Use rapier

6 files changed, 356 insertions, 19 deletions

diff --git a/Cargo.lock b/Cargo.lock
index be721d2..25a0071 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -160,6 +160,15 @@ dependencies = [
 ]
 
 [[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"
 source = "registry+https://github.com/rust-lang/crates.io-index"
@@ -235,12 +244,18 @@ dependencies = [
  "proc-macro2",
  "quote",
  "regex",
- "rustc-hash",
+ "rustc-hash 1.1.0",
  "shlex",
  "syn",
 ]
 
 [[package]]
+name = "bit-vec"
+version = "0.7.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d2c54ff287cfc0a34f38a6b832ea1bd8e448a330b3e40a50859e6488bee07f22"
+
+[[package]]
 name = "bit_field"
 version = "0.10.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
@@ -539,6 +554,28 @@ dependencies = [
 ]
 
 [[package]]
+name = "crossbeam"
+version = "0.8.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1137cd7e7fc0fb5d3c5a8678be38ec56e819125d8d7907411fe24ccb943faca8"
+dependencies = [
+ "crossbeam-channel",
+ "crossbeam-deque",
+ "crossbeam-epoch",
+ "crossbeam-queue",
+ "crossbeam-utils",
+]
+
+[[package]]
+name = "crossbeam-channel"
+version = "0.5.14"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "06ba6d68e24814cb8de6bb986db8222d3a027d15872cabc0d18817bc3c0e4471"
+dependencies = [
+ "crossbeam-utils",
+]
+
+[[package]]
 name = "crossbeam-deque"
 version = "0.8.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
@@ -558,6 +595,15 @@ dependencies = [
 ]
 
 [[package]]
+name = "crossbeam-queue"
+version = "0.3.12"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0f58bbc28f91df819d0aa2a2c00cd19754769c2fad90579b3592b1c9ba7a3115"
+dependencies = [
+ "crossbeam-utils",
+]
+
+[[package]]
 name = "crossbeam-utils"
 version = "0.8.19"
 source = "registry+https://github.com/rust-lang/crates.io-index"
@@ -631,6 +677,15 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "11157ac094ffbdde99aa67b23417ebdd801842852b500e395a45a9c0aac03e4a"
 
 [[package]]
+name = "ena"
+version = "0.14.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3d248bdd43ce613d87415282f69b9bb99d947d290b10962dd6c56233312c2ad5"
+dependencies = [
+ "log",
+]
+
+[[package]]
 name = "encoding_rs"
 version = "0.8.34"
 source = "registry+https://github.com/rust-lang/crates.io-index"
@@ -771,12 +826,18 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "3f9eec918d3f24069decb9af1554cad7c880e2da24a9afd88aca000531ab82c1"
 
 [[package]]
+name = "foldhash"
+version = "0.1.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d9c4f5dac5e15c24eb999c26181a6ca40b39fe946cbe4c263c7209467bc83af2"
+
+[[package]]
 name = "fontdue"
 version = "0.9.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "efe23d02309319171d00d794c9ff48d4f903c0e481375b1b04b017470838af04"
 dependencies = [
- "hashbrown",
+ "hashbrown 0.14.3",
  "ttf-parser 0.21.1",
 ]
 
@@ -1010,6 +1071,15 @@ dependencies = [
 ]
 
 [[package]]
+name = "hash32"
+version = "0.3.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "47d60b12902ba28e2730cd37e95b8c9223af2808df9e902d4df49588d1470606"
+dependencies = [
+ "byteorder",
+]
+
+[[package]]
 name = "hashbrown"
 version = "0.14.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
@@ -1020,6 +1090,27 @@ dependencies = [
 ]
 
 [[package]]
+name = "hashbrown"
+version = "0.15.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "bf151400ff0baff5465007dd2f3e717f3fe502074ca563069ce3a6629d07b289"
+dependencies = [
+ "allocator-api2",
+ "equivalent",
+ "foldhash",
+]
+
+[[package]]
+name = "heapless"
+version = "0.8.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0bfb9eb618601c89945a70e254898da93b13be0388091d42117462b265bb3fad"
+dependencies = [
+ "hash32",
+ "stable_deref_trait",
+]
+
+[[package]]
 name = "hermit-abi"
 version = "0.3.9"
 source = "registry+https://github.com/rust-lang/crates.io-index"
@@ -1209,7 +1300,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "7b0b929d511467233429c45a44ac1dcaa21ba0f5ba11e4879e6ed28ddb4f9df4"
 dependencies = [
  "equivalent",
- "hashbrown",
+ "hashbrown 0.14.3",
 ]
 
 [[package]]
@@ -1339,6 +1430,12 @@ dependencies = [
 ]
 
 [[package]]
+name = "libm"
+version = "0.2.11"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8355be11b20d696c8f18f6cc018c4e372165b1fa8126cef092399c9951984ffa"
+
+[[package]]
 name = "libredox"
 version = "0.0.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
@@ -1391,6 +1488,16 @@ dependencies = [
 ]
 
 [[package]]
+name = "matrixmultiply"
+version = "0.3.9"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9380b911e3e96d10c1f415da0876389aaf1b56759054eeb0de7df940c456ba1a"
+dependencies = [
+ "autocfg",
+ "rawpointer",
+]
+
+[[package]]
 name = "memchr"
 version = "2.7.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
@@ -1446,6 +1553,34 @@ dependencies = [
 ]
 
 [[package]]
+name = "nalgebra"
+version = "0.33.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "26aecdf64b707efd1310e3544d709c5c0ac61c13756046aaaba41be5c4f66a3b"
+dependencies = [
+ "approx",
+ "glam",
+ "matrixmultiply",
+ "nalgebra-macros",
+ "num-complex",
+ "num-rational",
+ "num-traits",
+ "simba",
+ "typenum",
+]
+
+[[package]]
+name = "nalgebra-macros"
+version = "0.2.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "254a5372af8fc138e36684761d3c0cdb758a4410e938babcff1c860ce14ddbfc"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn",
+]
+
+[[package]]
 name = "native-tls"
 version = "0.2.12"
 source = "registry+https://github.com/rust-lang/crates.io-index"
@@ -1503,6 +1638,25 @@ dependencies = [
 ]
 
 [[package]]
+name = "num-bigint"
+version = "0.4.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a5e44f723f1133c9deac646763579fdb3ac745e418f2a7af9cd0c431da1f20b9"
+dependencies = [
+ "num-integer",
+ "num-traits",
+]
+
+[[package]]
+name = "num-complex"
+version = "0.4.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "73f88a1307638156682bada9d7604135552957b7818057dcef22705b4d509495"
+dependencies = [
+ "num-traits",
+]
+
+[[package]]
 name = "num-derive"
 version = "0.4.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
@@ -1514,12 +1668,33 @@ dependencies = [
 ]
 
 [[package]]
+name = "num-integer"
+version = "0.1.46"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7969661fd2958a5cb096e56c8e1ad0444ac2bbcd0061bd28660485a44879858f"
+dependencies = [
+ "num-traits",
+]
+
+[[package]]
+name = "num-rational"
+version = "0.4.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f83d14da390562dca69fc84082e73e548e1ad308d24accdedd2720017cb37824"
+dependencies = [
+ "num-bigint",
+ "num-integer",
+ "num-traits",
+]
+
+[[package]]
 name = "num-traits"
 version = "0.2.18"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "da0df0e5185db44f69b44f26786fe401b6c293d1907744beaa7fa62b2e5a517a"
 dependencies = [
  "autocfg",
+ "libm",
 ]
 
 [[package]]
@@ -1679,6 +1854,15 @@ dependencies = [
 ]
 
 [[package]]
+name = "ordered-float"
+version = "4.6.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7bb71e1b3fa6ca1c61f383464aaf2bb0e2f8e772a1f01d486832464de363b951"
+dependencies = [
+ "num-traits",
+]
+
+[[package]]
 name = "owned_ttf_parser"
 version = "0.20.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
@@ -1717,6 +1901,32 @@ dependencies = [
 ]
 
 [[package]]
+name = "parry3d"
+version = "0.18.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ecb572cea5c76b06bc744aaefdbb9e6ea9e5695f50f79c0227bddecd6ec925a4"
+dependencies = [
+ "approx",
+ "arrayvec",
+ "bitflags 2.6.0",
+ "downcast-rs",
+ "either",
+ "ena",
+ "log",
+ "nalgebra",
+ "num-derive",
+ "num-traits",
+ "ordered-float",
+ "rstar",
+ "rustc-hash 2.1.1",
+ "simba",
+ "slab",
+ "smallvec",
+ "spade",
+ "thiserror 1.0.57",
+]
+
+[[package]]
 name = "paste"
 version = "1.0.15"
 source = "registry+https://github.com/rust-lang/crates.io-index"
@@ -1798,6 +2008,25 @@ dependencies = [
 ]
 
 [[package]]
+name = "profiling"
+version = "1.0.16"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "afbdc74edc00b6f6a218ca6a5364d6226a259d4b8ea1af4a0ea063f27e179f4d"
+dependencies = [
+ "profiling-procmacros",
+]
+
+[[package]]
+name = "profiling-procmacros"
+version = "1.0.16"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a65f2e60fbf1063868558d69c6beacf412dc755f9fc020f514b7955fc914fe30"
+dependencies = [
+ "quote",
+ "syn",
+]
+
+[[package]]
 name = "qoi"
 version = "0.4.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
@@ -1855,12 +2084,42 @@ dependencies = [
 ]
 
 [[package]]
+name = "rapier3d"
+version = "0.23.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "37d84644f385b81f065576058bc8f7e3d64e56a66f2f5fc40bfd917774659e12"
+dependencies = [
+ "approx",
+ "arrayvec",
+ "bit-vec",
+ "bitflags 2.6.0",
+ "crossbeam",
+ "downcast-rs",
+ "log",
+ "nalgebra",
+ "num-derive",
+ "num-traits",
+ "ordered-float",
+ "parry3d",
+ "profiling",
+ "rustc-hash 2.1.1",
+ "simba",
+ "thiserror 1.0.57",
+]
+
+[[package]]
 name = "raw-window-handle"
 version = "0.6.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "42a9830a0e1b9fb145ebb365b8bc4ccd75f290f98c0247deafbbe2c75cefb544"
 
 [[package]]
+name = "rawpointer"
+version = "0.2.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "60a357793950651c4ed0f3f52338f53b2f809f32d83a07f72909fa13e4c6c1e3"
+
+[[package]]
 name = "rayon"
 version = "1.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
@@ -2015,6 +2274,23 @@ dependencies = [
 ]
 
 [[package]]
+name = "robust"
+version = "1.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "cbf4a6aa5f6d6888f39e980649f3ad6b666acdce1d78e95b8a2cb076e687ae30"
+
+[[package]]
+name = "rstar"
+version = "0.12.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "421400d13ccfd26dfa5858199c30a5d76f9c54e0dba7575273025b43c5175dbb"
+dependencies = [
+ "heapless",
+ "num-traits",
+ "smallvec",
+]
+
+[[package]]
 name = "rustc-demangle"
 version = "0.1.24"
 source = "registry+https://github.com/rust-lang/crates.io-index"
@@ -2027,6 +2303,12 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "08d43f7aa6b08d49f382cde6a7982047c3426db949b1424bc4b7ec9ae12c6ce2"
 
 [[package]]
+name = "rustc-hash"
+version = "2.1.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "357703d41365b4b27c590e3ed91eabb1b663f07c4c084095e60cbed4362dff0d"
+
+[[package]]
 name = "rustix"
 version = "0.38.31"
 source = "registry+https://github.com/rust-lang/crates.io-index"
@@ -2085,6 +2367,15 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "f3cb5ba0dc43242ce17de99c180e96db90b235b8a9fdc9543c96d2209116bd9f"
 
 [[package]]
+name = "safe_arch"
+version = "0.7.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "96b02de82ddbe1b636e6170c21be622223aea188ef2e139be0a5b219ec215323"
+dependencies = [
+ "bytemuck",
+]
+
+[[package]]
 name = "same-file"
 version = "1.0.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
@@ -2225,6 +2516,19 @@ dependencies = [
 ]
 
 [[package]]
+name = "simba"
+version = "0.9.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b3a386a501cd104797982c15ae17aafe8b9261315b5d07e3ec803f2ea26be0fa"
+dependencies = [
+ "approx",
+ "num-complex",
+ "num-traits",
+ "paste",
+ "wide",
+]
+
+[[package]]
 name = "simd-adler32"
 version = "0.3.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
@@ -2299,6 +2603,18 @@ dependencies = [
 ]
 
 [[package]]
+name = "spade"
+version = "2.13.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1ece03ff43cd2a9b57ebf776ea5e78bd30b3b4185a619f041079f4109f385034"
+dependencies = [
+ "hashbrown 0.15.2",
+ "num-traits",
+ "robust",
+ "smallvec",
+]
+
+[[package]]
 name = "spin"
 version = "0.9.8"
 source = "registry+https://github.com/rust-lang/crates.io-index"
@@ -2308,6 +2624,12 @@ dependencies = [
 ]
 
 [[package]]
+name = "stable_deref_trait"
+version = "1.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a8f112729512f8e442d81f95a8a7ddf2b7c6b8a1a6f509a95864142b30cab2d3"
+
+[[package]]
 name = "strict-num"
 version = "0.1.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
@@ -2504,7 +2826,10 @@ dependencies = [
  "js-sys",
  "kira",
  "log",
+ "nalgebra",
+ "parry3d",
  "rand",
+ "rapier3d",
  "reqwest",
  "serde",
  "serde_json",
@@ -2807,6 +3132,12 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "2c591d83f69777866b9126b24c6dd9a18351f177e49d625920d19f989fd31cf8"
 
 [[package]]
+name = "typenum"
+version = "1.18.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1dccffe3ce07af9386bfd29e80c0ab1a8205a2fc34e4bcd40364df902cfa8f3f"
+
+[[package]]
 name = "unicode-bidi"
 version = "0.3.17"
 source = "registry+https://github.com/rust-lang/crates.io-index"
@@ -3101,6 +3432,16 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "53a85b86a771b1c87058196170769dd264f66c0782acf1ae6cc51bfd64b39082"
 
 [[package]]
+name = "wide"
+version = "0.7.32"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "41b5576b9a81633f3e8df296ce0063042a73507636cbe956c61133dd7034ab22"
+dependencies = [
+ "bytemuck",
+ "safe_arch",
+]
+
+[[package]]
 name = "winapi"
 version = "0.3.9"
 source = "registry+https://github.com/rust-lang/crates.io-index"
diff --git a/Cargo.toml b/Cargo.toml
index 9cbffb4..ce588b8 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -21,7 +21,7 @@ gltf = {path = "deps/gltf", features = ["extras", "names", "utils"]} # loader fo
 # gltf = {version = "*", features = ["extras", "names"]} # model loader
 image = "*" # texture loader
 fontdue = "*" # truetype fonts
-glam = "*" # linear algebra
+glam = "0.29" # linear algebra
 log = "*" # logging
 rand = {version = "=0.8.5", features = ["small_rng"]} # rng
 serde = {version = "*", features = ["derive"]} # serialization
@@ -32,6 +32,9 @@ reqwest = "*" # http requests
 bytes = "*" # bytes for http responses
 bitflags = "*" # bitwise flags
 color-eyre = { version = "*", default-features = false } # error reporting and formatting
+rapier3d = "*" # rigid-body physics
+parry3d = "*" # collision detection
+nalgebra = {version = "0.33.2", features = ["convert-glam029"]} # linear algebra library for rapier3d
 
 [target.'cfg(target_arch = "wasm32")'.dependencies]
 winit = {version = "=0.29.15", features = ["serde"]} # windowing and events
diff --git a/flake.lock b/flake.lock
index 978376b..3a41d8d 100644
--- a/flake.lock
+++ b/flake.lock
@@ -86,11 +86,11 @@
         ]
       },
       "locked": {
-        "lastModified": 1719281921,
-        "narHash": "sha256-LIBMfhM9pMOlEvBI757GOK5l0R58SRi6YpwfYMbf4yc=",
+        "lastModified": 1742178793,
+        "narHash": "sha256-S2onMdoDS4tIYd3/Jc5oFEZBr2dJOgPrh9KzSO/bfDw=",
         "owner": "oxalica",
         "repo": "rust-overlay",
-        "rev": "b6032d3a404d8a52ecfc8571ff0c26dfbe221d07",
+        "rev": "954582a766a50ebef5695a9616c93b5386418c08",
         "type": "github"
       },
       "original": {
diff --git a/flake.nix b/flake.nix
index 78a8767..15c4e3d 100644
--- a/flake.nix
+++ b/flake.nix
@@ -56,18 +56,7 @@
           doCheck = false;
         });
 
-        teleia = craneLib.buildTrunkPackage (commonArgs // {
-          inherit cargoArtifacts;
-          wasm-bindgen-cli = pkgs.wasm-bindgen-cli.override {
-            version = "0.2.90";
-            hash = "sha256-X8+DVX7dmKh7BgXqP7Fp0smhup5OO8eWEhn26ODYbkQ=";
-            cargoHash = "sha256-ckJxAR20GuVGstzXzIj1M0WBFj5eJjrO2/DRMUK5dwM=";
-          };
-        });
-      in {
-        packages.default = teleia;
-
-        devShells.default = craneLib.devShell {
+        shell = craneLib.devShell {
           packages = [
             pkgs.trunk
             pkgs.rust-analyzer
@@ -97,5 +86,8 @@
             ]
           }";
         };
+      in {
+        inherit shell;
+        devShells.default = shell;
       });
 }
diff --git a/src/lib.rs b/src/lib.rs
index ecbd4bf..a5458e2 100644
--- a/src/lib.rs
+++ b/src/lib.rs
@@ -11,6 +11,7 @@ pub mod font;
 pub mod shadow;
 pub mod audio;
 pub mod net;
+pub mod physics;
 pub mod save;
 
 pub use utils::{erm, install_error_handler, Erm};
diff --git a/src/physics.rs b/src/physics.rs
new file mode 100644
index 0000000..e69de29
--- /dev/null
+++ b/src/physics.rs