diff options
| -rw-r--r-- | benchmarks2d/all_benchmarks2.rs | 2 | ||||
| -rw-r--r-- | benchmarks2d/vertical_stacks2.rs | 47 | ||||
| -rw-r--r-- | src/dynamics/integration_parameters.rs | 2 |
3 files changed, 31 insertions, 20 deletions
diff --git a/benchmarks2d/all_benchmarks2.rs b/benchmarks2d/all_benchmarks2.rs index af71049..64ec802 100644 --- a/benchmarks2d/all_benchmarks2.rs +++ b/benchmarks2d/all_benchmarks2.rs @@ -58,7 +58,7 @@ pub fn main() { ("Convex polygons", convex_polygons2::init_world), ("Heightfield", heightfield2::init_world), ("Pyramid", pyramid2::init_world), - ("Verticals tacks", vertical_stacks2::init_world), + ("Verticals stacks", vertical_stacks2::init_world), ("(Stress test) joint ball", joint_ball2::init_world), ("(Stress test) joint fixed", joint_fixed2::init_world), ( diff --git a/benchmarks2d/vertical_stacks2.rs b/benchmarks2d/vertical_stacks2.rs index 12de83a..a415693 100644 --- a/benchmarks2d/vertical_stacks2.rs +++ b/benchmarks2d/vertical_stacks2.rs @@ -10,10 +10,14 @@ pub fn init_world(testbed: &mut Testbed) { let impulse_joints = ImpulseJointSet::new(); let multibody_joints = MultibodyJointSet::new(); + + let num = 40; + let rad = 50.0 / 2.0; // 0.5; + /* * Ground */ - let ground_size = 100.0; + let ground_size = num as f32 * rad * 10.0; let ground_thickness = 1.0; let rigid_body = RigidBodyBuilder::fixed(); @@ -24,24 +28,29 @@ pub fn init_world(testbed: &mut Testbed) { /* * Create the cubes */ - let num = 30; - let rad = 0.5; - - let shift = rad * 2.0; - let centery = shift / 2.0 + ground_thickness; - - for i in 0..num { - for j in 0usize..1 + i * 2 { - let fj = j as f32; - let fi = i as f32; - let x = (fj - fi) * shift; // (shift + rad / 2.0); - let y = (num as f32 - fi - 1.0) * shift + centery; - - // Build the rigid body. - let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y]); - let handle = bodies.insert(rigid_body); - let collider = ColliderBuilder::cuboid(rad, rad); - colliders.insert_with_parent(collider, handle, &mut bodies); + + let shiftx_centerx = [ + (rad * 2.0, -(num as f32) * rad * 2.0 * 1.5), + (rad * 2.0 + rad, num as f32 * rad * 2.0 * 1.5), + ]; + + for (shiftx, centerx) in shiftx_centerx { + let shifty = rad * 2.0; + let centery = shifty / 2.0 + ground_thickness; + + for i in 0..num { + for j in 0usize..1 + i * 2 { + let fj = j as f32; + let fi = i as f32; + let x = (fj - fi) * shiftx + centerx; + let y = (num as f32 - fi - 1.0) * shifty + centery; + + // Build the rigid body. + let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y]); + let handle = bodies.insert(rigid_body); + let collider = ColliderBuilder::cuboid(rad, rad); + colliders.insert_with_parent(collider, handle, &mut bodies); + } } } diff --git a/src/dynamics/integration_parameters.rs b/src/dynamics/integration_parameters.rs index 2788349..093ebe9 100644 --- a/src/dynamics/integration_parameters.rs +++ b/src/dynamics/integration_parameters.rs @@ -1,6 +1,8 @@ use crate::math::Real; use std::num::NonZeroUsize; +// TODO: enabling the block solver in 3d introduces a lot of jitters in +// the 3D domino demo. So for now we dont enable it in 3D. pub(crate) static BLOCK_SOLVER_ENABLED: bool = cfg!(feature = "dim2"); pub(crate) static DISABLE_FRICTION_LIMIT_REAPPLY: bool = false; |