better physics

rapier/physics.rs

@@ -16,7 +16,7 @@ macro_rules! V_malloc {
 use std::{default, ptr::{self, null}, sync::Arc};
 
 use parry3d::{glamx::vec3, shape::{Shape, ShapeType, SharedShape}};
-use rapier3d::{geometry::Ball};
+use rapier3d::{geometry::Ball, na::{UnitQuaternion, Vector4}};
 use rapier3d::prelude::*;
 use libc::{malloc, free};
 
@@ -93,26 +93,67 @@ pub struct RapierPhysics_t
 {
 
 }
+
 #[no_mangle]
 pub unsafe extern "C" fn CRapierPhysicsBody_SetPosition( this: *mut RapierPhysicsBody_t, fX: f32, fY: f32, fZ: f32 )
 {
     let world: &mut RapierWorld_t = &mut *(*this).m_pWorld;
     world.m_rigidBodies[(*this).m_hRigidBodyHandle]
         .set_translation(vec3(fX, fY, fZ), true);
-    print!("{} {} {}\n", fX, fY, fZ);
+}
+
+#[no_mangle]
+pub unsafe extern "C" fn CRapierPhysicsBody_SetRotation( this: *mut RapierPhysicsBody_t, fX: f32, fY: f32, fZ: f32, fW: f32 )
+{
+    let world: &mut RapierWorld_t = &mut *(*this).m_pWorld;
+    world.m_rigidBodies[(*this).m_hRigidBodyHandle]
+        .set_translation(vec3(fX, fY, fZ), true);
+}
+
+#[repr(C)]
+pub struct Vector {
+	x: f32,
+	y: f32,
+	z: f32,
+}
+
+#[no_mangle]
+pub unsafe extern "C" fn CRapierPhysicsBody_GetPosition( this: *mut RapierPhysicsBody_t ) -> Vector
+{
+    let world: &mut RapierWorld_t = &mut *(*this).m_pWorld;
+    let position = world.m_rigidBodies[(*this).m_hRigidBodyHandle]
+        .translation().to_array();
+    return Vector { x: position[0], y: position[1], z: position[2]}
+}
+
+#[repr(C)]
+pub struct Quat {
+	x: f32,
+	y: f32,
+	z: f32,
+	w: f32,
+}
+
+#[no_mangle]
+pub unsafe extern "C" fn CRapierPhysicsBody_GetRotation( this: *mut RapierPhysicsBody_t ) -> Quat 
+{
+    let world: &mut RapierWorld_t = &mut *(*this).m_pWorld;
+    let rotationVector = world.m_rigidBodies[(*this).m_hRigidBodyHandle]
+        .rotation().to_array();
+    Quat{ x: rotationVector[0], y: rotationVector[1], z: rotationVector[2], w: rotationVector[3]}
 }
 
 #[no_mangle]
 pub unsafe extern "C" fn CRapierPhysicsWorld_Frame( this: *mut RapierWorld_t, fDelta: f32 )
 {
-    let gravity = vec3(0.0, -9.81, 0.0);
+    let vGravity = vec3(0.0, -9.8, 0.0);
     let mut integrationParameters = IntegrationParameters::default();
     integrationParameters.dt = fDelta;
     let mut physicsPipeline = PhysicsPipeline::new();
     let physicsHooks = ();
     let eventHandler = ();
     physicsPipeline.step(
-        gravity,
+        vGravity,
         &integrationParameters,
         &mut (*this).m_islandManager,
         &mut (*this).m_broadPhase,
@@ -125,10 +166,6 @@ pub unsafe extern "C" fn CRapierPhysicsWorld_Frame( this: *mut RapierWorld_t, fD
         &physicsHooks,
         &eventHandler,
     );
-    for (h, b) in (*this).m_colliders.iter()
-    {
-        print!("{:?}\n",b.position())
-    }
 }
 
 #[no_mangle]
@@ -207,12 +244,8 @@ pub unsafe extern "C" fn CRapierPhysics_CreateCollider( this: *mut RapierPhysics
 {
     let pRapierShape = (*pShape).m_pShape;
     let shape: &SharedShape = &(*pShape).m_sharedShape;
-    let rapierCollider = ColliderBuilder::new(shape.clone()).build();
-    let collider = RapierCollider_t { 
-        m_collider: rapierCollider,
-    };
     let pCollider = V_malloc!(RapierCollider_t, 1);
-    *pCollider = collider;
+    std::ptr::write(&mut (*pCollider).m_collider, ColliderBuilder::new(shape.clone()).build());
     pCollider
 }