Merge branch 'master' into collider-builder-debug

2 files changed, 64 insertions, 1 deletions

diff --git a/benchmarks2d/all_benchmarks2.rs b/benchmarks2d/all_benchmarks2.rs
index fcc7b95..3f98fb4 100644
--- a/benchmarks2d/all_benchmarks2.rs
+++ b/benchmarks2d/all_benchmarks2.rs
@@ -17,6 +17,7 @@ mod joint_ball2;
 mod joint_fixed2;
 mod joint_prismatic2;
 mod pyramid2;
+mod vertical_stacks2;
 
 fn demo_name_from_command_line() -> Option<String> {
     let mut args = std::env::args();
@@ -57,6 +58,7 @@ pub fn main() {
         ("Convex polygons", convex_polygons2::init_world),
         ("Heightfield", heightfield2::init_world),
         ("Pyramid", pyramid2::init_world),
+        ("Verticals stacks", vertical_stacks2::init_world),
         ("(Stress test) joint ball", joint_ball2::init_world),
         ("(Stress test) joint fixed", joint_fixed2::init_world),
         (
@@ -66,7 +68,7 @@ pub fn main() {
     ];
 
     // Lexicographic sort, with stress tests moved at the end of the list.
-    builders.sort_by(|a, b| match (a.0.starts_with('('), b.0.starts_with(')')) {
+    builders.sort_by(|a, b| match (a.0.starts_with('('), b.0.starts_with('(')) {
         (true, true) | (false, false) => a.0.cmp(b.0),
         (true, false) => Ordering::Greater,
         (false, true) => Ordering::Less,
diff --git a/benchmarks2d/vertical_stacks2.rs b/benchmarks2d/vertical_stacks2.rs
new file mode 100644
index 0000000..15552ba
--- /dev/null
+++ b/benchmarks2d/vertical_stacks2.rs
@@ -0,0 +1,61 @@
+use rapier2d::prelude::*;
+use rapier_testbed2d::Testbed;
+
+pub fn init_world(testbed: &mut Testbed) {
+    /*
+     * World
+     */
+    let mut bodies = RigidBodySet::new();
+    let mut colliders = ColliderSet::new();
+    let impulse_joints = ImpulseJointSet::new();
+    let multibody_joints = MultibodyJointSet::new();
+
+    let num = 80;
+    let rad = 0.5;
+
+    /*
+     * Ground
+     */
+    let ground_size = num as f32 * rad * 10.0;
+    let ground_thickness = 1.0;
+
+    let rigid_body = RigidBodyBuilder::fixed();
+    let ground_handle = bodies.insert(rigid_body);
+    let collider = ColliderBuilder::cuboid(ground_size, ground_thickness);
+    colliders.insert_with_parent(collider, ground_handle, &mut bodies);
+
+    /*
+     * Create the cubes
+     */
+
+    let shiftx_centerx = [
+        (rad * 2.0 + 0.0002, -(num as f32) * rad * 2.0 * 1.5),
+        (rad * 2.0 + rad, num as f32 * rad * 2.0 * 1.5),
+    ];
+
+    for (shiftx, centerx) in shiftx_centerx {
+        let shifty = rad * 2.0;
+        let centery = shifty / 2.0 + ground_thickness;
+
+        for i in 0..num {
+            for j in 0usize..1 + i * 2 {
+                let fj = j as f32;
+                let fi = i as f32;
+                let x = (fj - fi) * shiftx + centerx;
+                let y = (num as f32 - fi - 1.0) * shifty + centery;
+
+                // Build the rigid body.
+                let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y]);
+                let handle = bodies.insert(rigid_body);
+                let collider = ColliderBuilder::cuboid(rad, rad);
+                colliders.insert_with_parent(collider, handle, &mut bodies);
+            }
+        }
+    }
+
+    /*
+     * Set up the testbed.
+     */
+    testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
+    testbed.look_at(point![0.0, 2.5], 5.0);
+}