feat: 添加跨平台运行时、资产系统和UI适配功能 (#256)
* feat(platform-common): 添加WASM加载器和环境检测API * feat(rapier2d): 新增Rapier2D WASM绑定包 * feat(physics-rapier2d): 添加跨平台WASM加载器 * feat(asset-system): 添加运行时资产目录和bundle格式 * feat(asset-system-editor): 新增编辑器资产管理包 * feat(editor-core): 添加构建系统和模块管理 * feat(editor-app): 重构浏览器预览使用import maps * feat(platform-web): 添加BrowserRuntime和资产读取 * feat(engine): 添加材质系统和着色器管理 * feat(material): 新增材质系统和着色器编辑器 * feat(tilemap): 增强tilemap编辑器和动画系统 * feat(modules): 添加module.json配置 * feat(core): 添加module.json和类型定义更新 * chore: 更新依赖和构建配置 * refactor(plugins): 更新插件模板使用ModuleManifest * chore: 添加第三方依赖库 * chore: 移除BehaviourTree-ai和ecs-astar子模块 * docs: 更新README和文档主题样式 * fix: 修复Rust文档测试和添加rapier2d WASM绑定 * fix(tilemap-editor): 修复画布高DPI屏幕分辨率适配问题 * feat(ui): 添加UI屏幕适配系统(CanvasScaler/SafeArea) * fix(ecs-engine-bindgen): 添加缺失的ecs-framework-math依赖 * fix: 添加缺失的包依赖修复CI构建 * fix: 修复CodeQL检测到的代码问题 * fix: 修复构建错误和缺失依赖 * fix: 修复类型检查错误 * fix(material-system): 修复tsconfig配置支持TypeScript项目引用 * fix(editor-core): 修复Rollup构建配置添加tauri external * fix: 修复CodeQL检测到的代码问题 * fix: 修复CodeQL检测到的代码问题
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YHH
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264
thirdparty/rapier.js/src/control/pid_controller.rs
vendored
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264
thirdparty/rapier.js/src/control/pid_controller.rs
vendored
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use crate::dynamics::RawRigidBodySet;
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use crate::math::RawVector;
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use crate::utils::{self, FlatHandle};
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use rapier::control::PidController;
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use rapier::dynamics::AxesMask;
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use rapier::math::Vector;
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use wasm_bindgen::prelude::*;
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#[cfg(feature = "dim3")]
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use crate::math::RawRotation;
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#[cfg(feature = "dim2")]
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use rapier::math::Rotation;
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#[wasm_bindgen]
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pub struct RawPidController {
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controller: PidController,
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}
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#[wasm_bindgen]
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impl RawPidController {
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#[wasm_bindgen(constructor)]
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pub fn new(kp: f32, ki: f32, kd: f32, axes_mask: u8) -> Self {
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let controller = PidController::new(
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kp,
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ki,
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kd,
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AxesMask::from_bits(axes_mask).unwrap_or(AxesMask::all()),
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);
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Self { controller }
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}
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pub fn set_kp(&mut self, kp: f32, axes: u8) {
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let axes = AxesMask::from_bits(axes).unwrap_or(AxesMask::all());
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if axes.contains(AxesMask::LIN_X) {
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self.controller.pd.lin_kp.x = kp;
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}
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if axes.contains(AxesMask::LIN_Y) {
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self.controller.pd.lin_kp.y = kp;
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}
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#[cfg(feature = "dim3")]
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if axes.contains(AxesMask::LIN_Z) {
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self.controller.pd.lin_kp.z = kp;
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}
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#[cfg(feature = "dim3")]
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if axes.contains(AxesMask::ANG_X) {
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self.controller.pd.ang_kp.x = kp;
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}
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#[cfg(feature = "dim3")]
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if axes.contains(AxesMask::ANG_Y) {
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self.controller.pd.ang_kp.y = kp;
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}
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if axes.contains(AxesMask::ANG_Z) {
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#[cfg(feature = "dim2")]
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{
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self.controller.pd.ang_kp = kp;
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}
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#[cfg(feature = "dim3")]
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{
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self.controller.pd.ang_kp.z = kp;
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}
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}
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}
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pub fn set_ki(&mut self, ki: f32, axes: u8) {
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let axes = AxesMask::from_bits(axes).unwrap_or(AxesMask::all());
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if axes.contains(AxesMask::LIN_X) {
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self.controller.lin_ki.x = ki;
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}
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if axes.contains(AxesMask::LIN_Y) {
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self.controller.lin_ki.y = ki;
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}
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#[cfg(feature = "dim3")]
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if axes.contains(AxesMask::LIN_Z) {
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self.controller.lin_ki.z = ki;
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}
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#[cfg(feature = "dim3")]
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if axes.contains(AxesMask::ANG_X) {
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self.controller.ang_ki.x = ki;
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}
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#[cfg(feature = "dim3")]
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if axes.contains(AxesMask::ANG_Y) {
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self.controller.ang_ki.y = ki;
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}
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if axes.contains(AxesMask::ANG_Z) {
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#[cfg(feature = "dim2")]
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{
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self.controller.ang_ki = ki;
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}
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#[cfg(feature = "dim3")]
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{
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self.controller.ang_ki.z = ki;
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}
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}
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}
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pub fn set_kd(&mut self, kd: f32, axes: u8) {
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let axes = AxesMask::from_bits(axes).unwrap_or(AxesMask::all());
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if axes.contains(AxesMask::LIN_X) {
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self.controller.pd.lin_kd.x = kd;
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}
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if axes.contains(AxesMask::LIN_Y) {
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self.controller.pd.lin_kd.x = kd;
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}
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#[cfg(feature = "dim3")]
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if axes.contains(AxesMask::LIN_Z) {
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self.controller.pd.lin_kd.x = kd;
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}
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#[cfg(feature = "dim3")]
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if axes.contains(AxesMask::ANG_X) {
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self.controller.pd.ang_kd.x = kd;
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}
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#[cfg(feature = "dim3")]
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if axes.contains(AxesMask::ANG_Y) {
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self.controller.pd.ang_kd.y = kd;
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}
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if axes.contains(AxesMask::ANG_Z) {
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#[cfg(feature = "dim2")]
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{
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self.controller.pd.ang_kd = kd;
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}
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#[cfg(feature = "dim3")]
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{
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self.controller.pd.ang_kd.z = kd;
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}
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}
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}
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pub fn set_axes_mask(&mut self, axes_mask: u8) {
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if let Some(mask) = AxesMask::from_bits(axes_mask) {
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self.controller.pd.axes = mask;
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}
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}
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pub fn reset_integrals(&mut self) {
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self.controller.reset_integrals();
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}
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pub fn apply_linear_correction(
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&mut self,
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dt: f32,
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bodies: &mut RawRigidBodySet,
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rb_handle: FlatHandle,
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target_translation: &RawVector,
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target_linvel: &RawVector,
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) {
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let rb_handle = utils::body_handle(rb_handle);
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let Some(rb) = bodies.0.get_mut(rb_handle) else {
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return;
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};
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let correction = self.controller.linear_rigid_body_correction(
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dt,
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rb,
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target_translation.0.into(),
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target_linvel.0,
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);
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rb.set_linvel(*rb.linvel() + correction, true);
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}
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#[cfg(feature = "dim2")]
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pub fn apply_angular_correction(
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&mut self,
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dt: f32,
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bodies: &mut RawRigidBodySet,
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rb_handle: FlatHandle,
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target_rotation: f32,
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target_angvel: f32,
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) {
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let rb_handle = crate::utils::body_handle(rb_handle);
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let Some(rb) = bodies.0.get_mut(rb_handle) else {
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return;
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};
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let correction = self.controller.angular_rigid_body_correction(
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dt,
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rb,
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Rotation::new(target_rotation),
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target_angvel,
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);
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rb.set_angvel(rb.angvel() + correction, true);
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}
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#[cfg(feature = "dim3")]
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pub fn apply_angular_correction(
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&mut self,
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dt: f32,
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bodies: &mut RawRigidBodySet,
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rb_handle: FlatHandle,
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target_rotation: &RawRotation,
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target_angvel: &RawVector,
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) {
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let rb_handle = crate::utils::body_handle(rb_handle);
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let Some(rb) = bodies.0.get_mut(rb_handle) else {
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return;
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};
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let correction = self.controller.angular_rigid_body_correction(
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dt,
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rb,
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target_rotation.0,
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target_angvel.0,
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);
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rb.set_angvel(rb.angvel() + correction, true);
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}
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pub fn linear_correction(
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&mut self,
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dt: f32,
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bodies: &RawRigidBodySet,
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rb_handle: FlatHandle,
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target_translation: &RawVector,
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target_linvel: &RawVector,
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) -> RawVector {
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let rb_handle = crate::utils::body_handle(rb_handle);
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let Some(rb) = bodies.0.get(rb_handle) else {
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return RawVector(Vector::zeros());
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};
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self.controller
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.linear_rigid_body_correction(dt, rb, target_translation.0.into(), target_linvel.0)
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.into()
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}
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#[cfg(feature = "dim2")]
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pub fn angular_correction(
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&mut self,
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dt: f32,
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bodies: &RawRigidBodySet,
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rb_handle: FlatHandle,
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target_rotation: f32,
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target_angvel: f32,
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) -> f32 {
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let rb_handle = crate::utils::body_handle(rb_handle);
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let Some(rb) = bodies.0.get(rb_handle) else {
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return 0.0;
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};
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self.controller.angular_rigid_body_correction(
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dt,
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rb,
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Rotation::new(target_rotation),
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target_angvel,
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)
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}
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#[cfg(feature = "dim3")]
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pub fn angular_correction(
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&mut self,
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dt: f32,
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bodies: &RawRigidBodySet,
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rb_handle: FlatHandle,
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target_rotation: &RawRotation,
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target_angvel: &RawVector,
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) -> RawVector {
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let rb_handle = crate::utils::body_handle(rb_handle);
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let Some(rb) = bodies.0.get(rb_handle) else {
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return RawVector(Vector::zeros());
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};
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self.controller
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.angular_rigid_body_correction(dt, rb, target_rotation.0, target_angvel.0)
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.into()
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}
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}
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