 @@ pub struct RenderableMesh {
 pub struct RenderableModel {
 	num_pos: usize,
 	num_uv: usize,
-	num_normal: usize,
 	
 	vertexes: VertexBuffer,
 	indexes: IndexBuffer,
@@ -89,7 +88,6 @@ impl RenderableModel {
 		Self {
 			num_pos,
 			num_uv,
-			num_normal,
 			
 			vertexes,
 			indexes,