diff options
| -rw-r--r-- | examples2d/add_remove2.rs | 15 | ||||
| -rw-r--r-- | examples2d/platform2.rs | 30 | ||||
| -rw-r--r-- | examples2d/sensor2.rs | 40 | ||||
| -rw-r--r-- | examples3d/debug_add_remove_collider3.rs | 10 | ||||
| -rw-r--r-- | examples3d/debug_dynamic_collider_add3.rs | 19 | ||||
| -rw-r--r-- | examples3d/debug_rollback3.rs | 2 | ||||
| -rw-r--r-- | examples3d/fountain3.rs | 15 | ||||
| -rw-r--r-- | examples3d/platform3.rs | 40 | ||||
| -rw-r--r-- | examples3d/sensor3.rs | 42 | ||||
| -rw-r--r-- | src_testbed/harness/mod.rs | 58 | ||||
| -rw-r--r-- | src_testbed/testbed.rs | 23 |
11 files changed, 190 insertions, 104 deletions
diff --git a/examples2d/add_remove2.rs b/examples2d/add_remove2.rs index 614829b..cb71025 100644 --- a/examples2d/add_remove2.rs +++ b/examples2d/add_remove2.rs @@ -10,7 +10,7 @@ pub fn init_world(testbed: &mut Testbed) { let rad = 0.5; // Callback that will be executed on the main loop to handle proximities. - testbed.harness_mut().add_callback(move |physics, _, _| { + testbed.add_callback(move |window, graphics, physics, _, _| { let rigid_body = RigidBodyBuilder::new_dynamic() .translation(0.0, 10.0) .build(); @@ -20,8 +20,11 @@ pub fn init_world(testbed: &mut Testbed) { .colliders .insert(collider, handle, &mut physics.bodies); - // TODO: need a way to access graphics & window - // graphics.add(window, handle, &physics.bodies, &physics.colliders); + if graphics.is_some() { + graphics + .unwrap() + .add(window.unwrap(), handle, &physics.bodies, &physics.colliders); + } let to_remove: Vec<_> = physics .bodies @@ -34,8 +37,10 @@ pub fn init_world(testbed: &mut Testbed) { .bodies .remove(handle, &mut physics.colliders, &mut physics.joints); - // TODO: need a way to access graphics & window - // graphics.remove_body_nodes(window, handle); + // FIXME: need a way to access graphics & window in a loop + // if graphics.is_some() { + // graphics.unwrap().remove_body_nodes(window.unwrap(), handle); + // } } }); diff --git a/examples2d/platform2.rs b/examples2d/platform2.rs index 88f05f2..afd4d64 100644 --- a/examples2d/platform2.rs +++ b/examples2d/platform2.rs @@ -60,25 +60,23 @@ pub fn init_world(testbed: &mut Testbed) { /* * Setup a callback to control the platform. */ - testbed - .harness_mut() - .add_callback(move |physics, _, run_state| { - let platform = physics.bodies.get_mut(platform_handle).unwrap(); - let mut next_pos = *platform.position(); + testbed.add_callback(move |_, _, physics, _, run_state| { + let platform = physics.bodies.get_mut(platform_handle).unwrap(); + let mut next_pos = *platform.position(); - let dt = 0.016; - next_pos.translation.vector.y += (run_state.time * 5.0).sin() * dt; - next_pos.translation.vector.x += run_state.time.sin() * 5.0 * dt; + let dt = 0.016; + next_pos.translation.vector.y += (run_state.time * 5.0).sin() * dt; + next_pos.translation.vector.x += run_state.time.sin() * 5.0 * dt; - if next_pos.translation.vector.x >= rad * 10.0 { - next_pos.translation.vector.x -= dt; - } - if next_pos.translation.vector.x <= -rad * 10.0 { - next_pos.translation.vector.x += dt; - } + if next_pos.translation.vector.x >= rad * 10.0 { + next_pos.translation.vector.x -= dt; + } + if next_pos.translation.vector.x <= -rad * 10.0 { + next_pos.translation.vector.x += dt; + } - platform.set_next_kinematic_position(next_pos); - }); + platform.set_next_kinematic_position(next_pos); + }); /* * Run the simulation. diff --git a/examples2d/sensor2.rs b/examples2d/sensor2.rs index 382581e..9fdbf14 100644 --- a/examples2d/sensor2.rs +++ b/examples2d/sensor2.rs @@ -69,28 +69,26 @@ pub fn init_world(testbed: &mut Testbed) { testbed.set_body_color(sensor_handle, Point3::new(0.5, 1.0, 1.0)); // Callback that will be executed on the main loop to handle proximities. - testbed - .harness_mut() - .add_callback(move |physics, events, _| { - while let Ok(prox) = events.proximity_events.try_recv() { - let color = match prox.new_status { - Proximity::WithinMargin | Proximity::Intersecting => Point3::new(1.0, 1.0, 0.0), - Proximity::Disjoint => Point3::new(0.5, 0.5, 1.0), - }; - - let parent_handle1 = physics.colliders.get(prox.collider1).unwrap().parent(); - let parent_handle2 = physics.colliders.get(prox.collider2).unwrap().parent(); - - if parent_handle1 != ground_handle && parent_handle1 != sensor_handle { - // TODO: need a way to access graphics & window - // graphics.set_body_color(parent_handle1, color); - } - if parent_handle2 != ground_handle && parent_handle2 != sensor_handle { - // TODO: need a way to access graphics & window - // graphics.set_body_color(parent_handle2, color); - } + testbed.add_callback(move |_, _, physics, events, _| { + while let Ok(prox) = events.proximity_events.try_recv() { + let color = match prox.new_status { + Proximity::WithinMargin | Proximity::Intersecting => Point3::new(1.0, 1.0, 0.0), + Proximity::Disjoint => Point3::new(0.5, 0.5, 1.0), + }; + + let parent_handle1 = physics.colliders.get(prox.collider1).unwrap().parent(); + let parent_handle2 = physics.colliders.get(prox.collider2).unwrap().parent(); + + if parent_handle1 != ground_handle && parent_handle1 != sensor_handle { + // FIXME: need a way to access graphics & window in a loop + // graphics.set_body_color(parent_handle1, color); } - }); + if parent_handle2 != ground_handle && parent_handle2 != sensor_handle { + // FIXME: need a way to access graphics & window in a loop + // graphics.set_body_color(parent_handle2, color); + } + } + }); /* * Set up the testbed. diff --git a/examples3d/debug_add_remove_collider3.rs b/examples3d/debug_add_remove_collider3.rs index 437a27d..8a3d672 100644 --- a/examples3d/debug_add_remove_collider3.rs +++ b/examples3d/debug_add_remove_collider3.rs @@ -34,7 +34,7 @@ pub fn init_world(testbed: &mut Testbed) { let collider = ColliderBuilder::ball(ball_rad).density(100.0).build(); colliders.insert(collider, ball_handle, &mut bodies); - testbed.harness_mut().add_callback(move |physics, _, _| { + testbed.add_callback(move |window, graphics, physics, _, _| { // Remove then re-add the ground collider. let coll = physics .colliders @@ -45,7 +45,13 @@ pub fn init_world(testbed: &mut Testbed) { .insert(coll, ground_handle, &mut physics.bodies); // TODO: need a way to access graphics & window - // graphics.add_collider(window, ground_collider_handle, &physics.colliders); + if graphics.is_some() { + graphics.unwrap().add_collider( + window.unwrap(), + ground_collider_handle, + &physics.colliders, + ); + } }); /* diff --git a/examples3d/debug_dynamic_collider_add3.rs b/examples3d/debug_dynamic_collider_add3.rs index 92ae209..cefe030 100644 --- a/examples3d/debug_dynamic_collider_add3.rs +++ b/examples3d/debug_dynamic_collider_add3.rs @@ -45,7 +45,7 @@ pub fn init_world(testbed: &mut Testbed) { let mut extra_colliders = Vec::new(); let snapped_frame = 51; - testbed.harness_mut().add_callback(move |physics, _, _| { + testbed.add_callback(move |window, graphics, physics, _, _| { step += 1; // Add a bigger ball collider @@ -56,8 +56,14 @@ pub fn init_world(testbed: &mut Testbed) { physics .colliders .insert(collider, ball_handle, &mut physics.bodies); - // TODO: need a way to access graphics & window - // graphics.add_collider(window, new_ball_collider_handle, &physics.colliders); + + if graphics.is_some() { + graphics.unwrap().add_collider( + window.unwrap(), + new_ball_collider_handle, + &physics.colliders, + ); + } extra_colliders.push(new_ball_collider_handle); // Snap the ball velocity or restore it. @@ -97,8 +103,11 @@ pub fn init_world(testbed: &mut Testbed) { .colliders .insert(coll, ground_handle, &mut physics.bodies); - // TODO: need a way to access graphics & window - // graphics.add_collider(window, new_ground_collider_handle, &physics.colliders); + //FIXME: This causes an error + // if graphics.is_some() { + // graphics.unwrap().add_collider(window.unwrap(), new_ground_collider_handle, &physics.colliders); + // } + extra_colliders.push(new_ground_collider_handle); }); diff --git a/examples3d/debug_rollback3.rs b/examples3d/debug_rollback3.rs index aa0b0ff..27b27cf 100644 --- a/examples3d/debug_rollback3.rs +++ b/examples3d/debug_rollback3.rs @@ -44,7 +44,7 @@ pub fn init_world(testbed: &mut Testbed) { let mut step = 0; let snapped_frame = 51; - testbed.harness_mut().add_callback(move |physics, _, _| { + testbed.add_callback(move |_, _, physics, _, _| { step += 1; // Snap the ball velocity or restore it. diff --git a/examples3d/fountain3.rs b/examples3d/fountain3.rs index 0909a0c..e42f71a 100644 --- a/examples3d/fountain3.rs +++ b/examples3d/fountain3.rs @@ -26,7 +26,7 @@ pub fn init_world(testbed: &mut Testbed) { let mut k = 0; // Callback that will be executed on the main loop to handle proximities. - testbed.harness_mut().add_callback(move |physics, _, _| { + testbed.add_callback(move |window, graphics, physics, _, _| { k += 1; let rigid_body = RigidBodyBuilder::new_dynamic() .translation(0.0, 10.0, 0.0) @@ -41,8 +41,12 @@ pub fn init_world(testbed: &mut Testbed) { physics .colliders .insert(collider, handle, &mut physics.bodies); - // TODO: need a way to access graphics & window - // graphics.add(window, handle, &physics.bodies, &physics.colliders); + + if graphics.is_some() { + graphics + .unwrap() + .add(window.unwrap(), handle, &physics.bodies, &physics.colliders); + } if physics.bodies.len() > MAX_NUMBER_OF_BODIES { let mut to_remove: Vec<_> = physics @@ -69,8 +73,9 @@ pub fn init_world(testbed: &mut Testbed) { .narrow_phase .maintain(&mut physics.colliders, &mut physics.bodies); - // TODO: need a way to access graphics & window - // graphics.remove_body_nodes(window, *handle); + // if graphics.is_some() { + // graphics.unwrap().remove_body_nodes(window.unwrap(), *handle); + // } } } }); diff --git a/examples3d/platform3.rs b/examples3d/platform3.rs index 944adae..7b5c986 100644 --- a/examples3d/platform3.rs +++ b/examples3d/platform3.rs @@ -65,31 +65,29 @@ pub fn init_world(testbed: &mut Testbed) { * Setup a callback to control the platform. */ let mut count = 0; - testbed - .harness_mut() - .add_callback(move |physics, _, run_state| { - count += 1; - if count % 100 > 50 { - return; - } - - if let Some(platform) = physics.bodies.get_mut(platform_handle) { - let mut next_pos = *platform.position(); + testbed.add_callback(move |_, _, physics, _, run_state| { + count += 1; + if count % 100 > 50 { + return; + } - let dt = 0.016; - next_pos.translation.vector.y += (run_state.time * 5.0).sin() * dt; - next_pos.translation.vector.z += run_state.time.sin() * 5.0 * dt; + if let Some(platform) = physics.bodies.get_mut(platform_handle) { + let mut next_pos = *platform.position(); - if next_pos.translation.vector.z >= rad * 10.0 { - next_pos.translation.vector.z -= dt; - } - if next_pos.translation.vector.z <= -rad * 10.0 { - next_pos.translation.vector.z += dt; - } + let dt = 0.016; + next_pos.translation.vector.y += (run_state.time * 5.0).sin() * dt; + next_pos.translation.vector.z += run_state.time.sin() * 5.0 * dt; - platform.set_next_kinematic_position(next_pos); + if next_pos.translation.vector.z >= rad * 10.0 { + next_pos.translation.vector.z -= dt; } - }); + if next_pos.translation.vector.z <= -rad * 10.0 { + next_pos.translation.vector.z += dt; + } + + platform.set_next_kinematic_position(next_pos); + } + }); /* * Run the simulation. diff --git a/examples3d/sensor3.rs b/examples3d/sensor3.rs index db01265..37a8f5a 100644 --- a/examples3d/sensor3.rs +++ b/examples3d/sensor3.rs @@ -73,28 +73,30 @@ pub fn init_world(testbed: &mut Testbed) { testbed.set_body_color(sensor_handle, Point3::new(0.5, 1.0, 1.0)); // Callback that will be executed on the main loop to handle proximities. - testbed - .harness_mut() - .add_callback(move |physics, events, _| { - while let Ok(prox) = events.proximity_events.try_recv() { - let color = match prox.new_status { - Proximity::WithinMargin | Proximity::Intersecting => Point3::new(1.0, 1.0, 0.0), - Proximity::Disjoint => Point3::new(0.5, 0.5, 1.0), - }; - - let parent_handle1 = physics.colliders.get(prox.collider1).unwrap().parent(); - let parent_handle2 = physics.colliders.get(prox.collider2).unwrap().parent(); - - if parent_handle1 != ground_handle && parent_handle1 != sensor_handle { - // TODO: need a way to access graphics & window - // graphics.set_body_color(parent_handle1, color); - } - if parent_handle2 != ground_handle && parent_handle2 != sensor_handle { - // TODO: need a way to access graphics & window - // graphics.set_body_color(parent_handle2, color); + testbed.add_callback(move |_, graphics, physics, events, _| { + let graphics = &graphics; + while let Ok(prox) = events.proximity_events.try_recv() { + let color = match prox.new_status { + Proximity::WithinMargin | Proximity::Intersecting => Point3::new(1.0, 1.0, 0.0), + Proximity::Disjoint => Point3::new(0.5, 0.5, 1.0), + }; + + let parent_handle1 = physics.colliders.get(prox.collider1).unwrap().parent(); + let parent_handle2 = physics.colliders.get(prox.collider2).unwrap().parent(); + + match graphics { + Some(graphics) => { + if parent_handle1 != ground_handle && parent_handle1 != sensor_handle { + // graphics.set_body_color(parent_handle1, color); + } + if parent_handle2 != ground_handle && parent_handle2 != sensor_handle { + // graphics.set_body_color(parent_handle2, color); + } } + None => {} } - }); + } + }); /* * Set up the testbed. diff --git a/src_testbed/harness/mod.rs b/src_testbed/harness/mod.rs index 86cee09..51bf315 100644 --- a/src_testbed/harness/mod.rs +++ b/src_testbed/harness/mod.rs @@ -1,4 +1,8 @@ -use crate::physics::{PhysicsEvents, PhysicsState}; +use crate::{ + physics::{PhysicsEvents, PhysicsState}, + GraphicsManager, +}; +use kiss3d::window::Window; use plugin::HarnessPlugin; use rapier::dynamics::{IntegrationParameters, JointSet, RigidBodySet}; use rapier::geometry::{BroadPhase, ColliderSet, NarrowPhase}; @@ -48,7 +52,17 @@ pub struct Harness { pub state: RunState, } -type Callbacks = Vec<Box<dyn FnMut(&mut PhysicsState, &PhysicsEvents, &RunState)>>; +type Callbacks = Vec< + Box< + dyn FnMut( + Option<&mut Window>, + Option<&mut GraphicsManager>, + &mut PhysicsState, + &PhysicsEvents, + &RunState, + ), + >, +>; #[allow(dead_code)] impl Harness { @@ -130,7 +144,15 @@ impl Harness { self.plugins.push(Box::new(plugin)); } - pub fn add_callback<F: FnMut(&mut PhysicsState, &PhysicsEvents, &RunState) + 'static>( + pub fn add_callback< + F: FnMut( + Option<&mut Window>, + Option<&mut GraphicsManager>, + &mut PhysicsState, + &PhysicsEvents, + &RunState, + ) + 'static, + >( &mut self, callback: F, ) { @@ -138,6 +160,14 @@ impl Harness { } pub fn step(&mut self) { + self.step_with_graphics(None, None); + } + + pub fn step_with_graphics( + &mut self, + window: Option<&mut Window>, + graphics: Option<&mut GraphicsManager>, + ) { #[cfg(feature = "parallel")] { let physics = &mut self.physics; @@ -180,8 +210,26 @@ impl Harness { plugin.step(&mut self.physics, &self.state) } - for f in &mut self.callbacks { - f(&mut self.physics, &self.events, &self.state) + // FIXME: This assumes either window & graphics are Some, or they are all None + // this is required as we cannot pass Option<&mut Window> & Option<&mut GraphicsManager directly in a loop + // there must be a better way of doing this? + match (window, graphics) { + (Some(window), Some(graphics)) => { + for f in &mut self.callbacks { + f( + Some(window), + Some(graphics), + &mut self.physics, + &self.events, + &self.state, + ); + } + } + _ => { + for f in &mut self.callbacks { + f(None, None, &mut self.physics, &self.events, &self.state); + } + } } for plugin in &mut self.plugins { diff --git a/src_testbed/testbed.rs b/src_testbed/testbed.rs index bb3d8ee..fd6b9a0 100644 --- a/src_testbed/testbed.rs +++ b/src_testbed/testbed.rs @@ -3,10 +3,10 @@ use std::mem; use std::path::Path; use std::rc::Rc; -use crate::engine::GraphicsManager; -use crate::physics::{PhysicsSnapshot, PhysicsState}; +use crate::physics::{PhysicsEvents, PhysicsSnapshot, PhysicsState}; use crate::plugin::TestbedPlugin; use crate::ui::TestbedUi; +use crate::{engine::GraphicsManager, harness::RunState}; use kiss3d::camera::Camera; use kiss3d::event::Event; @@ -392,6 +392,21 @@ impl Testbed { self.plugins.clear(); } + pub fn add_callback< + F: FnMut( + Option<&mut Window>, + Option<&mut GraphicsManager>, + &mut PhysicsState, + &PhysicsEvents, + &RunState, + ) + 'static, + >( + &mut self, + callback: F, + ) { + self.harness.add_callback(callback); + } + pub fn add_plugin(&mut self, plugin: impl TestbedPlugin + 'static) { self.plugins.push(Box::new(plugin)); } @@ -1221,7 +1236,9 @@ impl State for Testbed { if self.state.running != RunMode::Stop { for _ in 0..self.nsteps { if self.state.selected_backend == RAPIER_BACKEND { - self.harness.step(); + let graphics = &mut self.graphics; + self.harness + .step_with_graphics(Some(window), Some(graphics)); for plugin in &mut self.plugins { plugin.step(&mut self.harness.physics) |