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-rw-r--r--benchmarks3d/Cargo.toml6
-rw-r--r--benchmarks3d/all_benchmarks3.rs2
-rw-r--r--benchmarks3d/convex_polyhedron3.rs (renamed from benchmarks3d/harness_capsules3.rs)43
-rw-r--r--benchmarks3d/heightfield3.rs8
-rw-r--r--benchmarks3d/trimesh3.rs39
5 files changed, 55 insertions, 43 deletions
diff --git a/benchmarks3d/Cargo.toml b/benchmarks3d/Cargo.toml
index 1ae91e4..16399c9 100644
--- a/benchmarks3d/Cargo.toml
+++ b/benchmarks3d/Cargo.toml
@@ -14,7 +14,7 @@ enhanced-determinism = [ "rapier3d/enhanced-determinism" ]
[dependencies]
rand = "0.7"
Inflector = "0.11"
-nalgebra = "0.23"
+nalgebra = "0.24"
[dependencies.rapier_testbed3d]
path = "../build/rapier_testbed3d"
@@ -25,7 +25,3 @@ path = "../build/rapier3d"
[[bin]]
name = "all_benchmarks3"
path = "all_benchmarks3.rs"
-
-[[bin]]
-name = "harness_capsules3"
-path = "harness_capsules3.rs"
diff --git a/benchmarks3d/all_benchmarks3.rs b/benchmarks3d/all_benchmarks3.rs
index dfbbc51..f35cb8e 100644
--- a/benchmarks3d/all_benchmarks3.rs
+++ b/benchmarks3d/all_benchmarks3.rs
@@ -14,6 +14,7 @@ mod balls3;
mod boxes3;
mod capsules3;
mod compound3;
+mod convex_polyhedron3;
mod heightfield3;
mod joint_ball3;
mod joint_fixed3;
@@ -52,6 +53,7 @@ pub fn main() {
("Boxes", boxes3::init_world),
("Capsules", capsules3::init_world),
("Compound", compound3::init_world),
+ ("Convex polyhedron", convex_polyhedron3::init_world),
("Heightfield", heightfield3::init_world),
("Stacks", stacks3::init_world),
("Pyramid", pyramid3::init_world),
diff --git a/benchmarks3d/harness_capsules3.rs b/benchmarks3d/convex_polyhedron3.rs
index 4632811..30d77ac 100644
--- a/benchmarks3d/harness_capsules3.rs
+++ b/benchmarks3d/convex_polyhedron3.rs
@@ -1,10 +1,11 @@
-extern crate nalgebra as na;
-
+use na::Point3;
+use rand::distributions::{Distribution, Standard};
+use rand::{rngs::StdRng, SeedableRng};
use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier3d::geometry::{ColliderBuilder, ColliderSet};
-use rapier_testbed3d::harness::Harness;
+use rapier_testbed3d::Testbed;
-pub fn init_world(harness: &mut Harness) {
+pub fn init_world(testbed: &mut Testbed) {
/*
* World
*/
@@ -29,27 +30,39 @@ pub fn init_world(harness: &mut Harness) {
* Create the cubes
*/
let num = 8;
+ let scale = 2.0;
let rad = 1.0;
+ let border_rad = 0.1;
- let shift = rad * 2.0 + rad;
- let shifty = rad * 4.0;
+ let shift = border_rad * 2.0 + scale;
let centerx = shift * (num / 2) as f32;
let centery = shift / 2.0;
let centerz = shift * (num / 2) as f32;
- let mut offset = -(num as f32) * (rad * 2.0 + rad) * 0.5;
+ let mut offset = -(num as f32) * shift * 0.5;
+
+ let mut rng = StdRng::seed_from_u64(0);
+ let distribution = Standard;
for j in 0usize..47 {
for i in 0..num {
for k in 0usize..num {
let x = i as f32 * shift - centerx + offset;
- let y = j as f32 * shifty + centery + 3.0;
+ let y = j as f32 * shift + centery + 3.0;
let z = k as f32 * shift - centerz + offset;
+ let mut points = Vec::new();
+ for _ in 0..10 {
+ let pt: Point3<f32> = distribution.sample(&mut rng);
+ points.push(pt * scale);
+ }
+
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
let handle = bodies.insert(rigid_body);
- let collider = ColliderBuilder::capsule_y(rad, rad).build();
+ let collider = ColliderBuilder::round_convex_hull(&points, border_rad)
+ .unwrap()
+ .build();
colliders.insert(collider, handle, &mut bodies);
}
}
@@ -58,15 +71,13 @@ pub fn init_world(harness: &mut Harness) {
}
/*
- * Set up the harness.
+ * Set up the testbed.
*/
- harness.set_world(bodies, colliders, joints);
+ testbed.set_world(bodies, colliders, joints);
+ testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
}
fn main() {
- let harness = &mut Harness::new_empty();
- init_world(harness);
- harness.set_max_steps(10000);
- harness.run();
- println!("{}", harness.state.timestep_id);
+ let testbed = Testbed::from_builders(0, vec![("Boxes", init_world)]);
+ testbed.run()
}
diff --git a/benchmarks3d/heightfield3.rs b/benchmarks3d/heightfield3.rs
index 4f8211c..fc64856 100644
--- a/benchmarks3d/heightfield3.rs
+++ b/benchmarks3d/heightfield3.rs
@@ -1,4 +1,4 @@
-use na::{DMatrix, Point3, Vector3};
+use na::{ComplexField, DMatrix, Point3, Vector3};
use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier3d::geometry::{ColliderBuilder, ColliderSet};
use rapier_testbed3d::Testbed;
@@ -23,7 +23,11 @@ pub fn init_world(testbed: &mut Testbed) {
} else {
let x = i as f32 * ground_size.x / (nsubdivs as f32);
let z = j as f32 * ground_size.z / (nsubdivs as f32);
- x.sin() + z.cos()
+
+ // NOTE: make sure we use the sin/cos from simba to ensure
+ // cross-platform determinism of the example when the
+ // enhanced_determinism feature is enabled.
+ <f32 as ComplexField>::sin(x) + <f32 as ComplexField>::cos(z)
}
});
diff --git a/benchmarks3d/trimesh3.rs b/benchmarks3d/trimesh3.rs
index ce1d1c5..e0701f1 100644
--- a/benchmarks3d/trimesh3.rs
+++ b/benchmarks3d/trimesh3.rs
@@ -1,6 +1,6 @@
-use na::Point3;
+use na::{ComplexField, DMatrix, Point3, Vector3};
use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet};
+use rapier3d::geometry::{ColliderBuilder, ColliderSet, HeightField};
use rapier_testbed3d::Testbed;
pub fn init_world(testbed: &mut Testbed) {
@@ -14,28 +14,27 @@ pub fn init_world(testbed: &mut Testbed) {
/*
* Ground
*/
- let ground_size = 200.0f32;
- let ground_height = 1.0;
+ let ground_size = Vector3::new(200.0, 1.0, 200.0);
let nsubdivs = 20;
- let quad = rapier3d::ncollide::procedural::quad(ground_size, ground_size, nsubdivs, nsubdivs);
- let indices = quad
- .flat_indices()
- .chunks(3)
- .map(|is| Point3::new(is[0], is[2], is[1]))
- .collect();
- let mut vertices = quad.coords;
+ let heights = DMatrix::from_fn(nsubdivs + 1, nsubdivs + 1, |i, j| {
+ if i == 0 || i == nsubdivs || j == 0 || j == nsubdivs {
+ 10.0
+ } else {
+ let x = i as f32 * ground_size.x / (nsubdivs as f32);
+ let z = j as f32 * ground_size.z / (nsubdivs as f32);
- // ncollide generates a quad with `z` as the normal.
- // so we switch z and y here and set a random altitude at each point.
- for p in vertices.iter_mut() {
- p.z = p.y;
- p.y = (p.x.sin() + p.z.cos()) * ground_height;
-
- if p.x.abs() == ground_size / 2.0 || p.z.abs() == ground_size / 2.0 {
- p.y = 10.0;
+ // NOTE: make sure we use the sin/cos from simba to ensure
+ // cross-platform determinism of the example when the
+ // enhanced_determinism feature is enabled.
+ <f32 as ComplexField>::sin(x) + <f32 as ComplexField>::cos(z)
}
- }
+ });
+
+ // Here we will build our trimesh from the mesh representation of an
+ // heightfield.
+ let heightfield = HeightField::new(heights, ground_size);
+ let (vertices, indices) = heightfield.to_trimesh();
let rigid_body = RigidBodyBuilder::new_static().build();
let handle = bodies.insert(rigid_body);
generated by cgit (git 2.34.1) at 2026-02-06 01:51:32 +0000