Added collisions

Cargo.lock

@@ -99,6 +99,15 @@ dependencies = [
  "num-traits",
 ]
 
+[[package]]
+name = "approx"
+version = "0.5.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "cab112f0a86d568ea0e627cc1d6be74a1e9cd55214684db5561995f6dad897c6"
+dependencies = [
+ "num-traits",
+]
+
 [[package]]
 name = "arrayref"
 version = "0.3.7"
@@ -273,7 +282,7 @@ version = "0.18.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "1a98d30140e3296250832bbaaff83b27dcd6fa3cc70fb6f1f3e5c9c0023b5317"
 dependencies = [
- "approx",
+ "approx 0.4.0",
  "num-traits",
 ]
 
@@ -348,6 +357,30 @@ dependencies = [
  "cfg-if",
 ]
 
+[[package]]
+name = "crossbeam"
+version = "0.8.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6eb9105919ca8e40d437fc9cbb8f1975d916f1bd28afe795a48aae32a2cc8920"
+dependencies = [
+ "cfg-if",
+ "crossbeam-channel",
+ "crossbeam-deque",
+ "crossbeam-epoch",
+ "crossbeam-queue",
+ "crossbeam-utils",
+]
+
+[[package]]
+name = "crossbeam-channel"
+version = "0.5.10"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "82a9b73a36529d9c47029b9fb3a6f0ea3cc916a261195352ba19e770fc1748b2"
+dependencies = [
+ "cfg-if",
+ "crossbeam-utils",
+]
+
 [[package]]
 name = "crossbeam-deque"
 version = "0.8.4"
@@ -361,21 +394,30 @@ dependencies = [
 
 [[package]]
 name = "crossbeam-epoch"
-version = "0.9.16"
+version = "0.9.17"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2d2fe95351b870527a5d09bf563ed3c97c0cffb87cf1c78a591bf48bb218d9aa"
+checksum = "0e3681d554572a651dda4186cd47240627c3d0114d45a95f6ad27f2f22e7548d"
 dependencies = [
  "autocfg",
  "cfg-if",
  "crossbeam-utils",
- "memoffset 0.9.0",
+]
+
+[[package]]
+name = "crossbeam-queue"
+version = "0.3.10"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "adc6598521bb5a83d491e8c1fe51db7296019d2ca3cb93cc6c2a20369a4d78a2"
+dependencies = [
+ "cfg-if",
+ "crossbeam-utils",
 ]
 
 [[package]]
 name = "crossbeam-utils"
-version = "0.8.17"
+version = "0.8.18"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c06d96137f14f244c37f989d9fff8f95e6c18b918e71f36638f8c49112e4c78f"
+checksum = "c3a430a770ebd84726f584a90ee7f020d28db52c6d02138900f22341f866d39c"
 dependencies = [
  "cfg-if",
 ]
@@ -538,9 +580,12 @@ dependencies = [
  "anyhow",
  "bytemuck",
  "cgmath",
+ "crossbeam",
  "image",
+ "nalgebra",
  "pollster",
  "rand",
+ "rapier2d",
  "serde",
  "toml",
  "walkdir",
@@ -831,6 +876,12 @@ dependencies = [
  "windows-sys 0.48.0",
 ]
 
+[[package]]
+name = "libm"
+version = "0.2.8"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "4ec2a862134d2a7d32d7983ddcdd1c4923530833c9f2ea1a44fc5fa473989058"
+
 [[package]]
 name = "libredox"
 version = "0.0.2"
@@ -867,6 +918,16 @@ dependencies = [
  "libc",
 ]
 
+[[package]]
+name = "matrixmultiply"
+version = "0.3.8"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7574c1cf36da4798ab73da5b215bbf444f50718207754cb522201d78d1cd0ff2"
+dependencies = [
+ "autocfg",
+ "rawpointer",
+]
+
 [[package]]
 name = "memchr"
 version = "2.6.4"
@@ -891,15 +952,6 @@ dependencies = [
  "autocfg",
 ]
 
-[[package]]
-name = "memoffset"
-version = "0.9.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5a634b1c61a95585bd15607c6ab0c4e5b226e695ff2800ba0cdccddf208c406c"
-dependencies = [
- "autocfg",
-]
-
 [[package]]
 name = "metal"
 version = "0.27.0"
@@ -957,6 +1009,33 @@ dependencies = [
  "unicode-xid",
 ]
 
+[[package]]
+name = "nalgebra"
+version = "0.32.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "307ed9b18cc2423f29e83f84fd23a8e73628727990181f18641a8b5dc2ab1caa"
+dependencies = [
+ "approx 0.5.1",
+ "matrixmultiply",
+ "nalgebra-macros",
+ "num-complex",
+ "num-rational",
+ "num-traits",
+ "simba",
+ "typenum",
+]
+
+[[package]]
+name = "nalgebra-macros"
+version = "0.2.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "91761aed67d03ad966ef783ae962ef9bbaca728d2dd7ceb7939ec110fffad998"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 1.0.109",
+]
+
 [[package]]
 name = "nanorand"
 version = "0.7.0"
@@ -1004,7 +1083,7 @@ dependencies = [
  "bitflags 1.3.2",
  "cfg-if",
  "libc",
- "memoffset 0.6.5",
+ "memoffset",
 ]
 
 [[package]]
@@ -1017,7 +1096,27 @@ dependencies = [
  "bitflags 1.3.2",
  "cfg-if",
  "libc",
- "memoffset 0.6.5",
+ "memoffset",
+]
+
+[[package]]
+name = "num-complex"
+version = "0.4.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1ba157ca0885411de85d6ca030ba7e2a83a28636056c7c699b07c8b6f7383214"
+dependencies = [
+ "num-traits",
+]
+
+[[package]]
+name = "num-derive"
+version = "0.3.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "876a53fff98e03a936a674b29568b0e605f06b29372c2489ff4de23f1949743d"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 1.0.109",
 ]
 
 [[package]]
@@ -1048,6 +1147,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "39e3200413f237f41ab11ad6d161bc7239c84dcb631773ccd7de3dfe4b5c267c"
 dependencies = [
  "autocfg",
+ "libm",
 ]
 
 [[package]]
@@ -1193,6 +1293,27 @@ dependencies = [
  "windows-targets 0.48.5",
 ]
 
+[[package]]
+name = "parry2d"
+version = "0.13.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "104ae65232e20477a98f9f1e75ca9850eae24a2ea846a2b1a0af03ad752136ce"
+dependencies = [
+ "approx 0.5.1",
+ "arrayvec",
+ "bitflags 1.3.2",
+ "downcast-rs",
+ "either",
+ "nalgebra",
+ "num-derive",
+ "num-traits",
+ "rustc-hash",
+ "simba",
+ "slab",
+ "smallvec",
+ "spade",
+]
+
 [[package]]
 name = "paste"
 version = "1.0.14"
@@ -1321,12 +1442,38 @@ version = "0.1.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "9c8a99fddc9f0ba0a85884b8d14e3592853e787d581ca1816c91349b10e4eeab"
 
+[[package]]
+name = "rapier2d"
+version = "0.17.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f94d294a9b96694c14888dd0e8ce77620dcc4f2f49264109ef835fa5e2285b84"
+dependencies = [
+ "approx 0.5.1",
+ "arrayvec",
+ "bit-vec",
+ "bitflags 1.3.2",
+ "crossbeam",
+ "downcast-rs",
+ "nalgebra",
+ "num-derive",
+ "num-traits",
+ "parry2d",
+ "rustc-hash",
+ "simba",
+]
+
 [[package]]
 name = "raw-window-handle"
 version = "0.5.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "f2ff9a1f06a88b01621b7ae906ef0211290d1c8a168a15542486a8f61c0833b9"
 
+[[package]]
+name = "rawpointer"
+version = "0.2.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "60a357793950651c4ed0f3f52338f53b2f809f32d83a07f72909fa13e4c6c1e3"
+
 [[package]]
 name = "rayon"
 version = "1.8.0"
@@ -1371,6 +1518,12 @@ version = "1.0.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "216080ab382b992234dda86873c18d4c48358f5cfcb70fd693d7f6f2131b628b"
 
+[[package]]
+name = "robust"
+version = "1.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "cbf4a6aa5f6d6888f39e980649f3ad6b666acdce1d78e95b8a2cb076e687ae30"
+
 [[package]]
 name = "rustc-demangle"
 version = "0.1.23"
@@ -1383,6 +1536,15 @@ version = "1.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "08d43f7aa6b08d49f382cde6a7982047c3426db949b1424bc4b7ec9ae12c6ce2"
 
+[[package]]
+name = "safe_arch"
+version = "0.7.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f398075ce1e6a179b46f51bd88d0598b92b00d3551f1a2d4ac49e771b56ac354"
+dependencies = [
+ "bytemuck",
+]
+
 [[package]]
 name = "same-file"
 version = "1.0.6"
@@ -1446,12 +1608,34 @@ dependencies = [
  "serde",
 ]
 
+[[package]]
+name = "simba"
+version = "0.8.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "061507c94fc6ab4ba1c9a0305018408e312e17c041eb63bef8aa726fa33aceae"
+dependencies = [
+ "approx 0.5.1",
+ "num-complex",
+ "num-traits",
+ "paste",
+ "wide",
+]
+
 [[package]]
 name = "simd-adler32"
 version = "0.3.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "d66dc143e6b11c1eddc06d5c423cfc97062865baf299914ab64caa38182078fe"
 
+[[package]]
+name = "slab"
+version = "0.4.9"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8f92a496fb766b417c996b9c5e57daf2f7ad3b0bebe1ccfca4856390e3d3bb67"
+dependencies = [
+ "autocfg",
+]
+
 [[package]]
 name = "slotmap"
 version = "1.0.7"
@@ -1486,6 +1670,18 @@ dependencies = [
  "wayland-protocols",
 ]
 
+[[package]]
+name = "spade"
+version = "2.5.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "bd774eb23cff002036706e6ea83c3f4ab4c80dad89da76fe16d49f77ab71682f"
+dependencies = [
+ "hashbrown",
+ "num-traits",
+ "robust",
+ "smallvec",
+]
+
 [[package]]
 name = "spin"
 version = "0.9.8"
@@ -1655,6 +1851,12 @@ version = "0.20.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "17f77d76d837a7830fe1d4f12b7b4ba4192c1888001c7164257e4bc6d21d96b4"
 
+[[package]]
+name = "typenum"
+version = "1.17.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "42ff0bf0c66b8238c6f3b578df37d0b7848e55df8577b3f74f92a69acceeb825"
+
 [[package]]
 name = "unicode-ident"
 version = "1.0.12"
@@ -1958,6 +2160,16 @@ dependencies = [
  "web-sys",
 ]
 
+[[package]]
+name = "wide"
+version = "0.7.13"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c68938b57b33da363195412cfc5fc37c9ed49aa9cfe2156fde64b8d2c9498242"
+dependencies = [
+ "bytemuck",
+ "safe_arch",
+]
+
 [[package]]
 name = "widestring"
 version = "1.0.2"

Cargo.toml

@@ -41,3 +41,6 @@ anyhow = "1.0"
 cgmath = "0.18.0"
 rand = "0.8.5"
 walkdir = "2.4.0"
+rapier2d = "0.17.2"
+nalgebra = "0.32.3"
+crossbeam = "0.8.3"

content/ship.toml

@@ -2,5 +2,6 @@
 sprite = "ship::gypsum"
 size = 100
 
-engines = [{ x = 0.0, y = -105, size = 50.0 }]
+engines = [{ x = 0.0, y = -1.05, size = 50.0 }]
-guns = [{ x = 0.0, y = 100 }, { x = 10.0, y = 80 }, { x = -10.0, y = 80 }]
+guns = [{ x = 0.0, y = 1 }, { x = 0.1, y = 0.80 }, { x = -0.1, y = 0.80 }]
+

src/content/ship.rs

@@ -61,15 +61,20 @@ impl super::Build for Ship {
 
 		let mut out = Vec::new();
 		for (ship_name, ship) in ship {
+			let size = ship.size;
+
 			out.push(Self {
 				name: ship_name.to_owned(),
 				sprite: ship.sprite.to_owned(),
-				size: ship.size,
+				size,
 				engines: ship
 					.engines
 					.iter()
 					.map(|e| EnginePoint {
-						pos: Point2 { x: e.x, y: e.y },
+						pos: Point2 {
+							x: e.x * size,
+							y: e.y * size,
+						},
 						size: e.size,
 					})
 					.collect(),
@@ -77,7 +82,10 @@ impl super::Build for Ship {
 					.guns
 					.iter()
 					.map(|e| GunPoint {
-						pos: Point2 { x: e.x, y: e.y },
+						pos: Point2 {
+							x: e.x * size,
+							y: e.y * size,
+						},
 					})
 					.collect(),
 			});

src/content/system.rs

@@ -2,7 +2,7 @@ use anyhow::{bail, Context, Result};
 use cgmath::{Deg, Point3};
 use std::collections::{HashMap, HashSet};
 
-use crate::physics::Polar;
+use crate::util::Polar;
 
 pub(super) mod syntax {
 	use super::HashMap;

src/game/game.rs

@@ -1,27 +1,39 @@
-use cgmath::{Deg, Point2, Point3, Vector2};
+use cgmath::Point3;
-use std::time::Instant;
+use crossbeam::{self, channel::Receiver};
+use rapier2d::{
+	dynamics::{RigidBodyBuilder, RigidBodyHandle},
+	geometry::{ColliderBuilder, ColliderHandle, CollisionEvent},
+	na::vector,
+	pipeline::ChannelEventCollector,
+};
+use std::{collections::HashMap, time::Instant};
 use winit::event::{ElementState, MouseButton, MouseScrollDelta, TouchPhase, VirtualKeyCode};
 
-use super::{ship, Camera, InputStatus, System};
+use super::{camera::Camera, physics::Physics, ship, system::System, util, InputStatus};
 use crate::{
 	consts,
 	content::Content,
-	render::Spriteable,
 	render::{Sprite, SpriteTexture},
 };
 
-pub struct Projectile {
+pub struct ProjectileBuilder {
-	pub position: Point2<f32>,
+	pub rigid_body: RigidBodyBuilder,
-	pub velocity: Vector2<f32>,
+	pub collider: ColliderBuilder,
+	pub sprite: SpriteTexture,
+	pub lifetime: f32,
+	pub size: f32,
+}
+
+#[derive(Debug)]
+pub struct Projectile {
+	pub rigid_body: RigidBodyHandle,
 	pub sprite: SpriteTexture,
-	pub angle: Deg<f32>,
 	pub lifetime: f32,
 	pub size: f32,
 }
 
 impl Projectile {
 	pub fn tick(&mut self, t: f32) {
-		self.position += self.velocity * t;
 		self.lifetime -= t;
 	}
 
@@ -38,16 +50,52 @@ pub struct Game {
 	pub system: System,
 	pub camera: Camera,
 	paused: bool,
-	pub projectiles: Vec<Projectile>,
 	pub time_scale: f32,
+
+	pub projectiles: HashMap<ColliderHandle, Projectile>,
+
+	collision_handler: ChannelEventCollector,
+	physics: Physics,
+
+	collision_recv: Receiver<CollisionEvent>,
 }
 
 impl Game {
 	pub fn new(ct: Content) -> Self {
+		let r1 = RigidBodyBuilder::dynamic()
+			.translation(vector![0.0, 0.0])
+			.can_sleep(false)
+			.build();
+		let c1 = ColliderBuilder::ball(50.0)
+			.restitution(0.7)
+			.mass(1.0)
+			.build();
+
+		let r2 = RigidBodyBuilder::dynamic()
+			.translation(vector![200.0, 200.0])
+			.build();
+		let c2 = ColliderBuilder::ball(50.0)
+			.restitution(0.7)
+			.mass(100.0)
+			.build();
+
+		let mut p = Physics::new();
+
+		let rh1 = p.rigid_body_set.insert(r1);
+		p.collider_set
+			.insert_with_parent(c1, rh1, &mut p.rigid_body_set);
+
+		let rh2 = p.rigid_body_set.insert(r2);
+		p.collider_set
+			.insert_with_parent(c2, rh2, &mut p.rigid_body_set);
+
+		let (collision_send, collision_recv) = crossbeam::channel::unbounded();
+		let (contact_force_send, _) = crossbeam::channel::unbounded();
+
 		Game {
 			last_update: Instant::now(),
 			input: InputStatus::new(),
-			projectiles: Vec::new(),
+			projectiles: HashMap::new(),
 			player: ship::Ship::new(
 				&ct.ships[0],
 				vec![
@@ -55,7 +103,7 @@ impl Game {
 					ship::ShipOutfit::Gun(ship::ShipGun::new(ct.guns[0].clone(), 2)),
 					ship::ShipOutfit::Engine(ct.engines[0].clone()),
 				],
-				(0.0, 0.0).into(),
+				rh1,
 			),
 			camera: Camera {
 				pos: (0.0, 0.0).into(),
@@ -65,7 +113,11 @@ impl Game {
 
 			paused: false,
 			time_scale: 1.0,
-			test: ship::Ship::new(&ct.ships[0], vec![], (100.0, 100.0).into()),
+			test: ship::Ship::new(&ct.ships[0], vec![], rh2),
+
+			physics: p,
+			collision_handler: ChannelEventCollector::new(collision_send, contact_force_send),
+			collision_recv,
 		}
 	}
 
@@ -93,16 +145,41 @@ impl Game {
 	pub fn update(&mut self) {
 		let t: f32 = self.last_update.elapsed().as_secs_f32() * self.time_scale;
 
-		self.projectiles.retain_mut(|p| {
+		self.physics.step(t, &self.collision_handler);
+
+		self.projectiles.retain(|_, p| {
 			p.tick(t);
 			!p.is_expired()
 		});
 
 		// Update player and handle result
 		self.player.update_controls(&self.input);
-		let mut p = self.player.tick(t);
+		let p = self.player.tick(&mut self.physics.rigid_body_set, t);
-		if p.projectiles.len() != 0 {
+		for p in p.projectiles {
-			self.projectiles.append(&mut p.projectiles);
+			let r = self.physics.rigid_body_set.insert(p.rigid_body.build());
+			let c = self.physics.collider_set.insert_with_parent(
+				p.collider.build(),
+				r,
+				&mut self.physics.rigid_body_set,
+			);
+			self.projectiles.insert(
+				c,
+				Projectile {
+					rigid_body: r,
+					sprite: p.sprite,
+					lifetime: p.lifetime,
+					size: p.size,
+				},
+			);
+		}
+
+		while let Ok(event) = self.collision_recv.try_recv() {
+			if event.started() {
+				self.projectiles.remove(&event.collider1());
+				self.projectiles.remove(&event.collider2());
+				// TODO: remove collider and rigid body,
+				// cleanup, keep track of ships.
+			}
 		}
 
 		if self.input.v_scroll != 0.0 {
@@ -111,7 +188,10 @@ impl Game {
 			self.input.v_scroll = 0.0;
 		}
 
-		self.camera.pos = self.player.physicsbody.pos;
+		// TODO: Camera physics
+		let r = &mut self.physics.rigid_body_set[self.player.rigid_body];
+		let ship_pos = util::rigidbody_position(r);
+		self.camera.pos = ship_pos;
 
 		self.last_update = Instant::now();
 	}
@@ -120,8 +200,8 @@ impl Game {
 		let mut sprites: Vec<Sprite> = Vec::new();
 
 		sprites.append(&mut self.system.get_sprites());
-		sprites.push(self.player.get_sprite());
+		sprites.push(self.player.get_sprite(&self.physics.rigid_body_set));
-		sprites.push(self.test.get_sprite());
+		sprites.push(self.test.get_sprite(&self.physics.rigid_body_set));
 
 		// Make sure sprites are drawn in the correct order
 		// (note the reversed a, b in the comparator)
@@ -131,16 +211,19 @@ impl Game {
 		sprites.sort_by(|a, b| b.pos.z.total_cmp(&a.pos.z));
 
 		// Don't waste time sorting these, they should always be on top.
-		for p in &self.projectiles {
+		for (_, p) in &self.projectiles {
+			let r = &self.physics.rigid_body_set[p.rigid_body];
+			let pos = util::rigidbody_position(r);
+			let ang = util::rigidbody_angle(r);
 			sprites.push(Sprite {
 				texture: p.sprite.clone(),
 				pos: Point3 {
-					x: p.position.x,
+					x: pos.x,
-					y: p.position.y,
+					y: pos.y,
 					z: 1.0,
 				},
 				size: p.size,
-				angle: p.angle,
+				angle: ang,
 				children: None,
 			})
 		}

src/game/mod.rs

@@ -1,12 +1,12 @@
 mod camera;
 mod game;
 mod inputstatus;
+mod physics;
 mod ship;
 mod system;
 mod systemobject;
+mod util;
 
-pub use camera::Camera;
 pub use game::Game;
 pub use inputstatus::InputStatus;
-pub use system::System;
 pub use systemobject::SystemObject;

src/game/physics.rs

@@ -0,0 +1,60 @@
+use rapier2d::{
+	dynamics::{
+		CCDSolver, ImpulseJointSet, IntegrationParameters, IslandManager, MultibodyJointSet,
+		RigidBodySet,
+	},
+	geometry::{BroadPhase, ColliderSet, NarrowPhase},
+	na::vector,
+	pipeline::{EventHandler, PhysicsPipeline},
+};
+
+pub struct Physics {
+	pub rigid_body_set: RigidBodySet,
+	pub collider_set: ColliderSet,
+
+	ip: IntegrationParameters,
+	pp: PhysicsPipeline,
+	im: IslandManager,
+	bp: BroadPhase,
+	np: NarrowPhase,
+	ijs: ImpulseJointSet,
+	mjs: MultibodyJointSet,
+	ccd: CCDSolver,
+}
+
+impl Physics {
+	pub fn new() -> Self {
+		Self {
+			rigid_body_set: RigidBodySet::new(),
+			collider_set: ColliderSet::new(),
+
+			ip: IntegrationParameters::default(),
+			pp: PhysicsPipeline::new(),
+			im: IslandManager::new(),
+			bp: BroadPhase::new(),
+			np: NarrowPhase::new(),
+			ijs: ImpulseJointSet::new(),
+			mjs: MultibodyJointSet::new(),
+			ccd: CCDSolver::new(),
+		}
+	}
+
+	pub fn step(&mut self, t: f32, handler: &dyn EventHandler) {
+		self.ip.dt = t;
+		self.pp.step(
+			&vector![0.0, 0.0],
+			&self.ip,
+			&mut self.im,
+			&mut self.bp,
+			&mut self.np,
+			&mut self.rigid_body_set,
+			&mut self.collider_set,
+			&mut self.ijs,
+			&mut self.mjs,
+			&mut self.ccd,
+			None,
+			&(),
+			handler,
+		);
+	}
+}

src/game/ship/mod.rs

@@ -4,7 +4,7 @@ mod ship;
 pub use outfits::{ShipGun, ShipOutfit, ShipOutfits};
 pub use ship::Ship;
 
-use super::{game::Projectile, InputStatus};
+use super::{game::ProjectileBuilder, InputStatus};
 
 pub struct ShipControls {
 	pub left: bool,
@@ -25,5 +25,5 @@ impl ShipControls {
 }
 
 pub struct ShipTickResult {
-	pub projectiles: Vec<Projectile>,
+	pub projectiles: Vec<ProjectileBuilder>,
 }

src/game/ship/ship.rs

@@ -1,17 +1,20 @@
-use cgmath::{Deg, EuclideanSpace, Matrix2, Point2, Vector2};
+use cgmath::{Deg, EuclideanSpace, Matrix2, Rad, Vector2};
+use nalgebra::vector;
 use rand::Rng;
+use rapier2d::dynamics::{RigidBodyBuilder, RigidBodyHandle, RigidBodySet};
+use rapier2d::geometry::ColliderBuilder;
+use rapier2d::pipeline::ActiveEvents;
 
-use super::super::game::Projectile;
+use super::super::util;
-use super::ShipOutfit;
+use super::{outfits::ShipOutfits, InputStatus, ShipControls, ShipOutfit, ShipTickResult};
-use super::{outfits::ShipOutfits, InputStatus, ShipControls, ShipTickResult};
+use crate::game::game::ProjectileBuilder;
 use crate::{
 	content,
-	physics::PhysicsBody,
+	render::{Sprite, SpriteTexture},
-	render::{Sprite, SpriteTexture, Spriteable},
 };
 
 pub struct Ship {
-	pub physicsbody: PhysicsBody,
+	pub rigid_body: RigidBodyHandle,
 	pub controls: ShipControls,
 	outfits: ShipOutfits,
 
@@ -20,14 +23,14 @@ pub struct Ship {
 }
 
 impl Ship {
-	pub fn new(ct: &content::Ship, outfits: Vec<ShipOutfit>, pos: Point2<f32>) -> Self {
+	pub fn new(ct: &content::Ship, outfits: Vec<ShipOutfit>, rigid_body: RigidBodyHandle) -> Self {
 		let mut o = ShipOutfits::new(ct.engines.clone(), ct.guns.clone());
 		for x in outfits.into_iter() {
 			o.add(x)
 		}
 
 		Ship {
-			physicsbody: PhysicsBody::new(pos),
+			rigid_body,
 			controls: ShipControls::new(),
 
 			outfits: o,
@@ -43,9 +46,9 @@ impl Ship {
 		self.controls.guns = input.key_guns;
 	}
 
-	pub fn fire_guns(&mut self) -> Vec<Projectile> {
+	pub fn fire_guns(&mut self, rigid_body_set: &RigidBodySet) -> Vec<ProjectileBuilder> {
+		let r = &rigid_body_set[self.rigid_body];
 		let mut rng = rand::thread_rng();
-
 		let mut out = Vec::new();
 
 		for (g, p) in self.outfits.iter_guns_points() {
@@ -55,23 +58,34 @@ impl Ship {
 
 			g.cooldown = g.kind.rate + rng.gen_range(-g.kind.rate_rng..=g.kind.rate_rng);
 
-			let pos = self.physicsbody.pos
+			let ship_pos = util::rigidbody_position(r);
-				+ (Matrix2::from_angle(self.physicsbody.angle) * p.pos.to_vec());
+			let ship_ang: Deg<f32> = util::rigidbody_angle(r);
+			let ship_ang_rad: Rad<f32> = ship_ang.into();
+			let ship_vel = util::rigidbody_velocity(r);
 
-			let vel = self.physicsbody.vel
+			let pos = ship_pos + (Matrix2::from_angle(ship_ang) * p.pos.to_vec());
+
+			let vel = ship_vel
 				+ (Matrix2::from_angle(
-					self.physicsbody.angle
+					ship_ang + Deg(rng.gen_range(-(g.kind.spread.0 / 2.0)..=g.kind.spread.0 / 2.0)),
-						+ Deg(rng.gen_range(-(g.kind.spread.0 / 2.0)..=g.kind.spread.0 / 2.0)),
 				) * Vector2 {
 					x: 0.0,
 					y: g.kind.projectile.speed
 						+ rng.gen_range(-g.kind.projectile.speed_rng..=g.kind.projectile.speed_rng),
 				});
 
-			out.push(Projectile {
+			let p_r = RigidBodyBuilder::kinematic_velocity_based()
-				position: pos,
+				.translation(vector![pos.x, pos.y])
-				velocity: vel,
+				.rotation(-ship_ang_rad.0)
-				angle: self.physicsbody.angle,
+				.linvel(vector![vel.x, vel.y]);
+
+			let p_c = ColliderBuilder::ball(5.0)
+				.sensor(true)
+				.active_events(ActiveEvents::COLLISION_EVENTS);
+
+			out.push(ProjectileBuilder {
+				rigid_body: p_r,
+				collider: p_c,
 				sprite: SpriteTexture(g.kind.projectile.sprite.clone()),
 				lifetime: g.kind.projectile.lifetime
 					+ rng.gen_range(
@@ -84,42 +98,47 @@ impl Ship {
 		return out;
 	}
 
-	pub fn tick(&mut self, t: f32) -> ShipTickResult {
+	pub fn tick(&mut self, rigid_body_set: &mut RigidBodySet, t: f32) -> ShipTickResult {
+		let r = &mut rigid_body_set[self.rigid_body];
+		let ship_ang = util::rigidbody_angle(r);
+
+		let engine_force = Matrix2::from_angle(ship_ang) * Vector2 { x: 0.0, y: 1.0 } * t;
 		if self.controls.thrust {
 			for e in self.outfits.iter_engines() {
-				self.physicsbody.thrust(e.thrust * t);
+				r.apply_impulse(vector![engine_force.x, engine_force.y] * e.thrust, true);
 			}
 		}
 
 		if self.controls.right {
-			self.physicsbody.rot(Deg(35.0) * t);
+			r.apply_torque_impulse(500.0 * t, true);
 		}
 
 		if self.controls.left {
-			self.physicsbody.rot(Deg(-35.0) * t);
+			r.apply_torque_impulse(-500.0 * t, true);
 		}
 
 		let p = if self.controls.guns {
-			self.fire_guns()
+			self.fire_guns(rigid_body_set)
 		} else {
 			Vec::new()
 		};
 
-		self.physicsbody.tick(t);
 		for i in self.outfits.iter_guns() {
 			i.cooldown -= t;
 		}
 
 		return ShipTickResult { projectiles: p };
 	}
-}
 
-impl Spriteable for Ship {
+	pub fn get_sprite(&self, rigid_body_set: &RigidBodySet) -> Sprite {
-	fn get_sprite(&self) -> Sprite {
+		let r = &rigid_body_set[self.rigid_body];
+		let ship_pos = util::rigidbody_position(r);
+		let ship_ang = util::rigidbody_angle(r);
+
 		Sprite {
-			pos: (self.physicsbody.pos.x, self.physicsbody.pos.y, 1.0).into(),
+			pos: (ship_pos.x, ship_pos.y, 1.0).into(),
 			texture: self.sprite.clone(), // TODO: sprite texture should be easy to clone
-			angle: self.physicsbody.angle,
+			angle: ship_ang,
 			size: self.size,
 
 			children: if self.controls.thrust {

src/game/util.rs

@@ -0,0 +1,27 @@
+use cgmath::{Deg, InnerSpace, Point2, Vector2};
+use nalgebra;
+use rapier2d::dynamics::RigidBody;
+
+pub fn rigidbody_position(r: &RigidBody) -> cgmath::Point2<f32> {
+	Point2 {
+		x: r.translation()[0],
+		y: r.translation()[1],
+	}
+}
+
+pub fn rigidbody_angle(r: &RigidBody) -> Deg<f32> {
+	Vector2 {
+		x: r.rotation().re,
+		y: r.rotation().im,
+	}
+	.angle(Vector2 { x: 1.0, y: 0.0 })
+	.into()
+}
+
+pub fn rigidbody_velocity(r: &RigidBody) -> cgmath::Vector2<f32> {
+	let v = r.velocity_at_point(&nalgebra::Point2::new(
+		r.translation()[0],
+		r.translation()[1],
+	));
+	Vector2 { x: v.x, y: v.y }
+}

src/main.rs

@@ -1,8 +1,8 @@
 mod consts;
 mod content;
 mod game;
-mod physics;
 mod render;
+mod util;
 
 use anyhow::Result;
 use winit::{

src/physics/body.rs

@@ -1,48 +0,0 @@
-use cgmath::{Angle, Deg, Point2, Vector2};
-
-pub struct PhysicsBody {
-	pub pos: Point2<f32>,
-	pub vel: Vector2<f32>,
-	pub mass: f32,
-	pub angle: Deg<f32>,
-}
-
-impl PhysicsBody {
-	pub fn new(pos: Point2<f32>) -> Self {
-		return PhysicsBody {
-			pos,
-			vel: (0.0, 0.0).into(),
-			mass: 0.3,
-			angle: Deg(0.0),
-		};
-	}
-
-	/// Calculate the position of this body after t seconds.
-	pub fn tick(&mut self, t: f32) {
-		self.pos += self.vel * t;
-	}
-
-	/// Apply an instantaneous force to this object
-	pub fn force(&mut self, v: Vector2<f32>) {
-		self.vel += v / self.mass;
-	}
-
-	/// Apply a force in the direction this object is pointing.
-	pub fn thrust(&mut self, f: f32) {
-		let l = Vector2 {
-			x: -self.angle.sin(),
-			y: self.angle.cos(),
-		} * f;
-		self.force(l);
-	}
-
-	// Rotate this object
-	pub fn rot(&mut self, a: Deg<f32>) {
-		self.angle -= a;
-
-		// Wrap angles
-		if self.angle.0.abs() > 180.0 {
-			self.angle -= Deg(self.angle.0.signum() * 360.0);
-		}
-	}
-}

src/physics/mod.rs

@@ -1,6 +0,0 @@
-mod body;
-mod polar;
-
-// What kind of float shoud we use for physics?
-pub use body::PhysicsBody;
-pub use polar::Polar;

src/render/mod.rs

@@ -7,7 +7,7 @@ mod texturearray;
 mod vertexbuffer;
 
 pub use gpustate::GPUState;
-pub use sprite::{Sprite, Spriteable, SubSprite};
+pub use sprite::{Sprite, SubSprite};
 
 /// A handle to a sprite texture
 /// TODO: This should be easy to copy,

src/render/sprite.rs

@@ -41,7 +41,3 @@ pub struct SubSprite {
 	/// subsprite's parent sprite.
 	pub angle: Deg<f32>,
 }
-
-pub trait Spriteable {
-	fn get_sprite(&self) -> Sprite;
-}