Rapier Physics with Units of Measurement: Utilize Rust Types 📏 # Rapier Physics with Units of Measurement: Utilize Rust Types 📏 #

📏 uom #

The uom crate, has applications in Aerospace and Aeronautical Engineering. By defining quantities with a unit of measurement, it can catch basic errors at compile time. As an example, you might define the speed of a ball in metres-per-second, and its mass in kilograms. Now, if you try (erroneously) to add the mass to the velocity, in your Rust code — something that doesn’t make sense physically — you will get a compile-time error, potentially saving you debugging an error, which might be hard to catch.

uom also helps with conversions, so you can safely add a displacement in kilometres to a diameter in metres.

⚙️ Adding uom to your Project #

You can just add uom to your Cargo.toml:

    
1 [dependencies]
2 # ...TRUNCATED
3 rapier2d = { version = "0.22.0", features = ["simd-stable"] }
4 uom = "0.36.0"

  

For my use case, this worked just fine (with default features), though you might need to tweak the uom features , depending on your use case.

To define a custom pixel unit for conversion between the physics and rendering systems (using the uom unit macro), I also needed to add this snippet to my Rust source (last two lines):

    
29 use uom::{
30     si::{
31         f32::{Length, Velocity},
32         length, velocity,
33     },
34     unit,
35 };
36 
37 #[macro_use]
38 extern crate uom;

  

We come to the full definition of the custom unit later.

In this post, we use the example from the earlier Rapier Physics with Macroquad floating bubble post. In the following section, we see some snippets where I added units to that code. Find a link to the full code repo further down.

Domain Units of Measurement #

The demo features floating bubbles or balls. For the demo domain, I use uom to define the ball with typed values in SI units. For rendering, I will need to convert these to pixels, and for use with Rapier, I will need a raw float value.

Here is the ball struct Rust code:

    
52 #[derive(Debug)]
53 struct Ball {
54     radius: Length,
55     position: Vector2<Length>,
56     physics_handle: Option<RigidBodyHandle>,
57     colour: Color,
58 }

  

uom has a predefined Length type alias using standard SI units for length quantities (metres). I use it here to set the type for the ball radius and current displacement within the simulation world.

🗡️ Rapier Physics Units #

I kept things simple, and used SI units (with uom) within my own code, and converted the values to f32s whenever I needed to pass the value to Rapier. You could go a step further and use type-driven development , where (by design) only validated quantities can get passed to the Rapier physics engine.

Here is a code snippet, defining a new ball’s velocity and initializing it with Rapier:

    
102 let x_velocity: Velocity =
103 		Velocity::new::<velocity::meter_per_second>(pseudo_random_value);
104 let y_velocity: Velocity = Velocity::new::<velocity::meter_per_second>(1.0);
105 
106 let linear_velocity = vector![x_velocity.value, y_velocity.value];
107 
108 let rigid_body = RigidBodyBuilder::dynamic()
109 		.translation(vector![ball.position.x.value, ball.position.y.value])
110 		.linvel(linear_velocity)
111 		.build();

  

Velocity is a predefined uom type aliases (like Length).

• In the first line, above, I defined x_velocity to be some random float, and associated metres per second as units, using the uom types.
• For rapier2d, I need to pass the velocity components as f32 values, so extract the raw value from the two, typed velocities via the .value field.
• Finally, in the last line we pass the linear_velocity, as an nalgebra Vector2 of 32-bit floats (expected by Rapier).

The example might seem a little contrived, as I convert a 32-bit float to a uom velocity, and then immediately convert it back to a float for consumption by Rapier. We shall see in a later section, though, that you can tweak this slightly to define a value in one unit, and then extract a converted value in another unit for passing to Macroquad for rendering.

🖥️ Macroquad Render Units of Measurement #

For rendering, I am using Macroquad, which works with pixels. In the previous post, I set a scale of 50 pixels per metre. I formalized that here using a uom custom unit.

Custom Pixel Unit #

uom provides the unit macro for defining custom units, needed in your domain. I used that macro to define a new pixel unit as a length measurement:

    
unit! {
    system: uom::si;
    quantity: uom::si::length;
 
    // 1 metre is 50 px
    @pixel: 0.02; "px", "pixel", "pixels";
}

  

Remember to include the snippet mentioned above if you use this macro.

Here:

• system adds the new unit to the uom in-built SI units ;
• quantity defines the unit as a length; and
• @pixel, in the final line, gives the abbreviation, singular and plural names for the unit.

Now, we can define variables using this new unit as a type, and convert between other units. As an example, the get_max_balls function uses quantities in both pixels and metres to determine the maximum number of balls that can fit across the app window, given the window has a pre-determined width:

    
fn get_max_balls() -> u32 {
    let window_width = Length::new::<pixel>(WINDOW_WIDTH);
    let ball_radius = Length::new::<length::meter>(BALL_RADIUS);
    (window_width / (2.0 * ball_radius)).value.floor() as u32
}

  

Here, window_width is defined in pixels and ball_radius, in metres. Notice, we use .value (as in the previous example) to extract the raw float value. WINDOW_WIDTH and BALL_RADIUS are raw f32 constants.

To convert a length between different length quantities (for example metres to pixels), we can call the get method on the quantity. For example, here is a snippet for rendering the ball where we need to convert the internal metre lengths to pixels:

    
190 fn draw_balls(balls: &[Ball]) {
191     for ball in balls {
192         let Ball {
193             colour,
194             position,
195             radius,
196             ..
197         } = ball;
198         draw_circle(
199             position.x.get::<pixel>(),
200             -position.y.get::<pixel>(),
201             radius.get::<pixel>(),
202             *colour,
203         );
204     }
205 }

  

The position and radius are all stored in metre values internally, yet there is no need to make sure we have the right conversion factor to get pixels out; the custom uom does that for us. Although the calculations are relatively simple to perform manually, converting automatically can save you making a simple mistake when revisiting code you haven’t seen in a while.

🙌🏽 Rapier Physics with Units of Measurement: Wrapping Up #

In this post on Rapier Physics with Units of Measurement, we got an introduction to working with units of measurement with Rapier. In particular, we saw:

• how you can use the uom Rust crate to add SI units of measurement to game physics;
• how you can define custom quantities and convert between units; and
• interface with code that does not expect units.

I hope you found this useful. As promised, you can get the full project code on the Rodney Lab GitHub repo . I would love to hear from you, if you are also new to Rust game development. Do you have alternative resources you found useful? How will you use this code in your own projects?

🙏🏽 Rapier Physics with Units of Measurement: Feedback #

If you have found this post useful, see links below for further related content on this site. Let me know if there are any ways I can improve on it. I hope you will use the code or starter in your own projects. Be sure to share your work on X, giving me a mention, so I can see what you did. Finally, be sure to let me know ideas for other short videos you would like to see. Read on to find ways to get in touch, further below. If you have found this post useful, even though you can only afford even a tiny contribution, please consider supporting me through Buy me a Coffee.

Rodney

@askRodney

Just dropped a new blog post on adding physical units of measurement to Macroquad game with Rapier physics.

uom crate helps:

— convert between rendering and physics units;

— sense check calcs; and

— define custom quantities.

Hope you find it useful!

https://t.co/RbBvvr3t5g

— Rodney (@askRodney) May 8, 2024

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