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Use isometry for position trait instead of three dimensional vector #4

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Jun 13, 2019
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Use isometry for position trait instead of three dimensional vector #4

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Use isometry for position trait instead of 3d vector
distransient Jun 13, 2019
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Update readme
distransient Jun 13, 2019
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30 changes: 14 additions & 16 deletions README.md
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Expand Up @@ -34,31 +34,29 @@ All `System`s and `Component`s provided by this crate require between one and tw

`N: RealField` - [nphysics](https://www.nphysics.org/) is built upon [nalgebra](https://nalgebra.org/) and uses various types and structures from this crate. **specs-physics** builds up on this even further and utilises the same structures, which all work with any type that implements `nalgebra::RealField`. `nalgebra::RealField` is by default implemented for various standard types, such as `f32` and`f64`. `nalgebra` is re-exported under `specs_physics::math`.

`P: Component<Storage = FlaggedStorage<P, DenseVecStorage<P>>> + Position<N> + Send + Sync` - a more complex type parameter which looks a bit intimidating at first but ultimately just requires a `Component`, that also implements the `specs_physics::bodies::Position` *trait* and uses a `FlaggedStorage`. This `Position` `Component` is used to initially place a [RigidBody](https://www.nphysics.org/rigid_body_simulations_with_contacts/#rigid-bodies) in the [nphysics](https://www.nphysics.org/) world and later used to synchronise the updated positions of these bodies back into the [Specs](https://slide-rs.github.io/specs/) world.
`P: Position<N>` - a type parameter which implements the `specs_physics::bodies::Position` *trait*, requiring also a `Component` implementation with a `FlaggedStorage`. This `Position` `Component` is used to initially place a [RigidBody](https://www.nphysics.org/rigid_body_simulations_with_contacts/#rigid-bodies) in the [nphysics](https://www.nphysics.org/) world and later used to synchronise the updated translation and rotation of these bodies back into the [Specs](https://slide-rs.github.io/specs/) world.

Example for a `Position` `Component`:
Example for a `Position` `Component`, simply using the "Isometry" type (aka combined translation and rotation structure) directly:
```rust
use specs_physics::bodies::Position;
use specs::{Component, DenseVecStorage, FlaggedStorage};
use specs_physics::{
bodies::Position,
math::Isometry3,
};

struct Pos {
x: f32,
y: f32,
z: f32,
}
struct Position(Isometry3<f32>);

impl Component for Pos {
impl Component for Position {
type Storage = FlaggedStorage<Self, DenseVecStorage<Self>>;
}

impl Position<f32> for Pos {
fn position(&self) -> (f32, f32, f32) {
(self.x, self.y, self.z)
impl Position<f32> for Position {
fn as_isometry(&self) -> Isometry3<f32> {
self.0
}

fn set_position(&mut self, x: f32, y: f32, z: f32) {
self.x = x;
self.y = y;
self.z = z;
fn set_isometry(&mut self, isometry: &Isometry3<f32>) {
self.0 = isometry;
}
}
```
Expand Down
28 changes: 15 additions & 13 deletions examples/basic.rs
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Expand Up @@ -5,32 +5,34 @@ use specs::{world::Builder, Component, DenseVecStorage, FlaggedStorage, World};
use specs_physics::{
bodies::{BodyStatus, Position},
colliders::Shape,
math::Isometry3,
physics_dispatcher,
PhysicsBodyBuilder,
PhysicsColliderBuilder,
};

/// `Pos` struct for synchronisation of the position between the ECS and
/// nphysics; this has to implement both `Component` and `Position`
struct Pos {
/// `SimpleTranslation` struct for synchronisation of the position between the
/// ECS and nphysics; this has to implement both `Component` and `Position`
struct SimpleTranslation {
x: f32,
y: f32,
z: f32,
}

impl Component for Pos {
impl Component for SimpleTranslation {
type Storage = FlaggedStorage<Self, DenseVecStorage<Self>>;
}

impl Position<f32> for Pos {
fn position(&self) -> (f32, f32, f32) {
(self.x, self.y, self.z)
impl Position<f32> for SimpleTranslation {
fn as_isometry(&self) -> Isometry3<f32> {
Isometry3::translation(self.x, self.y, self.z)
}

fn set_position(&mut self, x: f32, y: f32, z: f32) {
self.x = x;
self.y = y;
self.z = z;
fn set_isometry(&mut self, isometry: &Isometry3<f32>) {
let translation = isometry.translation.vector;
self.x = translation.x;
self.y = translation.y;
self.z = translation.z;
}
}

Expand All @@ -43,13 +45,13 @@ fn main() {

// create the dispatcher containing all relevant Systems; alternatively to using
// the convenience function you can add all required Systems by hand
let mut dispatcher = physics_dispatcher::<f32, Pos>();
let mut dispatcher = physics_dispatcher::<f32, SimpleTranslation>();
dispatcher.setup(&mut world.res);

// create an Entity containing the required Components
world
.create_entity()
.with(Pos {
.with(SimpleTranslation {
x: 1.0,
y: 1.0,
z: 1.0,
Expand Down
39 changes: 20 additions & 19 deletions examples/collision.rs
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Expand Up @@ -2,37 +2,38 @@
extern crate log;
extern crate simple_logger;

use nalgebra::Vector3;
use specs::{world::Builder, Component, DenseVecStorage, FlaggedStorage, World};
use specs_physics::{
bodies::{BodyStatus, Position},
colliders::Shape,
math::{Isometry3, Vector3},
physics_dispatcher,
PhysicsBodyBuilder,
PhysicsColliderBuilder,
};

/// `Pos` struct for synchronisation of the position between the ECS and
/// nphysics; this has to implement both `Component` and `Position`
struct Pos {
/// `SimpleTranslation` struct for synchronisation of the position between the
/// ECS and nphysics; this has to implement both `Component` and `Position`
struct SimpleTranslation {
x: f32,
y: f32,
z: f32,
}

impl Component for Pos {
impl Component for SimpleTranslation {
type Storage = FlaggedStorage<Self, DenseVecStorage<Self>>;
}

impl Position<f32> for Pos {
fn position(&self) -> (f32, f32, f32) {
(self.x, self.y, self.z)
impl Position<f32> for SimpleTranslation {
fn as_isometry(&self) -> Isometry3<f32> {
Isometry3::translation(self.x, self.y, self.z)
}

fn set_position(&mut self, x: f32, y: f32, z: f32) {
self.x = x;
self.y = y;
self.z = z;
fn set_isometry(&mut self, isometry: &Isometry3<f32>) {
let translation = isometry.translation.vector;
self.x = translation.x;
self.y = translation.y;
self.z = translation.z;
}
}

Expand All @@ -45,13 +46,13 @@ fn main() {

// create the dispatcher containing all relevant Systems; alternatively to using
// the convenience function you can add all required Systems by hand
let mut dispatcher = physics_dispatcher::<f32, Pos>();
let mut dispatcher = physics_dispatcher::<f32, SimpleTranslation>();
dispatcher.setup(&mut world.res);

// create an Entity with a dynamic PhysicsBody component and a velocity
let entity = world
.create_entity()
.with(Pos {
.with(SimpleTranslation {
x: 1.0,
y: 1.0,
z: 1.0,
Expand All @@ -68,7 +69,7 @@ fn main() {
// one
world
.create_entity()
.with(Pos {
.with(SimpleTranslation {
x: 3.0,
y: 1.0,
z: 1.0,
Expand All @@ -80,10 +81,10 @@ fn main() {
// execute the dispatcher
dispatcher.dispatch(&world.res);

// fetch the Pos resource for the Entity with the dynamic body; the position
// should still be approx. there same
let positions = world.read_storage::<Pos>();
let pos = positions.get(entity).unwrap();
// fetch the translation component for the Entity with the dynamic body; the
// position should still be approx the same
let pos_storage = world.read_storage::<SimpleTranslation>();
let pos = pos_storage.get(entity).unwrap();

info!("updated position: x={}, y={}, z={},", pos.x, pos.y, pos.z);
}
31 changes: 16 additions & 15 deletions examples/events.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -2,38 +2,39 @@
extern crate log;
extern crate simple_logger;

use nalgebra::Vector3;
use specs::{world::Builder, Component, DenseVecStorage, FlaggedStorage, World};
use specs_physics::{
bodies::{BodyStatus, Position},
colliders::Shape,
events::ContactEvents,
math::{Isometry3, Vector3},
physics_dispatcher,
PhysicsBodyBuilder,
PhysicsColliderBuilder,
};

/// `Pos` struct for synchronisation of the position between the ECS and
/// nphysics; this has to implement both `Component` and `Position`
struct Pos {
/// `SimpleTranslation` struct for synchronisation of the position between the
/// ECS and nphysics; this has to implement both `Component` and `Position`
struct SimpleTranslation {
x: f32,
y: f32,
z: f32,
}

impl Component for Pos {
impl Component for SimpleTranslation {
type Storage = FlaggedStorage<Self, DenseVecStorage<Self>>;
}

impl Position<f32> for Pos {
fn position(&self) -> (f32, f32, f32) {
(self.x, self.y, self.z)
impl Position<f32> for SimpleTranslation {
fn as_isometry(&self) -> Isometry3<f32> {
Isometry3::translation(self.x, self.y, self.z)
}

fn set_position(&mut self, x: f32, y: f32, z: f32) {
self.x = x;
self.y = y;
self.z = z;
fn set_isometry(&mut self, isometry: &Isometry3<f32>) {
let translation = isometry.translation.vector;
self.x = translation.x;
self.y = translation.y;
self.z = translation.z;
}
}

Expand All @@ -46,14 +47,14 @@ fn main() {

// create the dispatcher containing all relevant Systems; alternatively to using
// the convenience function you can add all required Systems by hand
let mut dispatcher = physics_dispatcher::<f32, Pos>();
let mut dispatcher = physics_dispatcher::<f32, SimpleTranslation>();
dispatcher.setup(&mut world.res);
let mut contact_event_reader = world.res.fetch_mut::<ContactEvents>().register_reader();

// create an Entity with a dynamic PhysicsBody component and a velocity
world
.create_entity()
.with(Pos {
.with(SimpleTranslation {
x: 1.0,
y: 1.0,
z: 1.0,
Expand All @@ -70,7 +71,7 @@ fn main() {
// one
world
.create_entity()
.with(Pos {
.with(SimpleTranslation {
x: 3.0,
y: 1.0,
z: 1.0,
Expand Down
30 changes: 16 additions & 14 deletions examples/hierarchy.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -5,33 +5,35 @@ use specs::{world::Builder, Component, DenseVecStorage, FlaggedStorage, World};
use specs_physics::{
bodies::{BodyStatus, Position},
colliders::Shape,
math::Isometry3,
physics_dispatcher,
PhysicsBodyBuilder,
PhysicsColliderBuilder,
PhysicsParent,
};

/// `Pos` struct for synchronisation of the position between the ECS and
/// nphysics; this has to implement both `Component` and `Position`
struct Pos {
/// `SimpleTranslation` struct for synchronisation of the position between the
/// ECS and nphysics; this has to implement both `Component` and `Position`
struct SimpleTranslation {
x: f32,
y: f32,
z: f32,
}

impl Component for Pos {
impl Component for SimpleTranslation {
type Storage = FlaggedStorage<Self, DenseVecStorage<Self>>;
}

impl Position<f32> for Pos {
fn position(&self) -> (f32, f32, f32) {
(self.x, self.y, self.z)
impl Position<f32> for SimpleTranslation {
fn as_isometry(&self) -> Isometry3<f32> {
Isometry3::translation(self.x, self.y, self.z)
}

fn set_position(&mut self, x: f32, y: f32, z: f32) {
self.x = x;
self.y = y;
self.z = z;
fn set_isometry(&mut self, isometry: &Isometry3<f32>) {
let translation = isometry.translation.vector;
self.x = translation.x;
self.y = translation.y;
self.z = translation.z;
}
}

Expand All @@ -44,14 +46,14 @@ fn main() {

// create the dispatcher containing all relevant Systems; alternatively to using
// the convenience function you can add all required Systems by hand
let mut dispatcher = physics_dispatcher::<f32, Pos>();
let mut dispatcher = physics_dispatcher::<f32, SimpleTranslation>();
dispatcher.setup(&mut world.res);

// create an Entity containing the required Components; this Entity will be the
// parent
let parent = world
.create_entity()
.with(Pos {
.with(SimpleTranslation {
x: 1.0,
y: 1.0,
z: 1.0,
Expand All @@ -66,7 +68,7 @@ fn main() {
// collider will be attached to the parent
let _child = world
.create_entity()
.with(Pos {
.with(SimpleTranslation {
x: 1.0,
y: 1.0,
z: 1.0,
Expand Down
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