improve rendering and physics

rapier/build.cpp

@@ -17,10 +17,10 @@ DECLARE_BUILD_STAGE(rapier)
 	CUtlString szTarget = target.GetTriplet();
 	if (CommandLine()->CheckParam("-norust"))
 		return 0;
-	rapier_lib = CUtlString("target/%s/debug/librapier_rtt.a",szTarget.GetString());
-	V_printf("%s\n",rapier_lib.GetString());
+	rapier_lib = CUtlString("target/%s/release/librapier_rtt.a",szTarget.GetString());
 	CUtlVector<CUtlString> cargo_args = {
 		"build",
+		"--release",
 		"--target",
 		szTarget
 	};

rapier/physics.cpp

@@ -42,6 +42,11 @@ public:
 		return CRapierPhysicsBody_GetRotation(m_pBody);
 	}
 
+	virtual void SetType( EPhysicsBodyType eType ) override
+	{
+		CRapierPhysicsBody_SetType(m_pBody, eType);
+	}
+
 
 
 	RapierPhysicsBody_t *m_pBody = NULL;

rapier/physics.rs

@@ -16,7 +16,7 @@ macro_rules! V_malloc {
 use std::{default, ops::Index, ptr::{self, null, null_mut}, slice::from_raw_parts, sync::Arc};
 
 use parry3d::{glamx::vec3, shape::{Shape, ShapeType, SharedShape}};
-use rapier3d::{geometry::Ball, na::{UnitQuaternion, Vector4}};
+use rapier3d::{geometry::Ball, na::{UnitQuaternion, Vector4, coordinates::XYZ}};
 use rapier3d::prelude::*;
 use libc::{malloc, free};
 
@@ -56,6 +56,7 @@ pub struct RapierShape_t
 }
 
 #[repr(C)]
+#[derive(Debug)]
 pub enum EPhysicsBodyType
 {
 	k_EPhysics_Static,
@@ -119,7 +120,8 @@ pub unsafe extern "C" fn CRapierPhysicsBody_SetRotation( this: *mut RapierPhysic
 {
     let world: &mut RapierWorld_t = &mut *(*this).m_pWorld;
     world.m_rigidBodies[(*this).m_hRigidBodyHandle]
-        .set_translation(vec3(fX, fY, fZ), true);
+        .set_rotation(parry3d::glamx::Quat::from_xyzw(fX, fY, fZ, fW), true);
+
 }
 
 #[repr(C)]
@@ -256,7 +258,7 @@ pub unsafe extern "C" fn CRapierPhysics_CreateCube( this: *mut RapierPhysics_t,
 pub unsafe extern "C" fn CRapierPhysics_CreateTriangleMesh( this: *mut RapierPhysics_t, triangle: TriangleMeshShape_t ) -> *mut RapierShape_t
 {
     let pShapeMemory: *mut RapierShape_t = V_malloc!(RapierShape_t, 1);
-    let positions = Vec::from_raw_parts(triangle.m_pfPositions as *mut Vec3, triangle.m_nPositionCount as usize, triangle.m_nPositionCount as usize);
+    let positions = Vec::from_raw_parts(triangle.m_pfPositions as *mut Vec3, (triangle.m_nPositionCount/3) as usize, (triangle.m_nPositionCount/3) as usize);
     let mut indices: Vec<[u32; 3]>;
 
     if ( triangle.m_nIndiciesCount == 0 )
@@ -265,8 +267,8 @@ pub unsafe extern "C" fn CRapierPhysics_CreateTriangleMesh( this: *mut RapierPhy
         {
             return null_mut();
         }
-        indices = vec![[0,0,0]; (triangle.m_nPositionCount/3) as usize];
-        for i in 0..indices.len()/3
+        indices = vec![[0,0,0]; (triangle.m_nPositionCount/9) as usize];
+        for i in 0..indices.len()
         {
             let u = i as u32;
             indices[i][0] = u*3;
@@ -281,7 +283,7 @@ pub unsafe extern "C" fn CRapierPhysics_CreateTriangleMesh( this: *mut RapierPhy
         {
             return null_mut();
         }
-        indices = Vec::from_raw_parts(triangle.m_puIndicies as *mut [u32; 3], triangle.m_nIndiciesCount as usize, triangle.m_nIndiciesCount as usize);
+        indices = Vec::from_raw_parts(triangle.m_puIndicies as *mut [u32; 3], (triangle.m_nIndiciesCount / 3) as usize, (triangle.m_nIndiciesCount / 3) as usize);
     }
 
     let mesh = TriMesh::new(positions, indices);
@@ -291,7 +293,9 @@ pub unsafe extern "C" fn CRapierPhysics_CreateTriangleMesh( this: *mut RapierPhy
         {
             std::ptr::write(&mut (*pShapeMemory).m_sharedShape, SharedShape::new(m));
         }
-        default => {}
+        default => {
+            return null_mut();
+        }
     }
     pShapeMemory
 }