Merge pull request #282 from dimforge/critical-damping

Improve the CFM implementation

3 files changed, 139 insertions, 0 deletions

diff --git a/examples3d-f64/Cargo.toml b/examples3d-f64/Cargo.toml
new file mode 100644
index 0000000..27a4491
--- /dev/null
+++ b/examples3d-f64/Cargo.toml
@@ -0,0 +1,36 @@
+[package]
+name    = "rapier-examples-3d-f64"
+version = "0.1.0"
+authors = [ "Sébastien Crozet <developer@crozet.re>" ]
+edition = "2021"
+default-run = "all_examples3-f64"
+
+[features]
+parallel = [ "rapier3d-f64/parallel", "rapier_testbed3d-f64/parallel" ]
+simd-stable = [ "rapier3d-f64/simd-stable" ]
+simd-nightly = [ "rapier3d-f64/simd-nightly" ]
+enhanced-determinism = [ "rapier3d-f64/enhanced-determinism" ]
+
+[dependencies]
+rand = "0.8"
+getrandom = { version = "0.2", features = [ "js" ] } 
+Inflector  = "0.11"
+wasm-bindgen = "0.2"
+obj-rs = { version =  "0.6", default-features = false }
+bincode = "1"
+serde = "1"
+
+[dependencies.rapier_testbed3d-f64]
+path = "../crates/rapier_testbed3d-f64"
+
+[dependencies.rapier3d-f64]
+path = "../crates/rapier3d-f64"
+
+[[bin]]
+name = "all_examples3-f64"
+path = "./all_examples3-f64.rs"
+
+#[lib]
+#crate-type = ["cdylib", "rlib"]
+#path = "./all_examples3_wasm.rs"
+
diff --git a/examples3d-f64/all_examples3-f64.rs b/examples3d-f64/all_examples3-f64.rs
new file mode 100644
index 0000000..4464d60
--- /dev/null
+++ b/examples3d-f64/all_examples3-f64.rs
@@ -0,0 +1,67 @@
+#![allow(dead_code)]
+
+#[cfg(target_arch = "wasm32")]
+use wasm_bindgen::prelude::*;
+extern crate rapier3d_f64 as rapier3d;
+
+use inflector::Inflector;
+
+use rapier_testbed3d::{Testbed, TestbedApp};
+use std::cmp::Ordering;
+
+mod debug_serialized3;
+
+fn demo_name_from_command_line() -> Option<String> {
+    let mut args = std::env::args();
+
+    while let Some(arg) = args.next() {
+        if &arg[..] == "--example" {
+            return args.next();
+        }
+    }
+
+    None
+}
+
+#[cfg(any(target_arch = "wasm32", target_arch = "asmjs"))]
+fn demo_name_from_url() -> Option<String> {
+    None
+    //    let window = stdweb::web::window();
+    //    let hash = window.location()?.search().ok()?;
+    //    if hash.len() > 0 {
+    //        Some(hash[1..].to_string())
+    //    } else {
+    //        None
+    //    }
+}
+
+#[cfg(not(any(target_arch = "wasm32", target_arch = "asmjs")))]
+fn demo_name_from_url() -> Option<String> {
+    None
+}
+
+#[cfg_attr(target_arch = "wasm32", wasm_bindgen(start))]
+pub fn main() {
+    let demo = demo_name_from_command_line()
+        .or_else(|| demo_name_from_url())
+        .unwrap_or(String::new())
+        .to_camel_case();
+
+    let mut builders: Vec<(_, fn(&mut Testbed))> =
+        vec![("(Debug) serialized", debug_serialized3::init_world)];
+
+    // 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("(")) {
+        (true, true) | (false, false) => a.0.cmp(b.0),
+        (true, false) => Ordering::Greater,
+        (false, true) => Ordering::Less,
+    });
+
+    let i = builders
+        .iter()
+        .position(|builder| builder.0.to_camel_case().as_str() == demo.as_str())
+        .unwrap_or(0);
+
+    let testbed = TestbedApp::from_builders(i, builders);
+    testbed.run()
+}
diff --git a/examples3d-f64/debug_serialized3.rs b/examples3d-f64/debug_serialized3.rs
new file mode 100644
index 0000000..e94d7ef
--- /dev/null
+++ b/examples3d-f64/debug_serialized3.rs
@@ -0,0 +1,36 @@
+use rapier3d::prelude::*;
+use rapier_testbed3d::Testbed;
+
+#[derive(serde::Deserialize)]
+struct State {
+    pub islands: IslandManager,
+    pub broad_phase: BroadPhase,
+    pub narrow_phase: NarrowPhase,
+    pub bodies: RigidBodySet,
+    pub colliders: ColliderSet,
+    pub impulse_joints: ImpulseJointSet,
+    pub multibody_joints: MultibodyJointSet,
+    pub ccd_solver: CCDSolver,
+}
+
+pub fn init_world(testbed: &mut Testbed) {
+    /*
+     * Set up the testbed.
+     */
+    let bytes = std::fs::read("state.bin").unwrap();
+    let mut state: State = bincode::deserialize(&bytes).unwrap();
+
+    testbed.set_world(
+        state.bodies,
+        state.colliders,
+        state.impulse_joints,
+        state.multibody_joints,
+    );
+    testbed.harness_mut().physics.islands = state.islands;
+    testbed.harness_mut().physics.broad_phase = state.broad_phase;
+    testbed.harness_mut().physics.narrow_phase = state.narrow_phase;
+    testbed.harness_mut().physics.ccd_solver = state.ccd_solver;
+
+    testbed.set_graphics_shift(vector![-541.0, -6377257.0, -61.0]);
+    testbed.look_at(point![10.0, 10.0, 10.0], point![0.0, 0.0, 0.0]);
+}