Merge pull request #64 from dimforge/explicit_wake_up

Add more explicit parameters to wake-up a rigid-body

4 files changed, 16 insertions, 12 deletions

diff --git a/src_testbed/box2d_backend.rs b/src_testbed/box2d_backend.rs
index 213819a..0d0664f 100644
--- a/src_testbed/box2d_backend.rs
+++ b/src_testbed/box2d_backend.rs
@@ -71,10 +71,10 @@ impl Box2dWorld {
 
             let def = b2::BodyDef {
                 body_type,
-                position: na_vec_to_b2_vec(body.position.translation.vector),
-                angle: body.position.rotation.angle(),
-                linear_velocity: na_vec_to_b2_vec(body.linvel),
-                angular_velocity: body.angvel,
+                position: na_vec_to_b2_vec(body.position().translation.vector),
+                angle: body.position().rotation.angle(),
+                linear_velocity: na_vec_to_b2_vec(*body.linvel()),
+                angular_velocity: body.angvel(),
                 linear_damping,
                 angular_damping,
                 ..b2::BodyDef::new()
@@ -223,7 +223,7 @@ impl Box2dWorld {
             if let Some(pb2_handle) = self.rapier2box2d.get(&handle) {
                 let b2_body = self.world.body(*pb2_handle);
                 let pos = b2_transform_to_na_isometry(b2_body.transform().clone());
-                body.set_position(pos);
+                body.set_position(pos, false);
 
                 for coll_handle in body.colliders() {
                     let collider = &mut colliders[*coll_handle];
diff --git a/src_testbed/nphysics_backend.rs b/src_testbed/nphysics_backend.rs
index 2896377..0ef3d36 100644
--- a/src_testbed/nphysics_backend.rs
+++ b/src_testbed/nphysics_backend.rs
@@ -46,7 +46,7 @@ impl NPhysicsWorld {
 
         for (rapier_handle, rb) in bodies.iter() {
             // let material = physics.create_material(rb.collider.friction, rb.collider.friction, 0.0);
-            let nphysics_rb = RigidBodyDesc::new().position(rb.position).build();
+            let nphysics_rb = RigidBodyDesc::new().position(*rb.position()).build();
             let nphysics_rb_handle = nphysics_bodies.insert(nphysics_rb);
 
             rapier2nphysics.insert(rapier_handle, nphysics_rb_handle);
@@ -161,7 +161,7 @@ impl NPhysicsWorld {
             let mut rb = bodies.get_mut(*rapier_handle).unwrap();
             let ra = self.bodies.rigid_body(*nphysics_handle).unwrap();
             let pos = *ra.position();
-            rb.set_position(pos);
+            rb.set_position(pos, false);
 
             for coll_handle in rb.colliders() {
                 let collider = &mut colliders[*coll_handle];
diff --git a/src_testbed/physx_backend.rs b/src_testbed/physx_backend.rs
index 74d6af2..7fcb813 100644
--- a/src_testbed/physx_backend.rs
+++ b/src_testbed/physx_backend.rs
@@ -154,7 +154,7 @@ impl PhysxWorld {
             use physx::rigid_static::RigidStatic;
             use physx::transform;
 
-            let pos = transform::gl_to_px_tf(rb.position.to_homogeneous().into_glam());
+            let pos = transform::gl_to_px_tf(rb.position().to_homogeneous().into_glam());
             if rb.is_dynamic() {
                 let actor = unsafe {
                     physx_sys::PxPhysics_createRigidDynamic_mut(physics.get_raw_mut(), &pos)
@@ -406,7 +406,7 @@ impl PhysxWorld {
             let ra = self.scene.get_rigid_actor(*physx_handle).unwrap();
             let pos = ra.get_global_pose().into_na();
             let iso = na::convert_unchecked(pos);
-            rb.set_position(iso);
+            rb.set_position(iso, false);
 
             if rb.is_kinematic() {}
 
diff --git a/src_testbed/testbed.rs b/src_testbed/testbed.rs
index fddeabe..1e0dd5e 100644
--- a/src_testbed/testbed.rs
+++ b/src_testbed/testbed.rs
@@ -414,7 +414,7 @@ impl Testbed {
         {
             if self.state.selected_backend == BOX2D_BACKEND {
                 self.box2d = Some(Box2dWorld::from_rapier(
-                    self.gravity,
+                    self.physics.gravity,
                     &self.physics.bodies,
                     &self.physics.colliders,
                     &self.physics.joints,
@@ -647,7 +647,7 @@ impl Testbed {
                                 if self.state.selected_backend == BOX2D_BACKEND {
                                     self.box2d.as_mut().unwrap().step(
                                         &mut self.physics.pipeline.counters,
-                                        &self.integration_parameters,
+                                        &self.physics.integration_parameters,
                                     );
                                     self.box2d.as_mut().unwrap().sync(
                                         &mut self.physics.bodies,
@@ -758,7 +758,7 @@ impl Testbed {
                 for to_delete in &colliders[..num_to_delete] {
                     self.physics
                         .colliders
-                        .remove(to_delete[0], &mut self.physics.bodies);
+                        .remove(to_delete[0], &mut self.physics.bodies, true);
                 }
             }
             WindowEvent::Key(Key::D, Action::Release, _) => {
@@ -1576,11 +1576,13 @@ CCD: {:.2}ms
         }
 
         if self.state.flags.contains(TestbedStateFlags::DEBUG) {
+            let t = instant::now();
             let bf = bincode::serialize(&self.physics.broad_phase).unwrap();
             let nf = bincode::serialize(&self.physics.narrow_phase).unwrap();
             let bs = bincode::serialize(&self.physics.bodies).unwrap();
             let cs = bincode::serialize(&self.physics.colliders).unwrap();
             let js = bincode::serialize(&self.physics.joints).unwrap();
+            let serialization_time = instant::now() - t;
             let hash_bf = md5::compute(&bf);
             let hash_nf = md5::compute(&nf);
             let hash_bodies = md5::compute(&bs);
@@ -1588,6 +1590,7 @@ CCD: {:.2}ms
             let hash_joints = md5::compute(&js);
             profile = format!(
                 r#"{}
+Serialization time: {:.2}ms
 Hashes at frame: {}
 |_ Broad phase [{:.1}KB]: {:?}
 |_ Narrow phase [{:.1}KB]: {:?}
@@ -1595,6 +1598,7 @@ Hashes at frame: {}
 |_ Colliders [{:.1}KB]: {:?}
 |_ Joints [{:.1}KB]: {:?}"#,
                 profile,
+                serialization_time,
                 self.state.timestep_id,
                 bf.len() as f32 / 1000.0,
                 hash_bf,