switched over to glam and simplified some imports

Cargo.lock

@@ -65,15 +65,6 @@ version = "1.0.75"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "a4668cab20f66d8d020e1fbc0ebe47217433c1b6c8f2040faf858554e394ace6"
 
-[[package]]
-name = "approx"
-version = "0.5.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "cab112f0a86d568ea0e627cc1d6be74a1e9cd55214684db5561995f6dad897c6"
-dependencies = [
- "num-traits",
-]
-
 [[package]]
 name = "argh"
 version = "0.1.12"
@@ -164,10 +155,10 @@ dependencies = [
  "crossterm",
  "flate2",
  "futures",
+ "glam",
  "lazy_static",
  "log",
  "mlua",
- "nalgebra",
  "num_enum",
  "pretty_env_logger",
  "ratatui",
@@ -208,12 +199,6 @@ version = "3.14.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "7f30e7476521f6f8af1a1c4c0b8cc94f0bee37d91763d0ca2665f299b6cd8aec"
 
-[[package]]
-name = "bytemuck"
-version = "1.14.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "374d28ec25809ee0e23827c2ab573d729e293f281dfe393500e7ad618baa61c6"
-
 [[package]]
 name = "bytes"
 version = "1.5.0"
@@ -467,6 +452,12 @@ version = "0.28.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "6fb8d784f27acf97159b40fc4db5ecd8aa23b9ad5ef69cdd136d3bc80665f0c0"
 
+[[package]]
+name = "glam"
+version = "0.24.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b5418c17512bdf42730f9032c74e1ae39afc408745ebb2acf72fbc4691c17945"
+
 [[package]]
 name = "h2"
 version = "0.3.21"
@@ -764,16 +755,6 @@ dependencies = [
  "which",
 ]
 
-[[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"
@@ -833,63 +814,6 @@ dependencies = [
  "pkg-config",
 ]
 
-[[package]]
-name = "nalgebra"
-version = "0.31.4"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "20bd243ab3dbb395b39ee730402d2e5405e448c75133ec49cc977762c4cba3d1"
-dependencies = [
- "approx",
- "matrixmultiply",
- "nalgebra-macros",
- "num-complex",
- "num-rational",
- "num-traits",
- "simba",
- "typenum",
-]
-
-[[package]]
-name = "nalgebra-macros"
-version = "0.1.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "01fcc0b8149b4632adc89ac3b7b31a12fb6099a0317a4eb2ebff574ef7de7218"
-dependencies = [
- "proc-macro2",
- "quote",
- "syn 1.0.109",
-]
-
-[[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-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 = "0.2.17"
@@ -1060,12 +984,6 @@ dependencies = [
  "unicode-width",
 ]
 
-[[package]]
-name = "rawpointer"
-version = "0.2.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "60a357793950651c4ed0f3f52338f53b2f809f32d83a07f72909fa13e4c6c1e3"
-
 [[package]]
 name = "redox_syscall"
 version = "0.4.1"
@@ -1227,15 +1145,6 @@ version = "1.0.15"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "1ad4cc8da4ef723ed60bced201181d83791ad433213d8c24efffda1eec85d741"
 
-[[package]]
-name = "safe_arch"
-version = "0.7.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f398075ce1e6a179b46f51bd88d0598b92b00d3551f1a2d4ac49e771b56ac354"
-dependencies = [
- "bytemuck",
-]
-
 [[package]]
 name = "scopeguard"
 version = "1.2.0"
@@ -1336,19 +1245,6 @@ dependencies = [
  "libc",
 ]
 
-[[package]]
-name = "simba"
-version = "0.7.3"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2f3fd720c48c53cace224ae62bef1bbff363a70c68c4802a78b5cc6159618176"
-dependencies = [
- "approx",
- "num-complex",
- "num-traits",
- "paste",
- "wide",
-]
-
 [[package]]
 name = "slab"
 version = "0.4.9"
@@ -1588,12 +1484,6 @@ version = "0.2.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "3528ecfd12c466c6f163363caf2d02a71161dd5e1cc6ae7b34207ea2d42d81ed"
 
-[[package]]
-name = "typenum"
-version = "1.17.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "42ff0bf0c66b8238c6f3b578df37d0b7848e55df8577b3f74f92a69acceeb825"
-
 [[package]]
 name = "unicode-bidi"
 version = "0.3.13"
@@ -1765,16 +1655,6 @@ dependencies = [
  "rustix",
 ]
 
-[[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 = "winapi"
 version = "0.3.9"

Cargo.toml

@@ -14,7 +14,7 @@ argh = "0.1.12"
 lazy_static = "1"
 
 anyhow = "1.0.66"
-nalgebra = "0.31"
+glam = "0.24.2"
 num_enum = "0.5.7"
 
 async-trait = "0.1.58"

src/server/car.rs

@@ -1,15 +1,15 @@
-use nalgebra::*;
+use glam::*;
 
-use std::time::{Instant, Duration};
+use std::time::Instant;
 
 #[derive(Default, Clone, Debug)]
 pub struct Car {
     pub car_json: String,
 
-    pub pos: Vector3<f64>,
+    pub pos: DVec3,
-    pub rot: Quaternion<f64>,
+    pub rot: DQuat,
-    pub vel: Vector3<f64>,
+    pub vel: DVec3,
-    pub rvel: Vector3<f64>,
+    pub rvel: DVec3,
     pub tim: f64,
     pub ping: f64,
     pub last_pos_update: Option<Instant>,
@@ -24,12 +24,12 @@ impl Car {
         }
     }
 
-    pub fn pos(&self) -> Vector3<f64> {
+    pub fn position(&self) -> DVec3 {
         self.pos + self.vel * self.last_pos_update.map(|t| t.elapsed().as_secs_f64()).unwrap_or(0.0)
     }
 
-    pub fn rotation(&self) -> Quaternion<f64> {
+    pub fn rotation(&self) -> DQuat {
         let t = self.last_pos_update.map(|t| t.elapsed().as_secs_f64()).unwrap_or(0.0);
-        self.rot + UnitQuaternion::from_euler_angles(self.rvel.x * t, self.rvel.y * t, self.rvel.z * t).quaternion()
+        self.rot + DQuat::from_euler(glam::EulerRot::YXZ, self.rvel.x * t, self.rvel.y * t, self.rvel.z * t)
     }
 }

src/server/client.rs

@@ -2,9 +2,7 @@ use std::collections::HashMap;
 use std::net::SocketAddr;
 use std::ops::DerefMut;
 use std::path::Path;
-use std::sync::atomic::{AtomicU8, Ordering};
 use std::sync::Arc;
-use std::time::Instant;
 
 use tokio::io::{AsyncReadExt, AsyncWriteExt};
 use tokio::net::{
@@ -15,10 +13,7 @@ use tokio::sync::mpsc::{Receiver, Sender};
 use tokio::sync::Mutex;
 use tokio::task::JoinHandle;
 
-use nalgebra::*;
-
 use serde::Deserialize;
-use serde_aux::prelude::*;
 use crate::fs_util;
 
 use super::backend::*;

src/server/mod.rs

@@ -1,16 +1,14 @@
 use std::net::SocketAddr;
-use std::sync::{Arc, atomic::{AtomicBool, Ordering}};
+use std::sync::Arc;
 use std::time::Instant;
 use std::collections::HashMap;
 
 use tokio::io::{AsyncReadExt, AsyncWriteExt};
 use tokio::net::{TcpListener, UdpSocket};
 use tokio::task::{JoinHandle, JoinSet};
-use tokio::sync::{Mutex, mpsc, oneshot};
+use tokio::sync::{mpsc, oneshot};
 
-use num_enum::IntoPrimitive;
+use glam::*;
-
-use nalgebra::*;
 
 mod backend;
 mod car;
@@ -27,7 +25,6 @@ pub use plugins::*;
 pub use http::*;
 
 pub use crate::config::Config;
-use crate::config::GeneralSettings;
 
 fn load_plugins(server_resource_folder: String) -> Vec<Plugin> {
     let mut plugins = Vec::new();
@@ -686,11 +683,11 @@ impl Server {
                     ServerBoundPluginEvent::RequestPositionRaw((pid, vid, responder)) => {
                         if let Some(client) = self.clients.iter().find(|client| client.id == pid) {
                             if let Some((_id, vehicle)) = client.cars.iter().find(|(id, _car)| *id == vid) {
-                                // let pos_rot = PositionRaw {
+                                let pos_rot = PositionRaw {
-                                //     pos: vehicle.pos().
+                                    pos: vehicle.position().as_vec3().to_array(),
-                                // };
+                                    rot: vehicle.rotation().as_f32().to_array(),
-                                todo!()
+                                };
-                                // let _ = responder.send(PluginBoundPluginEvent::PositionRaw(pos_rot));
+                                let _ = responder.send(PluginBoundPluginEvent::PositionRaw(pos_rot));
                             } else {
                                 let _ = responder.send(PluginBoundPluginEvent::None);
                             }
@@ -972,11 +969,11 @@ impl Server {
                                         .get_car_mut(car_id)
                                         .ok_or(ServerError::CarDoesntExist)?;
                                     car.pos = pos_data.pos.into();
-                                    car.rot = Quaternion::new(
+                                    car.rot = DQuat::from_xyzw(
-                                        pos_data.rot[3],
                                         pos_data.rot[0],
                                         pos_data.rot[1],
                                         pos_data.rot[2],
+                                        pos_data.rot[3],
                                     );
                                     car.vel = pos_data.vel.into();
                                     car.rvel = pos_data.rvel.into();

src/server/plugins/backend_lua.rs

@@ -174,10 +174,13 @@ impl UserData for Context {
             let message = rx.blocking_recv();
             if let Ok(message) = message {
                 if let PluginBoundPluginEvent::PositionRaw(pos_raw) = message {
+                    let pos_table = lua.create_table()?;
+                    pos_table.set("x", pos_raw.pos[0])?;
+                    pos_table.set("y", pos_raw.pos[1])?;
+                    pos_table.set("z", pos_raw.pos[2])?;
+
                     let table = lua.create_table()?;
-                    // for (vid, veh_json) in vehicles {
+                    table.set("pos", pos_table)?;
-                    //     table.set(vid, veh_json)?;
-                    // }
                     Ok(table)
                 } else {
                     unreachable!() // This really should never be reachable