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-rw-r--r--src_testbed/testbed.rs114
1 files changed, 70 insertions, 44 deletions
diff --git a/src_testbed/testbed.rs b/src_testbed/testbed.rs
index fd6b9a0..506132c 100644
--- a/src_testbed/testbed.rs
+++ b/src_testbed/testbed.rs
@@ -24,7 +24,7 @@ use rapier::dynamics::{
use rapier::geometry::{ColliderHandle, ColliderSet, NarrowPhase};
#[cfg(feature = "dim3")]
use rapier::geometry::{InteractionGroups, Ray};
-use rapier::math::Vector;
+use rapier::math::{Isometry, Vector};
#[cfg(all(feature = "dim2", feature = "other-backends"))]
use crate::box2d_backend::Box2dWorld;
@@ -35,8 +35,9 @@ use crate::nphysics_backend::NPhysicsWorld;
use crate::physx_backend::PhysxWorld;
const RAPIER_BACKEND: usize = 0;
+#[cfg(feature = "other-backends")]
const NPHYSICS_BACKEND: usize = 1;
-#[cfg(feature = "dim2")]
+#[cfg(all(feature = "dim2", feature = "other-backends"))]
const BOX2D_BACKEND: usize = 2;
pub(crate) const PHYSX_BACKEND_PATCH_FRICTION: usize = 2;
pub(crate) const PHYSX_BACKEND_TWO_FRICTION_DIR: usize = 3;
@@ -269,10 +270,10 @@ impl Testbed {
{
if self.state.selected_backend == BOX2D_BACKEND {
self.box2d = Some(Box2dWorld::from_rapier(
- physics.gravity,
- &physics.bodies,
- &physics.colliders,
- &physics.joints,
+ self.harness.physics.gravity,
+ &self.harness.physics.bodies,
+ &self.harness.physics.colliders,
+ &self.harness.physics.joints,
));
}
}
@@ -283,11 +284,11 @@ impl Testbed {
|| self.state.selected_backend == PHYSX_BACKEND_TWO_FRICTION_DIR
{
self.physx = Some(PhysxWorld::from_rapier(
- physics.gravity,
- &physics.integration_parameters,
- &physics.bodies,
- &physics.colliders,
- &physics.joints,
+ self.harness.physics.gravity,
+ &self.harness.physics.integration_parameters,
+ &self.harness.physics.bodies,
+ &self.harness.physics.colliders,
+ &self.harness.physics.joints,
self.state.selected_backend == PHYSX_BACKEND_TWO_FRICTION_DIR,
self.harness.state.num_threads,
));
@@ -298,10 +299,10 @@ impl Testbed {
{
if self.state.selected_backend == NPHYSICS_BACKEND {
self.nphysics = Some(NPhysicsWorld::from_rapier(
- physics.gravity,
- &physics.bodies,
- &physics.colliders,
- &physics.joints,
+ self.harness.physics.gravity,
+ &self.harness.physics.bodies,
+ &self.harness.physics.colliders,
+ &self.harness.physics.joints,
));
}
}
@@ -483,7 +484,7 @@ impl Testbed {
if self.state.selected_backend == BOX2D_BACKEND {
self.box2d.as_mut().unwrap().step(
&mut self.harness.physics.pipeline.counters,
- &physics.integration_parameters,
+ &self.harness.physics.integration_parameters,
);
self.box2d.as_mut().unwrap().sync(
&mut self.harness.physics.bodies,
@@ -500,7 +501,7 @@ impl Testbed {
// println!("Step");
self.physx.as_mut().unwrap().step(
&mut self.harness.physics.pipeline.counters,
- &physics.integration_parameters,
+ &self.harness.physics.integration_parameters,
);
self.physx.as_mut().unwrap().sync(
&mut self.harness.physics.bodies,
@@ -514,7 +515,7 @@ impl Testbed {
if self.state.selected_backend == NPHYSICS_BACKEND {
self.nphysics.as_mut().unwrap().step(
&mut self.harness.physics.pipeline.counters,
- &physics.integration_parameters,
+ &self.harness.physics.integration_parameters,
);
self.nphysics.as_mut().unwrap().sync(
&mut self.harness.physics.bodies,
@@ -692,7 +693,7 @@ impl Testbed {
.unwrap()
.position();
let attach1 = self.cursor_pos;
- let attach2 = body_pos.inverse() * attach1;
+ let attach2 = body_pos.inv_mul(&attach1);
if let Some(ground) = self.ground_handle {
let joint = MouseConstraint::new(
@@ -980,10 +981,12 @@ impl Testbed {
&physics.colliders,
&ray,
f32::MAX,
+ true,
InteractionGroups::all(),
);
- if let Some((_, collider, _)) = hit {
+ if let Some((handle, _)) = hit {
+ let collider = &physics.colliders[handle];
if physics.bodies[collider.parent()].is_dynamic() {
self.state.highlighted_body = Some(collider.parent());
for node in self.graphics.body_nodes_mut(collider.parent()).unwrap() {
@@ -1070,9 +1073,28 @@ impl State for Testbed {
.action_flags
.set(TestbedActionFlags::EXAMPLE_CHANGED, false);
self.clear(window);
+ self.harness.clear_callbacks();
if self.state.selected_example != prev_example {
self.harness.physics.integration_parameters = IntegrationParameters::default();
+
+ if cfg!(feature = "dim3")
+ && (self.state.selected_backend == PHYSX_BACKEND_PATCH_FRICTION
+ || self.state.selected_backend == PHYSX_BACKEND_TWO_FRICTION_DIR)
+ {
+ std::mem::swap(
+ &mut self
+ .harness
+ .physics
+ .integration_parameters
+ .max_velocity_iterations,
+ &mut self
+ .harness
+ .physics
+ .integration_parameters
+ .max_position_iterations,
+ )
+ }
}
self.builders[self.state.selected_example].1(self);
@@ -1249,13 +1271,13 @@ impl State for Testbed {
{
if self.state.selected_backend == BOX2D_BACKEND {
self.box2d.as_mut().unwrap().step(
- &mut physics.pipeline.counters,
- &physics.integration_parameters,
+ &mut self.harness.physics.pipeline.counters,
+ &self.harness.physics.integration_parameters,
+ );
+ self.box2d.as_mut().unwrap().sync(
+ &mut self.harness.physics.bodies,
+ &mut self.harness.physics.colliders,
);
- self.box2d
- .as_mut()
- .unwrap()
- .sync(&mut physics.bodies, &mut physics.colliders);
}
}
@@ -1266,13 +1288,13 @@ impl State for Testbed {
{
// println!("Step");
self.physx.as_mut().unwrap().step(
- &mut physics.pipeline.counters,
- &physics.integration_parameters,
+ &mut self.harness.physics.pipeline.counters,
+ &self.harness.physics.integration_parameters,
+ );
+ self.physx.as_mut().unwrap().sync(
+ &mut self.harness.physics.bodies,
+ &mut self.harness.physics.colliders,
);
- self.physx
- .as_mut()
- .unwrap()
- .sync(&mut physics.bodies, &mut physics.colliders);
}
}
@@ -1280,13 +1302,13 @@ impl State for Testbed {
{
if self.state.selected_backend == NPHYSICS_BACKEND {
self.nphysics.as_mut().unwrap().step(
- &mut physics.pipeline.counters,
- &physics.integration_parameters,
+ &mut self.harness.physics.pipeline.counters,
+ &self.harness.physics.integration_parameters,
+ );
+ self.nphysics.as_mut().unwrap().sync(
+ &mut self.harness.physics.bodies,
+ &mut self.harness.physics.colliders,
);
- self.nphysics
- .as_mut()
- .unwrap()
- .sync(&mut physics.bodies, &mut physics.colliders);
}
}
@@ -1422,17 +1444,21 @@ Hashes at frame: {}
fn draw_contacts(window: &mut Window, nf: &NarrowPhase, colliders: &ColliderSet) {
for pair in nf.contact_pairs() {
for manifold in &pair.manifolds {
- for pt in manifold.all_contacts() {
+ for pt in manifold.contacts() {
let color = if pt.dist > 0.0 {
Point3::new(0.0, 0.0, 1.0)
} else {
Point3::new(1.0, 0.0, 0.0)
};
- let pos1 = colliders[manifold.pair.collider1].position();
- let pos2 = colliders[manifold.pair.collider2].position();
- let start = pos1 * pt.local_p1;
- let end = pos2 * pt.local_p2;
- let n = pos1 * manifold.local_n1;
+ let pos1 = colliders[pair.pair.collider1].position();
+ let pos2 = colliders[pair.pair.collider2].position();
+ let start =
+ pos1 * manifold.subshape_pos1.unwrap_or(Isometry::identity()) * pt.local_p1;
+ let end =
+ pos2 * manifold.subshape_pos2.unwrap_or(Isometry::identity()) * pt.local_p2;
+ let n = pos1
+ * manifold.subshape_pos1.unwrap_or(Isometry::identity())
+ * manifold.local_n1;
use crate::engine::GraphicsWindow;
window.draw_graphics_line(&start, &(start + n * 0.4), &Point3::new(0.5, 1.0, 0.5));
generated by cgit (git 2.34.1) at 2026-02-04 19:20:45 +0000