diff options
Diffstat (limited to 'src_testbed/testbed.rs')
| -rw-r--r-- | src_testbed/testbed.rs | 140 |
1 files changed, 86 insertions, 54 deletions
diff --git a/src_testbed/testbed.rs b/src_testbed/testbed.rs index 92aea5a..3d7fd7d 100644 --- a/src_testbed/testbed.rs +++ b/src_testbed/testbed.rs @@ -21,9 +21,9 @@ use na::{self, Point2, Point3, Vector3}; use rapier::dynamics::{ ActivationStatus, IntegrationParameters, JointSet, RigidBodyHandle, RigidBodySet, }; -use rapier::geometry::{BroadPhase, ColliderSet, ContactEvent, NarrowPhase, ProximityEvent}; +use rapier::geometry::{BroadPhase, ColliderSet, ContactEvent, NarrowPhase, ProximityEvent, Ray}; use rapier::math::Vector; -use rapier::pipeline::{ChannelEventCollector, PhysicsPipeline}; +use rapier::pipeline::{ChannelEventCollector, PhysicsPipeline, QueryPipeline}; #[cfg(feature = "fluids")] use salva::{coupling::ColliderCouplingSet, object::FluidHandle, LiquidWorld}; @@ -179,6 +179,7 @@ pub struct PhysicsState { pub colliders: ColliderSet, pub joints: JointSet, pub pipeline: PhysicsPipeline, + pub query_pipeline: QueryPipeline, } impl PhysicsState { @@ -190,6 +191,7 @@ impl PhysicsState { colliders: ColliderSet::new(), joints: JointSet::new(), pipeline: PhysicsPipeline::new(), + query_pipeline: QueryPipeline::new(), } } } @@ -197,6 +199,7 @@ impl PhysicsState { pub struct TestbedState { pub running: RunMode, pub draw_colls: bool, + pub highlighted_body: Option<RigidBodyHandle>, // pub grabbed_object: Option<DefaultBodyPartHandle>, // pub grabbed_object_constraint: Option<DefaultJointConstraintHandle>, pub grabbed_object_plane: (Point3<f32>, Vector3<f32>), @@ -240,7 +243,7 @@ pub struct Testbed { hide_counters: bool, // persistant_contacts: HashMap<ContactId, bool>, font: Rc<Font>, - // cursor_pos: Point2<f32>, + cursor_pos: Point2<f32>, events: PhysicsEvents, event_handler: ChannelEventCollector, ui: Option<TestbedUi>, @@ -301,6 +304,7 @@ impl Testbed { let state = TestbedState { running: RunMode::Running, draw_colls: false, + highlighted_body: None, // grabbed_object: None, // grabbed_object_constraint: None, grabbed_object_plane: (Point3::origin(), na::zero()), @@ -349,7 +353,7 @@ impl Testbed { hide_counters: true, // persistant_contacts: HashMap::new(), font: Font::default(), - // cursor_pos: Point2::new(0.0f32, 0.0), + cursor_pos: Point2::new(0.0f32, 0.0), ui, event_handler, events, @@ -408,6 +412,9 @@ impl Testbed { .set(TestbedActionFlags::RESET_WORLD_GRAPHICS, true); self.time = 0.0; self.state.timestep_id = 0; + self.state.highlighted_body = None; + self.physics.query_pipeline = QueryPipeline::new(); + self.physics.pipeline = PhysicsPipeline::new(); self.physics.pipeline.counters.enable(); #[cfg(all(feature = "dim2", feature = "other-backends"))] @@ -668,6 +675,10 @@ impl Testbed { &self.event_handler, ); + self.physics + .query_pipeline + .update(&self.physics.bodies, &self.physics.colliders); + #[cfg(feature = "fluids")] { fluids_time = instant::now(); @@ -802,13 +813,9 @@ impl Testbed { let num_to_delete = (colliders.len() / 10).max(1); for to_delete in &colliders[..num_to_delete] { - self.physics.pipeline.remove_collider( - to_delete[0], - &mut self.physics.broad_phase, - &mut self.physics.narrow_phase, - &mut self.physics.bodies, - &mut self.physics.colliders, - ); + self.physics + .colliders + .remove(to_delete[0], &mut self.physics.bodies); } } WindowEvent::Key(Key::D, Action::Release, _) => { @@ -817,21 +824,22 @@ impl Testbed { .physics .bodies .iter() - .filter(|e| e.1.is_dynamic()) + .filter(|e| !e.1.is_static()) .map(|e| e.0) .collect(); let num_to_delete = (dynamic_bodies.len() / 10).max(1); for to_delete in &dynamic_bodies[..num_to_delete] { - self.physics.pipeline.remove_rigid_body( + self.physics.bodies.remove( *to_delete, - &mut self.physics.broad_phase, - &mut self.physics.narrow_phase, - &mut self.physics.bodies, &mut self.physics.colliders, &mut self.physics.joints, ); } } + WindowEvent::CursorPos(x, y, _) => { + self.cursor_pos.x = x as f32; + self.cursor_pos.y = y as f32; + } _ => {} } @@ -1146,36 +1154,45 @@ impl Testbed { self.state.grabbed_object = None; self.state.grabbed_object_constraint = None; } - WindowEvent::CursorPos(x, y, modifiers) => { - self.cursor_pos.x = x as f32; - self.cursor_pos.y = y as f32; + _ => {} + } + */ + } - // update the joint - if let Some(joint) = self.state.grabbed_object_constraint { - let size = window.size(); - let (pos, dir) = self - .graphics - .camera() - .unproject(&self.cursor_pos, &na::convert(size)); - let (ref ppos, ref pdir) = self.state.grabbed_object_plane; + #[cfg(feature = "dim2")] + fn highlight_hovered_body(&mut self, _window: &Window) { + // Do nothing for now. + } - if let Some(inter) = query::ray_toi_with_plane(ppos, pdir, &Ray::new(pos, dir)) - { - let joint = self - .constraints - .get_mut(joint) - .unwrap() - .downcast_mut::<MouseConstraint<f32, RigidBodyHandle>>() - .unwrap(); - joint.set_anchor_1(pos + dir * inter) - } + #[cfg(feature = "dim3")] + fn highlight_hovered_body(&mut self, window: &Window) { + if let Some(highlighted_body) = self.state.highlighted_body { + if let Some(nodes) = self.graphics.body_nodes_mut(highlighted_body) { + for node in nodes { + node.unselect() } + } + } - event.inhibited = modifiers.contains(Modifiers::Shift); + let size = window.size(); + let (pos, dir) = self + .graphics + .camera() + .unproject(&self.cursor_pos, &na::convert(size)); + let ray = Ray::new(pos, dir); + let hit = self + .physics + .query_pipeline + .cast_ray(&self.physics.colliders, &ray, f32::MAX); + + if let Some((_, collider, _)) = hit { + if self.physics.bodies[collider.parent()].is_dynamic() { + self.state.highlighted_body = Some(collider.parent()); + for node in self.graphics.body_nodes_mut(collider.parent()).unwrap() { + node.select() + } } - _ => {} } - */ } } @@ -1287,9 +1304,9 @@ impl State for Testbed { if let Ok(w) = snapshot.restore() { self.clear(window); self.graphics.clear(window); + self.set_world(w.3, w.4, w.5); self.physics.broad_phase = w.1; self.physics.narrow_phase = w.2; - self.set_world(w.3, w.4, w.5); self.state.timestep_id = w.0; } } @@ -1347,7 +1364,7 @@ impl State for Testbed { } } else { for (_, mut body) in self.physics.bodies.iter_mut() { - body.wake_up(); + body.wake_up(true); body.activation.threshold = -1.0; } } @@ -1446,6 +1463,10 @@ impl State for Testbed { &self.event_handler, ); + self.physics + .query_pipeline + .update(&self.physics.bodies, &self.physics.colliders); + #[cfg(feature = "fluids")] { fluids_time = instant::now(); @@ -1550,7 +1571,9 @@ impl State for Testbed { } } - self.graphics.draw(&self.physics.colliders, window); + self.highlight_hovered_body(window); + self.graphics + .draw(&self.physics.bodies, &self.physics.colliders, window); #[cfg(feature = "fluids")] { @@ -1627,26 +1650,35 @@ Fluids: {:.2}ms } if self.state.flags.contains(TestbedStateFlags::DEBUG) { - let hash_bf = md5::compute(&bincode::serialize(&self.physics.broad_phase).unwrap()); - let hash_nf = md5::compute(&bincode::serialize(&self.physics.narrow_phase).unwrap()); - let hash_bodies = md5::compute(&bincode::serialize(&self.physics.bodies).unwrap()); - let hash_colliders = - md5::compute(&bincode::serialize(&self.physics.colliders).unwrap()); - let hash_joints = md5::compute(&bincode::serialize(&self.physics.joints).unwrap()); + let bf = bincode::serialize(&self.physics.broad_phase).unwrap(); + let nf = bincode::serialize(&self.physics.narrow_phase).unwrap(); + let bs = bincode::serialize(&self.physics.bodies).unwrap(); + let cs = bincode::serialize(&self.physics.colliders).unwrap(); + let js = bincode::serialize(&self.physics.joints).unwrap(); + let hash_bf = md5::compute(&bf); + let hash_nf = md5::compute(&nf); + let hash_bodies = md5::compute(&bs); + let hash_colliders = md5::compute(&cs); + let hash_joints = md5::compute(&js); profile = format!( r#"{} Hashes at frame: {} -|_ Broad phase: {:?} -|_ Narrow phase: {:?} -|_ Bodies: {:?} -|_ Colliders: {:?} -|_ Joints: {:?}"#, +|_ Broad phase [{:.1}KB]: {:?} +|_ Narrow phase [{:.1}KB]: {:?} +|_ Bodies [{:.1}KB]: {:?} +|_ Colliders [{:.1}KB]: {:?} +|_ Joints [{:.1}KB]: {:?}"#, profile, self.state.timestep_id, + bf.len() as f32 / 1000.0, hash_bf, + nf.len() as f32 / 1000.0, hash_nf, + bs.len() as f32 / 1000.0, hash_bodies, + cs.len() as f32 / 1000.0, hash_colliders, + js.len() as f32 / 1000.0, hash_joints ); } |