Joint API and joint motors improvements

3 files changed, 41 insertions, 14 deletions

diff --git a/src_testbed/harness/mod.rs b/src_testbed/harness/mod.rs
index beebe80..59cccc3 100644
--- a/src_testbed/harness/mod.rs
+++ b/src_testbed/harness/mod.rs
@@ -16,32 +16,58 @@ pub mod plugin;
 pub struct RunState {
     #[cfg(feature = "parallel")]
     pub thread_pool: rapier::rayon::ThreadPool,
-    pub num_threads: usize,
+    #[cfg(feature = "parallel")]
+    num_threads: usize,
     pub timestep_id: usize,
     pub time: f32,
 }
 
 impl RunState {
+    #[cfg(feature = "parallel")]
     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()
             .num_threads(num_threads)
             .build()
             .unwrap();
 
         Self {
-            #[cfg(feature = "parallel")]
             thread_pool: thread_pool,
             num_threads,
             timestep_id: 0,
             time: 0.0,
         }
     }
+
+    #[cfg(not(feature = "parallel"))]
+    pub fn new() -> Self {
+        Self {
+            timestep_id: 0,
+            time: 0.0,
+        }
+    }
+
+    #[cfg(feature = "parallel")]
+    pub fn num_threads(&self) -> usize {
+        self.num_threads
+    }
+
+    #[cfg(not(feature = "parallel"))]
+    pub fn num_threads(&self) -> usize {
+        1
+    }
+
+    #[cfg(feature = "parallel")]
+    pub fn set_num_threads(&mut self, num_threads: usize) {
+        if self.num_threads != num_threads {
+            self.thread_pool = rapier::rayon::ThreadPoolBuilder::new()
+                .num_threads(num_threads)
+                .build()
+                .unwrap();
+            self.num_threads = num_threads;
+        }
+    }
 }
 
 pub struct Harness {
diff --git a/src_testbed/testbed.rs b/src_testbed/testbed.rs
index 1a4181b..87a9ca6 100644
--- a/src_testbed/testbed.rs
+++ b/src_testbed/testbed.rs
@@ -535,7 +535,7 @@ impl<'a, 'b, 'c, 'd, 'e, 'f> Testbed<'a, 'b, 'c, 'd, 'e, 'f> {
                     &self.harness.physics.impulse_joints,
                     &self.harness.physics.multibody_joints,
                     self.state.selected_backend == PHYSX_BACKEND_TWO_FRICTION_DIR,
-                    self.harness.state.num_threads,
+                    self.harness.state.num_threads(),
                 ));
             }
         }
diff --git a/src_testbed/ui.rs b/src_testbed/ui.rs
index 788cc8f..bed8f85 100644
--- a/src_testbed/ui.rs
+++ b/src_testbed/ui.rs
@@ -101,32 +101,32 @@ pub fn update_ui(ui_context: &EguiContext, state: &mut TestbedState, harness: &m
             || state.selected_backend == PHYSX_BACKEND_TWO_FRICTION_DIR
         {
             ui.add(
-                Slider::new(&mut integration_parameters.max_velocity_iterations, 0..=200)
+                Slider::new(&mut integration_parameters.max_velocity_iterations, 1..=200)
                     .text("pos. iters."),
             );
             ui.add(
                 Slider::new(
                     &mut integration_parameters.max_stabilization_iterations,
-                    0..=200,
+                    1..=200,
                 )
                 .text("vel. iters."),
             );
         } else {
             ui.add(
-                Slider::new(&mut integration_parameters.max_velocity_iterations, 0..=200)
+                Slider::new(&mut integration_parameters.max_velocity_iterations, 1..=200)
                     .text("vel. rest. iters."),
             );
             ui.add(
                 Slider::new(
                     &mut integration_parameters.max_velocity_friction_iterations,
-                    0..=200,
+                    1..=200,
                 )
                 .text("vel. frict. iters."),
             );
             ui.add(
                 Slider::new(
                     &mut integration_parameters.max_stabilization_iterations,
-                    0..=200,
+                    1..=200,
                 )
                 .text("vel. stab. iters."),
             );
@@ -134,10 +134,11 @@ pub fn update_ui(ui_context: &EguiContext, state: &mut TestbedState, harness: &m
 
         #[cfg(feature = "parallel")]
         {
+            let mut num_threads = harness.state.num_threads();
             ui.add(
-                Slider::new(&mut harness.state.num_threads, 1..=num_cpus::get_physical())
-                    .text("num. threads"),
+                Slider::new(&mut num_threads, 1..=num_cpus::get_physical()).text("num. threads"),
             );
+            harness.state.set_num_threads(num_threads);
         }
         ui.add(
             Slider::new(&mut integration_parameters.max_ccd_substeps, 0..=10).text("CCD substeps"),