Fix regressions introduced by the merge with master.

3 files changed, 50 insertions, 28 deletions

diff --git a/src_testbed/harness/mod.rs b/src_testbed/harness/mod.rs
index 413ef52..1006e08 100644
--- a/src_testbed/harness/mod.rs
+++ b/src_testbed/harness/mod.rs
@@ -14,7 +14,6 @@ pub mod plugin;
 pub struct RunState {
     #[cfg(feature = "parallel")]
     pub thread_pool: rapier::rayon::ThreadPool,
-    #[cfg(feature = "parallel")]
     pub num_threads: usize,
     pub timestep_id: usize,
     pub time: f32,
@@ -24,6 +23,8 @@ impl RunState {
     pub fn new() -> Self {
         #[cfg(feature = "parallel")]
         let num_threads = num_cpus::get_physical();
+        #[cfg(not(feature = "parallel"))]
+        let num_threads = 1;
 
         #[cfg(feature = "parallel")]
         let thread_pool = rapier::rayon::ThreadPoolBuilder::new()
@@ -34,7 +35,6 @@ impl RunState {
         Self {
             #[cfg(feature = "parallel")]
             thread_pool: thread_pool,
-            #[cfg(feature = "parallel")]
             num_threads,
             timestep_id: 0,
             time: 0.0,
@@ -111,6 +111,10 @@ impl Harness {
         &mut self.physics.integration_parameters
     }
 
+    pub fn clear_callbacks(&mut self) {
+        self.callbacks.clear();
+    }
+
     pub fn physics_state_mut(&mut self) -> &mut PhysicsState {
         &mut self.physics
     }
diff --git a/src_testbed/testbed.rs b/src_testbed/testbed.rs
index ae73929..461648c 100644
--- a/src_testbed/testbed.rs
+++ b/src_testbed/testbed.rs
@@ -25,7 +25,6 @@ use rapier::geometry::{ColliderHandle, ColliderSet, NarrowPhase};
 #[cfg(feature = "dim3")]
 use rapier::geometry::{InteractionGroups, Ray};
 use rapier::math::{Isometry, Vector};
-use rapier::pipeline::{ChannelEventCollector, PhysicsPipeline, QueryPipeline};
 
 #[cfg(all(feature = "dim2", feature = "other-backends"))]
 use crate::box2d_backend::Box2dWorld;
@@ -284,11 +283,11 @@ impl Testbed {
                 || self.state.selected_backend == PHYSX_BACKEND_TWO_FRICTION_DIR
             {
                 self.physx = Some(PhysxWorld::from_rapier(
-                    physics.gravity,
-                    &physics.integration_parameters,
-                    &physics.bodies,
-                    &physics.colliders,
-                    &physics.joints,
+                    self.harness.physics.gravity,
+                    &self.harness.physics.integration_parameters,
+                    &self.harness.physics.bodies,
+                    &self.harness.physics.colliders,
+                    &self.harness.physics.joints,
                     self.state.selected_backend == PHYSX_BACKEND_TWO_FRICTION_DIR,
                     self.harness.state.num_threads,
                 ));
@@ -299,10 +298,10 @@ impl Testbed {
         {
             if self.state.selected_backend == NPHYSICS_BACKEND {
                 self.nphysics = Some(NPhysicsWorld::from_rapier(
-                    physics.gravity,
-                    &physics.bodies,
-                    &physics.colliders,
-                    &physics.joints,
+                    self.harness.physics.gravity,
+                    &self.harness.physics.bodies,
+                    &self.harness.physics.colliders,
+                    &self.harness.physics.joints,
                 ));
             }
         }
@@ -501,7 +500,7 @@ impl Testbed {
                                     //                        println!("Step");
                                     self.physx.as_mut().unwrap().step(
                                         &mut self.harness.physics.pipeline.counters,
-                                        &physics.integration_parameters,
+                                        &self.harness.physics.integration_parameters,
                                     );
                                     self.physx.as_mut().unwrap().sync(
                                         &mut self.harness.physics.bodies,
@@ -515,7 +514,7 @@ impl Testbed {
                                 if self.state.selected_backend == NPHYSICS_BACKEND {
                                     self.nphysics.as_mut().unwrap().step(
                                         &mut self.harness.physics.pipeline.counters,
-                                        &physics.integration_parameters,
+                                        &self.harness.physics.integration_parameters,
                                     );
                                     self.nphysics.as_mut().unwrap().sync(
                                         &mut self.harness.physics.bodies,
@@ -986,7 +985,7 @@ impl Testbed {
         );
 
         if let Some((handle, _)) = hit {
-            let collider = &self.physics.colliders[handle];
+            let collider = &physics.colliders[handle];
             if physics.bodies[collider.parent()].is_dynamic() {
                 self.state.highlighted_body = Some(collider.parent());
                 for node in self.graphics.body_nodes_mut(collider.parent()).unwrap() {
@@ -1073,9 +1072,28 @@ impl State for Testbed {
                     .action_flags
                     .set(TestbedActionFlags::EXAMPLE_CHANGED, false);
                 self.clear(window);
+                self.harness.clear_callbacks();
 
                 if self.state.selected_example != prev_example {
                     self.harness.physics.integration_parameters = IntegrationParameters::default();
+
+                    if cfg!(feature = "dim3")
+                        && (self.state.selected_backend == PHYSX_BACKEND_PATCH_FRICTION
+                            || self.state.selected_backend == PHYSX_BACKEND_TWO_FRICTION_DIR)
+                    {
+                        std::mem::swap(
+                            &mut self
+                                .harness
+                                .physics
+                                .integration_parameters
+                                .max_velocity_iterations,
+                            &mut self
+                                .harness
+                                .physics
+                                .integration_parameters
+                                .max_position_iterations,
+                        )
+                    }
                 }
 
                 self.builders[self.state.selected_example].1(self);
@@ -1269,13 +1287,13 @@ impl State for Testbed {
                     {
                         //                        println!("Step");
                         self.physx.as_mut().unwrap().step(
-                            &mut physics.pipeline.counters,
-                            &physics.integration_parameters,
+                            &mut self.harness.physics.pipeline.counters,
+                            &self.harness.physics.integration_parameters,
+                        );
+                        self.physx.as_mut().unwrap().sync(
+                            &mut self.harness.physics.bodies,
+                            &mut self.harness.physics.colliders,
                         );
-                        self.physx
-                            .as_mut()
-                            .unwrap()
-                            .sync(&mut physics.bodies, &mut physics.colliders);
                     }
                 }
 
@@ -1283,13 +1301,13 @@ impl State for Testbed {
                 {
                     if self.state.selected_backend == NPHYSICS_BACKEND {
                         self.nphysics.as_mut().unwrap().step(
-                            &mut physics.pipeline.counters,
-                            &physics.integration_parameters,
+                            &mut self.harness.physics.pipeline.counters,
+                            &self.harness.physics.integration_parameters,
+                        );
+                        self.nphysics.as_mut().unwrap().sync(
+                            &mut self.harness.physics.bodies,
+                            &mut self.harness.physics.colliders,
                         );
-                        self.nphysics
-                            .as_mut()
-                            .unwrap()
-                            .sync(&mut physics.bodies, &mut physics.colliders);
                     }
                 }
 
diff --git a/src_testbed/ui.rs b/src_testbed/ui.rs
index 1b9084c..4c511f2 100644
--- a/src_testbed/ui.rs
+++ b/src_testbed/ui.rs
@@ -99,7 +99,7 @@ impl TestbedUi {
         window: &mut Window,
         integration_parameters: &mut IntegrationParameters,
         state: &mut TestbedState,
-        run_state: &mut RunState,
+        _run_state: &mut RunState,
     ) {
         let ui_root = window.conrod_ui().window;
         let mut ui = window.conrod_ui_mut().set_widgets();