render robots in scene

simulator/.gitignore

@@ -0,0 +1 @@
+target

simulator/Cargo.lock

@@ -174,6 +174,12 @@ dependencies = [
  "libm",
 ]
 
+[[package]]
+name = "glam"
+version = "0.34.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "627003914c6057c9c8f0832ee4f870b5a4f599d0cfa83f4072675114860cd0ff"
+
 [[package]]
 name = "glamx"
 version = "0.3.1"
@@ -463,6 +469,7 @@ checksum = "3a219298ac11a56ea9a6d2120044824d6f01aeb034955e7af7bc16858527deea"
 name = "simulator"
 version = "0.1.0"
 dependencies = [
+ "glam 0.34.3",
  "macroquad",
  "parry2d",
 ]

simulator/Cargo.toml

@@ -4,5 +4,6 @@ version = "0.1.0"
 edition = "2024"
 
 [dependencies]
+glam = "0.34.3"
 macroquad = "0.4.16"
 parry2d = "0.31.1"

simulator/src/main.rs

@@ -1,3 +1,57 @@
-fn main() {
+use macroquad::prelude::*;
-    println!("Hello, world!");
+use parry2d::math::Pose;
+use parry2d::math::Rot2;
+use parry2d::math::Vec2;
+
+const VIEW_DIST: f32 = 80.0;
+const BOT_RADIUS: f32 = 16.0;
+
+struct Robot {
+    pose: Pose,
+    alive: bool,
+}
+
+impl Robot {
+    fn new(position: Vec2) -> Self {
+        let pose:Pose = Pose::from_translation(position.to_array().into());
+        Self { pose, alive: true }
+    }
+
+    fn move_step(&mut self, forward: f32, right: f32) {
+        self.pose.translation += self.ahead() * forward;
+        self.pose.rotation *= Rot2::from_angle(right);
+    }
+
+    pub fn ahead(&self) -> Vec2 {
+        Vec2::new(self.pose.rotation.re, self.pose.rotation.im)
+    }
+
+    pub fn draw(&self) {
+        let tl = self.pose.translation;
+        let tl2 = self.pose.translation + self.ahead() * VIEW_DIST;
+        draw_circle(tl.x, tl.y, BOT_RADIUS, BLACK);
+        draw_line(tl.x, tl.y, tl2.x, tl2.y, 2.0, BLUE);
+        draw_circle(tl.x, tl.y, BOT_RADIUS-1.0, YELLOW);
+    }
+}
+
+#[macroquad::main("Adversarial Foraging Simulator")]
+async fn main() {
+
+    let mut robots = Vec::new();
+
+    robots.push(Robot::new(Vec2 { x: 100.0, y: 100.0 }));
+
+    loop {
+        clear_background(LIGHTGRAY);
+
+
+        for robot in &mut robots {
+            robot.move_step(1.1,0.01);
+            println!("loop");
+            robot.draw();
+        }
+        draw_text("HELLO", 20.0, 20.0, 30.0, DARKGRAY);
+        next_frame().await // TODO: framerate cap
+    }
 }