From 088123ac685c66d8659fa95d6cd3e94a1e597662 Mon Sep 17 00:00:00 2001
From: ghostlyzsh <pokeball.181818@gmail.com>
Date: Mon, 10 Apr 2023 22:36:29 -0500
Subject: [PATCH] physics engine start

---
 Cargo.lock            | 334 ++++++++++++++++++++++++++++++++++++++++++
 server/Cargo.toml     |   3 +-
 server/src/main.rs    |   3 +-
 server/src/manager.rs |  15 ++
 server/src/timer.rs   |  19 ++-
 5 files changed, 369 insertions(+), 5 deletions(-)

diff --git a/Cargo.lock b/Cargo.lock
index f4341d9f9816fc6f851d4bddbeb2c0cc1c63ac16..9a2dec267d97cd1364cc9f1abd778355ec9887ff 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -2,6 +2,21 @@
 # It is not intended for manual editing.
 version = 3
 
+[[package]]
+name = "approx"
+version = "0.5.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "cab112f0a86d568ea0e627cc1d6be74a1e9cd55214684db5561995f6dad897c6"
+dependencies = [
+ "num-traits",
+]
+
+[[package]]
+name = "arrayvec"
+version = "0.7.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8da52d66c7071e2e3fa2a1e5c6d088fec47b593032b254f5e980de8ea54454d6"
+
 [[package]]
 name = "async-recursion"
 version = "1.0.4"
@@ -47,6 +62,18 @@ version = "0.13.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "9e1b586273c5702936fe7b7d6896644d8be71e6314cfe09d3167c95f712589e8"
 
+[[package]]
+name = "bit-vec"
+version = "0.6.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "349f9b6a179ed607305526ca489b34ad0a41aed5f7980fa90eb03160b69598fb"
+
+[[package]]
+name = "bitflags"
+version = "1.3.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "bef38d45163c2f1dde094a7dfd33ccf595c92905c8f8f4fdc18d06fb1037718a"
+
 [[package]]
 name = "block-buffer"
 version = "0.10.4"
@@ -62,6 +89,12 @@ version = "3.12.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "0d261e256854913907f67ed06efbc3338dfe6179796deefc1ff763fc1aee5535"
 
+[[package]]
+name = "bytemuck"
+version = "1.13.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "17febce684fd15d89027105661fec94afb475cb995fbc59d2865198446ba2eea"
+
 [[package]]
 name = "byteorder"
 version = "1.4.3"
@@ -153,6 +186,73 @@ dependencies = [
  "libc",
 ]
 
+[[package]]
+name = "crossbeam"
+version = "0.8.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "2801af0d36612ae591caa9568261fddce32ce6e08a7275ea334a06a4ad021a2c"
+dependencies = [
+ "cfg-if",
+ "crossbeam-channel",
+ "crossbeam-deque",
+ "crossbeam-epoch",
+ "crossbeam-queue",
+ "crossbeam-utils",
+]
+
+[[package]]
+name = "crossbeam-channel"
+version = "0.5.8"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a33c2bf77f2df06183c3aa30d1e96c0695a313d4f9c453cc3762a6db39f99200"
+dependencies = [
+ "cfg-if",
+ "crossbeam-utils",
+]
+
+[[package]]
+name = "crossbeam-deque"
+version = "0.8.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ce6fd6f855243022dcecf8702fef0c297d4338e226845fe067f6341ad9fa0cef"
+dependencies = [
+ "cfg-if",
+ "crossbeam-epoch",
+ "crossbeam-utils",
+]
+
+[[package]]
+name = "crossbeam-epoch"
+version = "0.9.14"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "46bd5f3f85273295a9d14aedfb86f6aadbff6d8f5295c4a9edb08e819dcf5695"
+dependencies = [
+ "autocfg",
+ "cfg-if",
+ "crossbeam-utils",
+ "memoffset",
+ "scopeguard",
+]
+
+[[package]]
+name = "crossbeam-queue"
+version = "0.3.8"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d1cfb3ea8a53f37c40dea2c7bedcbd88bdfae54f5e2175d6ecaff1c988353add"
+dependencies = [
+ "cfg-if",
+ "crossbeam-utils",
+]
+
+[[package]]
+name = "crossbeam-utils"
+version = "0.8.15"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3c063cd8cc95f5c377ed0d4b49a4b21f632396ff690e8470c29b3359b346984b"
+dependencies = [
+ "cfg-if",
+]
+
 [[package]]
 name = "crypto-common"
 version = "0.1.6"
@@ -173,6 +273,18 @@ dependencies = [
  "crypto-common",
 ]
 
+[[package]]
+name = "downcast-rs"
+version = "1.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9ea835d29036a4087793836fa931b08837ad5e957da9e23886b29586fb9b6650"
+
+[[package]]
+name = "either"
+version = "1.8.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7fcaabb2fef8c910e7f4c7ce9f67a1283a1715879a7c230ca9d6d1ae31f16d91"
+
 [[package]]
 name = "fnv"
 version = "1.0.7"
@@ -446,6 +558,12 @@ version = "0.2.141"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "3304a64d199bb964be99741b7a14d26972741915b3649639149b2479bb46f4b5"
 
+[[package]]
+name = "libm"
+version = "0.2.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "348108ab3fba42ec82ff6e9564fc4ca0247bdccdc68dd8af9764bbc79c3c8ffb"
+
 [[package]]
 name = "log"
 version = "0.4.17"
@@ -464,12 +582,30 @@ dependencies = [
  "unicode-id",
 ]
 
+[[package]]
+name = "matrixmultiply"
+version = "0.3.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "add85d4dd35074e6fedc608f8c8f513a3548619a9024b751949ef0e8e45a4d84"
+dependencies = [
+ "rawpointer",
+]
+
 [[package]]
 name = "memchr"
 version = "2.5.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "2dffe52ecf27772e601905b7522cb4ef790d2cc203488bbd0e2fe85fcb74566d"
 
+[[package]]
+name = "memoffset"
+version = "0.8.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d61c719bcfbcf5d62b3a09efa6088de8c54bc0bfcd3ea7ae39fcc186108b8de1"
+dependencies = [
+ "autocfg",
+]
+
 [[package]]
 name = "mio"
 version = "0.8.6"
@@ -482,6 +618,74 @@ dependencies = [
  "windows-sys 0.45.0",
 ]
 
+[[package]]
+name = "nalgebra"
+version = "0.32.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d68d47bba83f9e2006d117a9a33af1524e655516b8919caac694427a6fb1e511"
+dependencies = [
+ "approx",
+ "matrixmultiply",
+ "nalgebra-macros",
+ "num-complex",
+ "num-rational",
+ "num-traits",
+ "simba",
+ "typenum",
+]
+
+[[package]]
+name = "nalgebra-macros"
+version = "0.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d232c68884c0c99810a5a4d333ef7e47689cfd0edc85efc9e54e1e6bf5212766"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 1.0.109",
+]
+
+[[package]]
+name = "num-complex"
+version = "0.4.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "02e0d21255c828d6f128a1e41534206671e8c3ea0c62f32291e808dc82cff17d"
+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]]
+name = "num-integer"
+version = "0.1.45"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "225d3389fb3509a24c93f5c29eb6bde2586b98d9f016636dff58d7c6f7569cd9"
+dependencies = [
+ "autocfg",
+ "num-traits",
+]
+
+[[package]]
+name = "num-rational"
+version = "0.4.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0638a1c9d0a3c0914158145bc76cff373a75a627e6ecbfb71cbe6f453a5a19b0"
+dependencies = [
+ "autocfg",
+ "num-integer",
+ "num-traits",
+]
+
 [[package]]
 name = "num-traits"
 version = "0.2.15"
@@ -489,6 +693,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "578ede34cf02f8924ab9447f50c28075b4d3e5b269972345e7e0372b38c6cdcd"
 dependencies = [
  "autocfg",
+ "libm",
 ]
 
 [[package]]
@@ -516,6 +721,33 @@ version = "1.17.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "b7e5500299e16ebb147ae15a00a942af264cf3688f47923b8fc2cd5858f23ad3"
 
+[[package]]
+name = "optional"
+version = "0.5.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "978aa494585d3ca4ad74929863093e87cac9790d81fe7aba2b3dc2890643a0fc"
+
+[[package]]
+name = "parry2d"
+version = "0.13.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "49c6edd297a40754e762344dbeb454bdfb51472f03280473065b9b0898008ce3"
+dependencies = [
+ "approx",
+ "arrayvec",
+ "bitflags",
+ "downcast-rs",
+ "either",
+ "nalgebra",
+ "num-derive",
+ "num-traits",
+ "rustc-hash",
+ "simba",
+ "slab",
+ "smallvec",
+ "spade",
+]
+
 [[package]]
 name = "paste"
 version = "1.0.12"
@@ -604,6 +836,33 @@ dependencies = [
  "getrandom",
 ]
 
+[[package]]
+name = "rapier2d"
+version = "0.17.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f94d294a9b96694c14888dd0e8ce77620dcc4f2f49264109ef835fa5e2285b84"
+dependencies = [
+ "approx",
+ "arrayvec",
+ "bit-vec",
+ "bitflags",
+ "crossbeam",
+ "downcast-rs",
+ "nalgebra",
+ "num-derive",
+ "num-traits",
+ "parry2d",
+ "rustc-hash",
+ "simba",
+ "vec_map",
+]
+
+[[package]]
+name = "rawpointer"
+version = "0.2.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "60a357793950651c4ed0f3f52338f53b2f809f32d83a07f72909fa13e4c6c1e3"
+
 [[package]]
 name = "rmp"
 version = "0.8.11"
@@ -626,6 +885,18 @@ dependencies = [
  "serde",
 ]
 
+[[package]]
+name = "robust"
+version = "0.2.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e5864e7ef1a6b7bcf1d6ca3f655e65e724ed3b52546a0d0a663c991522f552ea"
+
+[[package]]
+name = "rustc-hash"
+version = "1.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "08d43f7aa6b08d49f382cde6a7982047c3426db949b1424bc4b7ec9ae12c6ce2"
+
 [[package]]
 name = "rustc_version"
 version = "0.4.0"
@@ -641,6 +912,21 @@ version = "1.0.13"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "f91339c0467de62360649f8d3e185ca8de4224ff281f66000de5eb2a77a79041"
 
+[[package]]
+name = "safe_arch"
+version = "0.6.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "794821e4ccb0d9f979512f9c1973480123f9bd62a90d74ab0f9426fcf8f4a529"
+dependencies = [
+ "bytemuck",
+]
+
+[[package]]
+name = "scopeguard"
+version = "1.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d29ab0c6d3fc0ee92fe66e2d99f700eab17a8d57d1c1d3b748380fb20baa78cd"
+
 [[package]]
 name = "semver"
 version = "1.0.17"
@@ -698,6 +984,19 @@ dependencies = [
  "digest",
 ]
 
+[[package]]
+name = "simba"
+version = "0.8.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "061507c94fc6ab4ba1c9a0305018408e312e17c041eb63bef8aa726fa33aceae"
+dependencies = [
+ "approx",
+ "num-complex",
+ "num-traits",
+ "paste",
+ "wide",
+]
+
 [[package]]
 name = "simple_logger"
 version = "4.1.0"
@@ -720,6 +1019,12 @@ dependencies = [
  "autocfg",
 ]
 
+[[package]]
+name = "smallvec"
+version = "1.10.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a507befe795404456341dfab10cef66ead4c041f62b8b11bbb92bffe5d0953e0"
+
 [[package]]
 name = "socket2"
 version = "0.4.9"
@@ -730,6 +1035,18 @@ dependencies = [
  "winapi",
 ]
 
+[[package]]
+name = "spade"
+version = "2.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1190e0e8f4eb17fc3dbb2d20e1142676e56aaac3daede39f64a3302d687b80f3"
+dependencies = [
+ "num-traits",
+ "optional",
+ "robust",
+ "smallvec",
+]
+
 [[package]]
 name = "starkingdoms-client"
 version = "0.1.0"
@@ -769,6 +1086,7 @@ dependencies = [
  "hyper",
  "lazy_static",
  "log",
+ "rapier2d",
  "rmp-serde",
  "serde",
  "serde_json",
@@ -1020,6 +1338,12 @@ version = "0.7.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "09cc8ee72d2a9becf2f2febe0205bbed8fc6615b7cb429ad062dc7b7ddd036a9"
 
+[[package]]
+name = "vec_map"
+version = "0.8.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f1bddf1187be692e79c5ffeab891132dfb0f236ed36a43c7ed39f1165ee20191"
+
 [[package]]
 name = "version_check"
 version = "0.9.4"
@@ -1118,6 +1442,16 @@ dependencies = [
  "wasm-bindgen",
 ]
 
+[[package]]
+name = "wide"
+version = "0.7.8"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b689b6c49d6549434bf944e6b0f39238cf63693cb7a147e9d887507fffa3b223"
+dependencies = [
+ "bytemuck",
+ "safe_arch",
+]
+
 [[package]]
 name = "winapi"
 version = "0.3.9"
diff --git a/server/Cargo.toml b/server/Cargo.toml
index 5fd093cdca2b9e0aecdc72f87c1497bd99f54dd6..43b5696e663e4a34c6dda5d6423c601eeb3a0bb1 100644
--- a/server/Cargo.toml
+++ b/server/Cargo.toml
@@ -22,6 +22,7 @@ log = "0.4"
 simple_logger = "4.1"
 starkingdoms-protocol = { version = "0.1.0", path = "../protocol" }
 lazy_static = "1.4.0"
+rapier2d = { version = "0.17.2", features = [ "simd-stable" ] }
 
 [build-dependencies]
-cargo_metadata = "0.15"
\ No newline at end of file
+cargo_metadata = "0.15"
diff --git a/server/src/main.rs b/server/src/main.rs
index 5c78784a43426b8e26e5cf037a74e1b1160ebc61..8639ef273bb3a7a16d6837ba50651457ddf6adfe 100644
--- a/server/src/main.rs
+++ b/server/src/main.rs
@@ -11,7 +11,7 @@ use log::{error, info, Level};
 use serde::{Deserialize, Serialize};
 use tokio::sync::RwLock;
 use starkingdoms_protocol::{PROTOCOL_VERSION};
-use crate::manager::{ClientHandler, ClientManager};
+use crate::manager::{ClientHandler, ClientManager, PhysicsEngine};
 use crate::handler::handle_client;
 use crate::timer::timer_main;
 
@@ -150,6 +150,7 @@ async fn main() {
         }
     });
 
+
     let mgr_timer = CMGR.clone();
     let _timer_thread = tokio::spawn(async move {
         timer_main(mgr_timer).await;
diff --git a/server/src/manager.rs b/server/src/manager.rs
index 76c5589de54641a6a0c98b6145d642492398e759..df311fcf6e136b011b0b28bb48fd5bb367cd31db 100644
--- a/server/src/manager.rs
+++ b/server/src/manager.rs
@@ -3,6 +3,7 @@ use std::collections::HashMap;
 use std::net::SocketAddr;
 use std::sync::Arc;
 
+use rapier2d::prelude::{IntegrationParameters, PhysicsPipeline, IslandManager, BroadPhase, NarrowPhase, ImpulseJointSet, MultibodyJointSet, CCDSolver, EventHandler, PhysicsHooks, RigidBodySet, ColliderSet};
 use tokio::sync::mpsc::Sender;
 use tokio::sync::RwLock;
 
@@ -27,6 +28,20 @@ pub struct ClientHandler {
     pub tx: Sender<ClientHandlerMessage>
 }
 
+pub struct PhysicsEngine {
+    pub gravity: Vec<f32>,
+    pub integration_parameters: IntegrationParameters,
+    pub pipeline: PhysicsPipeline,
+    pub island_manager: IslandManager,
+    pub broad_phase: BroadPhase,
+    pub narrow_phase: NarrowPhase,
+    pub rigid_body_set: RigidBodySet,
+    pub collider_set: ColliderSet,
+    pub impulse_joint_set: ImpulseJointSet,
+    pub multibody_joint_set: MultibodyJointSet,
+    pub ccd_solver: CCDSolver,
+}
+
 pub enum ClientHandlerMessage {
     Tick,
     ChatMessage { from: String, message: String }
diff --git a/server/src/timer.rs b/server/src/timer.rs
index 96a38214197c2f4724bab5285ae97876a839d12f..24afa2ea8534ae24083c65711cb92cc62b831b28 100644
--- a/server/src/timer.rs
+++ b/server/src/timer.rs
@@ -2,15 +2,28 @@
 use std::time::Duration;
 use log::{error};
 
+use rapier2d::prelude::{IntegrationParameters, PhysicsPipeline, IslandManager, BroadPhase, NarrowPhase, ImpulseJointSet, MultibodyJointSet, CCDSolver, RigidBodySet, ColliderSet};
 use tokio::time::sleep;
-use crate::manager::{ClientHandlerMessage, ClientManager};
+use crate::manager::{ClientHandlerMessage, ClientManager, PhysicsEngine};
 
 pub async fn timer_main(mgr: ClientManager) {
+    // initialize physics engine
+    let mut physics_engine = PhysicsEngine { 
+        gravity: vec![0.0, 0.0],
+        integration_parameters: IntegrationParameters::default(),
+        pipeline: PhysicsPipeline::new(),
+        island_manager: IslandManager::new(),
+        broad_phase: BroadPhase::new(),
+        narrow_phase: NarrowPhase::new(),
+        rigid_body_set: RigidBodySet::new(),
+        collider_set: ColliderSet::new(),
+        impulse_joint_set: ImpulseJointSet::new(),
+        multibody_joint_set: MultibodyJointSet::new(),
+        ccd_solver: CCDSolver::new(),
+    };
     loop {
         sleep(Duration::from_millis(5)).await;
 
-
-
         for (_addr, client_thread) in mgr.handlers.read().await.iter() {
             match client_thread.tx.send(ClientHandlerMessage::Tick).await {
                 Ok(_) => (),