diff options
| -rw-r--r-- | src_testbed/harness/mod.rs | 107 | ||||
| -rw-r--r-- | src_testbed/lib.rs | 2 | ||||
| -rw-r--r-- | src_testbed/plugin.rs | 7 |
3 files changed, 63 insertions, 53 deletions
diff --git a/src_testbed/harness/mod.rs b/src_testbed/harness/mod.rs index f8d3571..af9a45d 100644 --- a/src_testbed/harness/mod.rs +++ b/src_testbed/harness/mod.rs @@ -1,12 +1,9 @@ use crate::physics::{PhysicsEvents, PhysicsState}; +use crate::HarnessPlugin; +use rapier::dynamics::{IntegrationParameters, JointSet, RigidBodySet}; +use rapier::geometry::{BroadPhase, ColliderSet, NarrowPhase}; use rapier::math::Vector; use rapier::pipeline::{ChannelEventCollector, PhysicsPipeline, QueryPipeline}; -use rapier::dynamics::{ - IntegrationParameters, JointSet, RigidBodySet, -}; -use rapier::geometry::{ - BroadPhase, ColliderSet, NarrowPhase, -}; // #[derive(PartialEq)] // pub enum RunState { @@ -24,33 +21,34 @@ pub struct HarnessState { // pub run_state: RunState, } - pub struct Harness { physics: PhysicsState, max_steps: usize, callbacks: Callbacks, - // plugins: Vec<Box<dyn HarnessPlugin>>, + plugins: Vec<Box<dyn HarnessPlugin>>, time: f32, events: PhysicsEvents, event_handler: ChannelEventCollector, pub state: HarnessState, } -type Callbacks = -Vec<Box<dyn FnMut(&mut PhysicsState, &PhysicsEvents, f32)>>; +type Callbacks = Vec<Box<dyn FnMut(&mut PhysicsState, &PhysicsEvents, f32)>>; #[allow(dead_code)] impl Harness { pub fn new_empty() -> Self { #[cfg(feature = "parallel")] - let num_threads = num_cpus::get_physical(); + let num_threads = num_cpus::get_physical(); #[cfg(feature = "parallel")] - let thread_pool = rapier::rayon::ThreadPoolBuilder::new() + let thread_pool = rapier::rayon::ThreadPoolBuilder::new() .num_threads(num_threads) .build() .unwrap(); + // #[cfg(feature = "parallel")] + // println!("Rapier Harness Parallel, num_threads: {}", num_threads); + let contact_channel = crossbeam::channel::unbounded(); let proximity_channel = crossbeam::channel::unbounded(); let event_handler = ChannelEventCollector::new(proximity_channel.0, contact_channel.0); @@ -70,6 +68,7 @@ impl Harness { physics, max_steps: 1000, callbacks: Vec::new(), + plugins: Vec::new(), time: 0.0, events, event_handler, @@ -126,7 +125,6 @@ impl Harness { self.physics.query_pipeline = QueryPipeline::new(); self.physics.pipeline = PhysicsPipeline::new(); self.physics.pipeline.counters.enable(); - } // fn clear(&mut self) { @@ -139,13 +137,11 @@ impl Harness { // self.plugins.clear(); // } - // pub fn add_plugin(&mut self, plugin: impl TestbedPlugin + 'static) { - // self.plugins.push(Box::new(plugin)); - // } + pub fn add_plugin(&mut self, plugin: impl HarnessPlugin + 'static) { + self.plugins.push(Box::new(plugin)); + } - pub fn add_callback< - F: FnMut(&mut PhysicsState, &PhysicsEvents, f32) + 'static, - >( + pub fn add_callback<F: FnMut(&mut PhysicsState, &PhysicsEvents, f32) + 'static>( &mut self, callback: F, ) { @@ -154,46 +150,51 @@ impl Harness { pub fn step(&mut self) { #[cfg(feature = "parallel")] - { - let physics = &mut self.physics; - let event_handler = &self.event_handler; - self.state.thread_pool.install(|| { - physics.pipeline.step( - &physics.gravity, - &physics.integration_parameters, - &mut physics.broad_phase, - &mut physics.narrow_phase, - &mut physics.bodies, - &mut physics.colliders, - &mut physics.joints, - None, - None, - event_handler, - ); - }); - } + { + let physics = &mut self.physics; + let event_handler = &self.event_handler; + self.state.thread_pool.install(|| { + physics.pipeline.step( + &physics.gravity, + &physics.integration_parameters, + &mut physics.broad_phase, + &mut physics.narrow_phase, + &mut physics.bodies, + &mut physics.colliders, + &mut physics.joints, + None, + None, + event_handler, + ); + }); + } #[cfg(not(feature = "parallel"))] - self.physics.pipeline.step( - &self.physics.gravity, - &self.physics.integration_parameters, - &mut self.physics.broad_phase, - &mut self.physics.narrow_phase, - &mut self.physics.bodies, - &mut self.physics.colliders, - &mut self.physics.joints, - None, - None, - &self.event_handler, - ); + self.physics.pipeline.step( + &self.physics.gravity, + &self.physics.integration_parameters, + &mut self.physics.broad_phase, + &mut self.physics.narrow_phase, + &mut self.physics.bodies, + &mut self.physics.colliders, + &mut self.physics.joints, + None, + None, + &self.event_handler, + ); self.physics .query_pipeline .update(&self.physics.bodies, &self.physics.colliders); - // for plugin in &mut self.plugins { - // plugin.step(&mut self.physics) - // } + for plugin in &mut self.plugins { + plugin.step(&mut self.physics) + } + + //FIXME: not sure if this makes sense here, basically copied from Testbed + for plugin in &mut self.plugins { + plugin.run_callbacks(&mut self.physics, self.time) + } } pub fn run(&mut self) { @@ -202,4 +203,4 @@ impl Harness { self.state.timestep_id += 1; } } -}
\ No newline at end of file +} diff --git a/src_testbed/lib.rs b/src_testbed/lib.rs index 9aad613..9b08330 100644 --- a/src_testbed/lib.rs +++ b/src_testbed/lib.rs @@ -22,6 +22,8 @@ extern crate bitflags; extern crate log; pub use crate::engine::GraphicsManager; +pub use crate::physics::PhysicsState; +pub use crate::plugin::HarnessPlugin; pub use crate::plugin::TestbedPlugin; pub use crate::testbed::Testbed; diff --git a/src_testbed/plugin.rs b/src_testbed/plugin.rs index 872cdf5..6da1404 100644 --- a/src_testbed/plugin.rs +++ b/src_testbed/plugin.rs @@ -10,3 +10,10 @@ pub trait TestbedPlugin { fn draw(&mut self); fn profiling_string(&self) -> String; } + +pub trait HarnessPlugin { + //FIXME: is run_callbacks needed? + fn run_callbacks(&mut self, physics: &mut PhysicsState, t: f32); + fn step(&mut self, physics: &mut PhysicsState); + fn profiling_string(&self) -> String; +} |