diff options
Diffstat (limited to 'src_testbed')
| -rw-r--r-- | src_testbed/testbed.rs | 274 |
1 files changed, 140 insertions, 134 deletions
diff --git a/src_testbed/testbed.rs b/src_testbed/testbed.rs index ab709ed..868bd91 100644 --- a/src_testbed/testbed.rs +++ b/src_testbed/testbed.rs @@ -172,6 +172,28 @@ impl PhysicsEvents { } } +pub struct PhysicsState { + pub broad_phase: BroadPhase, + pub narrow_phase: NarrowPhase, + pub bodies: RigidBodySet, + pub colliders: ColliderSet, + pub joints: JointSet, + pub pipeline: PhysicsPipeline, +} + +impl PhysicsState { + fn new() -> Self { + Self { + broad_phase: BroadPhase::new(), + narrow_phase: NarrowPhase::new(), + bodies: RigidBodySet::new(), + colliders: ColliderSet::new(), + joints: JointSet::new(), + pipeline: PhysicsPipeline::new(), + } + } +} + pub struct TestbedState { pub running: RunMode, pub draw_colls: bool, @@ -207,12 +229,7 @@ pub struct Testbed { fluids: Option<FluidsState>, gravity: Vector<f32>, integration_parameters: IntegrationParameters, - broad_phase: BroadPhase, - narrow_phase: NarrowPhase, - bodies: RigidBodySet, - colliders: ColliderSet, - joints: JointSet, - physics_pipeline: PhysicsPipeline, + physics: PhysicsState, window: Option<Box<Window>>, graphics: GraphicsManager, nsteps: usize, @@ -237,17 +254,17 @@ pub struct Testbed { nphysics: Option<NPhysicsWorld>, } -type Callbacks = Vec< - Box<dyn FnMut(&mut RigidBodySet, &mut ColliderSet, &PhysicsEvents, &mut GraphicsManager, f32)>, ->; +type Callbacks = + Vec<Box<dyn FnMut(&mut Window, &mut PhysicsState, &PhysicsEvents, &mut GraphicsManager, f32)>>; #[cfg(feature = "fluids")] type CallbacksFluids = Vec< Box< dyn FnMut( + &mut Window, &mut LiquidWorld<f32>, &mut ColliderCouplingSet<f32, RigidBodyHandle>, - &mut RigidBodySet, + &mut PhysicsState, &mut GraphicsManager, f32, ), @@ -316,11 +333,6 @@ impl Testbed { let gravity = Vector::y() * -9.81; let integration_parameters = IntegrationParameters::default(); - let broad_phase = BroadPhase::new(); - let narrow_phase = NarrowPhase::new(); - let bodies = RigidBodySet::new(); - let colliders = ColliderSet::new(); - let joints = JointSet::new(); let contact_channel = crossbeam::channel::unbounded(); let proximity_channel = crossbeam::channel::unbounded(); let event_handler = ChannelEventCollector::new(proximity_channel.0, contact_channel.0); @@ -328,6 +340,7 @@ impl Testbed { contact_events: contact_channel.1, proximity_events: proximity_channel.1, }; + let physics = PhysicsState::new(); Testbed { builders: Vec::new(), @@ -335,12 +348,7 @@ impl Testbed { fluids: None, gravity, integration_parameters, - broad_phase, - narrow_phase, - bodies, - colliders, - joints, - physics_pipeline: PhysicsPipeline::new(), + physics, callbacks: Vec::new(), #[cfg(feature = "fluids")] callbacks_fluids: Vec::new(), @@ -401,26 +409,26 @@ impl Testbed { pub fn set_world(&mut self, bodies: RigidBodySet, colliders: ColliderSet, joints: JointSet) { println!("Num bodies: {}", bodies.len()); println!("Num joints: {}", joints.len()); - self.bodies = bodies; - self.colliders = colliders; - self.joints = joints; - self.broad_phase = BroadPhase::new(); - self.narrow_phase = NarrowPhase::new(); + self.physics.bodies = bodies; + self.physics.colliders = colliders; + self.physics.joints = joints; + self.physics.broad_phase = BroadPhase::new(); + self.physics.narrow_phase = NarrowPhase::new(); self.state .action_flags .set(TestbedActionFlags::RESET_WORLD_GRAPHICS, true); self.time = 0.0; self.state.timestep_id = 0; - self.physics_pipeline.counters.enable(); + self.physics.pipeline.counters.enable(); #[cfg(all(feature = "dim2", feature = "other-backends"))] { if self.state.selected_backend == BOX2D_BACKEND { self.box2d = Some(Box2dWorld::from_rapier( self.gravity, - &self.bodies, - &self.colliders, - &self.joints, + &self.physics.bodies, + &self.physics.colliders, + &self.physics.joints, )); } } @@ -433,9 +441,9 @@ impl Testbed { self.physx = Some(PhysxWorld::from_rapier( self.gravity, &self.integration_parameters, - &self.bodies, - &self.colliders, - &self.joints, + &self.physics.bodies, + &self.physics.colliders, + &self.physics.joints, self.state.selected_backend == PHYSX_BACKEND_TWO_FRICTION_DIR, self.state.num_threads, )); @@ -447,9 +455,9 @@ impl Testbed { if self.state.selected_backend == NPHYSICS_BACKEND { self.nphysics = Some(NPhysicsWorld::from_rapier( self.gravity, - &self.bodies, - &self.colliders, - &self.joints, + &self.physics.bodies, + &self.physics.colliders, + &self.physics.joints, )); } } @@ -562,8 +570,7 @@ impl Testbed { } pub fn add_callback< - F: FnMut(&mut RigidBodySet, &mut ColliderSet, &PhysicsEvents, &mut GraphicsManager, f32) - + 'static, + F: FnMut(&mut Window, &mut PhysicsState, &PhysicsEvents, &mut GraphicsManager, f32) + 'static, >( &mut self, callback: F, @@ -574,9 +581,10 @@ impl Testbed { #[cfg(feature = "fluids")] pub fn add_callback_with_fluids< F: FnMut( + &mut Window, &mut LiquidWorld<f32>, &mut ColliderCouplingSet<f32, RigidBodyHandle>, - &mut RigidBodySet, + &mut PhysicsState, &mut GraphicsManager, f32, ) + 'static, @@ -643,36 +651,31 @@ impl Testbed { { let gravity = &self.gravity; let params = &self.integration_parameters; - let pipeline = &mut self.physics_pipeline; - let narrow_phase = &mut self.narrow_phase; - let broad_phase = &mut self.broad_phase; - let bodies = &mut self.bodies; - let colliders = &mut self.colliders; - let joints = &mut self.joints; + let physics = &mut self.physics; let event_handler = &self.event_handler; self.state.thread_pool.install(|| { - pipeline.step( + physics.pipeline.step( gravity, params, - broad_phase, - narrow_phase, - bodies, - colliders, - joints, + &mut physics.broad_phase, + &mut physics.narrow_phase, + &mut physics.bodies, + &mut physics.colliders, + &mut physics.joints, event_handler, ); }); } #[cfg(not(feature = "parallel"))] - self.physics_pipeline.step( + self.physics.pipeline.step( &self.gravity, &self.integration_parameters, - &mut self.broad_phase, - &mut self.narrow_phase, - &mut self.bodies, - &mut self.colliders, - &mut self.joints, + &mut self.physics.broad_phase, + &mut self.physics.narrow_phase, + &mut self.physics.bodies, + &mut self.physics.colliders, + &mut self.physics.joints, &self.event_handler, ); @@ -685,9 +688,10 @@ impl Testbed { fluids.world.step_with_coupling( dt, gravity, - &mut fluids - .coupling - .as_manager_mut(&self.colliders, &mut self.bodies), + &mut fluids.coupling.as_manager_mut( + &self.physics.colliders, + &mut self.physics.bodies, + ), ); } @@ -699,13 +703,13 @@ impl Testbed { { if self.state.selected_backend == BOX2D_BACKEND { self.box2d.as_mut().unwrap().step( - &mut self.physics_pipeline.counters, + &mut self.physics.pipeline.counters, &self.integration_parameters, ); - self.box2d - .as_mut() - .unwrap() - .sync(&mut self.bodies, &mut self.colliders); + self.box2d.as_mut().unwrap().sync( + &mut self.physics.bodies, + &mut self.physics.colliders, + ); } } @@ -716,13 +720,13 @@ impl Testbed { { // println!("Step"); self.physx.as_mut().unwrap().step( - &mut self.physics_pipeline.counters, + &mut self.physics.pipeline.counters, &self.integration_parameters, ); - self.physx - .as_mut() - .unwrap() - .sync(&mut self.bodies, &mut self.colliders); + self.physx.as_mut().unwrap().sync( + &mut self.physics.bodies, + &mut self.physics.colliders, + ); } } @@ -730,20 +734,20 @@ impl Testbed { { if self.state.selected_backend == NPHYSICS_BACKEND { self.nphysics.as_mut().unwrap().step( - &mut self.physics_pipeline.counters, + &mut self.physics.pipeline.counters, &self.integration_parameters, ); - self.nphysics - .as_mut() - .unwrap() - .sync(&mut self.bodies, &mut self.colliders); + self.nphysics.as_mut().unwrap().sync( + &mut self.physics.bodies, + &mut self.physics.colliders, + ); } } } // Skip the first update. if k > 0 { - timings.push(self.physics_pipeline.counters.step_time.time()); + timings.push(self.physics.pipeline.counters.step_time.time()); } } results.push(timings); @@ -790,6 +794,7 @@ impl Testbed { WindowEvent::Key(Key::D, Action::Release, _) => { // Delete 10% of the remaining dynamic bodies. let dynamic_bodies: Vec<_> = self + .physics .bodies .iter() .filter(|e| e.1.is_dynamic()) @@ -797,13 +802,13 @@ impl Testbed { .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.pipeline.remove_rigid_body( *to_delete, - &mut self.broad_phase, - &mut self.narrow_phase, - &mut self.bodies, - &mut self.colliders, - &mut self.joints, + &mut self.physics.broad_phase, + &mut self.physics.narrow_phase, + &mut self.physics.bodies, + &mut self.physics.colliders, + &mut self.physics.joints, ); } } @@ -1236,11 +1241,11 @@ impl State for Testbed { .set(TestbedActionFlags::TAKE_SNAPSHOT, false); self.state.snapshot = PhysicsSnapshot::new( self.state.timestep_id, - &self.broad_phase, - &self.narrow_phase, - &self.bodies, - &self.colliders, - &self.joints, + &self.physics.broad_phase, + &self.physics.narrow_phase, + &self.physics.bodies, + &self.physics.colliders, + &self.physics.joints, ) .ok(); @@ -1261,8 +1266,8 @@ impl State for Testbed { if let Ok(w) = snapshot.restore() { self.clear(window); self.graphics.clear(window); - self.broad_phase = w.1; - self.narrow_phase = w.2; + 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; } @@ -1277,9 +1282,13 @@ impl State for Testbed { self.state .action_flags .set(TestbedActionFlags::RESET_WORLD_GRAPHICS, false); - for (handle, _) in self.bodies.iter() { - self.graphics - .add(window, handle, &self.bodies, &self.colliders); + for (handle, _) in self.physics.bodies.iter() { + self.graphics.add( + window, + handle, + &self.physics.bodies, + &self.physics.colliders, + ); } #[cfg(feature = "fluids")] @@ -1303,7 +1312,7 @@ impl State for Testbed { != self.state.flags.contains(TestbedStateFlags::WIREFRAME) { self.graphics.toggle_wireframe_mode( - &self.colliders, + &self.physics.colliders, self.state.flags.contains(TestbedStateFlags::WIREFRAME), ) } @@ -1312,11 +1321,11 @@ impl State for Testbed { != self.state.flags.contains(TestbedStateFlags::SLEEP) { if self.state.flags.contains(TestbedStateFlags::SLEEP) { - for (_, mut body) in self.bodies.iter_mut() { + for (_, mut body) in self.physics.bodies.iter_mut() { body.activation.threshold = ActivationStatus::default_threshold(); } } else { - for (_, mut body) in self.bodies.iter_mut() { + for (_, mut body) in self.physics.bodies.iter_mut() { body.wake_up(); body.activation.threshold = -1.0; } @@ -1388,36 +1397,31 @@ impl State for Testbed { { let gravity = &self.gravity; let params = &self.integration_parameters; - let pipeline = &mut self.physics_pipeline; - let narrow_phase = &mut self.narrow_phase; - let broad_phase = &mut self.broad_phase; - let bodies = &mut self.bodies; - let colliders = &mut self.colliders; - let joints = &mut self.joints; + let physics = &mut self.physics; let event_handler = &self.event_handler; self.state.thread_pool.install(|| { - pipeline.step( + physics.pipeline.step( gravity, params, - broad_phase, - narrow_phase, - bodies, - colliders, - joints, + &mut physics.broad_phase, + &mut physics.narrow_phase, + &mut physics.bodies, + &mut physics.colliders, + &mut physics.joints, event_handler, ); }); } #[cfg(not(feature = "parallel"))] - self.physics_pipeline.step( + self.physics.pipeline.step( &self.gravity, &self.integration_parameters, - &mut self.broad_phase, - &mut self.narrow_phase, - &mut self.bodies, - &mut self.colliders, - &mut self.joints, + &mut self.physics.broad_phase, + &mut self.physics.narrow_phase, + &mut self.physics.bodies, + &mut self.physics.colliders, + &mut self.physics.joints, &self.event_handler, ); @@ -1430,9 +1434,10 @@ impl State for Testbed { fluids.world.step_with_coupling( dt, gravity, - &mut fluids - .coupling - .as_manager_mut(&self.colliders, &mut self.bodies), + &mut fluids.coupling.as_manager_mut( + &self.physics.colliders, + &mut self.physics.bodies, + ), ); } @@ -1444,13 +1449,13 @@ impl State for Testbed { { if self.state.selected_backend == BOX2D_BACKEND { self.box2d.as_mut().unwrap().step( - &mut self.physics_pipeline.counters, + &mut self.physics.pipeline.counters, &self.integration_parameters, ); self.box2d .as_mut() .unwrap() - .sync(&mut self.bodies, &mut self.colliders); + .sync(&mut self.physics.bodies, &mut self.physics.colliders); } } @@ -1461,13 +1466,13 @@ impl State for Testbed { { // println!("Step"); self.physx.as_mut().unwrap().step( - &mut self.physics_pipeline.counters, + &mut self.physics.pipeline.counters, &self.integration_parameters, ); self.physx .as_mut() .unwrap() - .sync(&mut self.bodies, &mut self.colliders); + .sync(&mut self.physics.bodies, &mut self.physics.colliders); } } @@ -1475,20 +1480,20 @@ impl State for Testbed { { if self.state.selected_backend == NPHYSICS_BACKEND { self.nphysics.as_mut().unwrap().step( - &mut self.physics_pipeline.counters, + &mut self.physics.pipeline.counters, &self.integration_parameters, ); self.nphysics .as_mut() .unwrap() - .sync(&mut self.bodies, &mut self.colliders); + .sync(&mut self.physics.bodies, &mut self.physics.colliders); } } for f in &mut self.callbacks { f( - &mut self.bodies, - &mut self.colliders, + window, + &mut self.physics, &self.events, &mut self.graphics, self.time, @@ -1500,10 +1505,10 @@ impl State for Testbed { if let Some(fluid_state) = &mut self.fluids { for f in &mut self.callbacks_fluids { f( + window, &mut fluid_state.world, &mut fluid_state.coupling, - &mut self.world, - &mut self.bodies, + &mut self.physics, &mut self.graphics, self.time, ) @@ -1524,7 +1529,7 @@ impl State for Testbed { } } - self.graphics.draw(&self.colliders, window); + self.graphics.draw(&self.physics.colliders, window); #[cfg(feature = "fluids")] { @@ -1534,7 +1539,7 @@ impl State for Testbed { } if self.state.flags.contains(TestbedStateFlags::CONTACT_POINTS) { - draw_contacts(window, &self.narrow_phase, &self.bodies); + draw_contacts(window, &self.physics.narrow_phase, &self.physics.bodies); } if self.state.running == RunMode::Step { @@ -1546,7 +1551,7 @@ impl State for Testbed { } let color = Point3::new(0.0, 0.0, 0.0); - let counters = self.physics_pipeline.counters; + let counters = self.physics.pipeline.counters; let mut profile = String::new(); if self.state.flags.contains(TestbedStateFlags::PROFILE) { @@ -1601,11 +1606,12 @@ Fluids: {:.2}ms } if self.state.flags.contains(TestbedStateFlags::DEBUG) { - let hash_bf = md5::compute(&bincode::serialize(&self.broad_phase).unwrap()); - let hash_nf = md5::compute(&bincode::serialize(&self.narrow_phase).unwrap()); - let hash_bodies = md5::compute(&bincode::serialize(&self.bodies).unwrap()); - let hash_colliders = md5::compute(&bincode::serialize(&self.colliders).unwrap()); - let hash_joints = md5::compute(&bincode::serialize(&self.joints).unwrap()); + 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()); profile = format!( r#"{} Hashes at frame: {} |