From c56ebcc663d15ded86233d8caa11d00179e5ec16 Mon Sep 17 00:00:00 2001
From: rezural <rezural@protonmail.com>
Date: Thu, 24 Dec 2020 17:58:37 +1100
Subject: refactor testbed to use harness

---
 examples3d/platform3.rs | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

(limited to 'examples3d')

diff --git a/examples3d/platform3.rs b/examples3d/platform3.rs
index 0975f39..1e8d330 100644
--- a/examples3d/platform3.rs
+++ b/examples3d/platform3.rs
@@ -65,7 +65,7 @@ pub fn init_world(testbed: &mut Testbed) {
      * Setup a callback to control the platform.
      */
     let mut count = 0;
-    testbed.add_callback(move |_, physics, _, _, time| {
+    testbed.add_callback(move |_, physics, _, _, run_state| {
         count += 1;
         if count % 100 > 50 {
             return;
@@ -75,8 +75,8 @@ pub fn init_world(testbed: &mut Testbed) {
             let mut next_pos = *platform.position();
 
             let dt = 0.016;
-            next_pos.translation.vector.y += (time * 5.0).sin() * dt;
-            next_pos.translation.vector.z += time.sin() * 5.0 * dt;
+            next_pos.translation.vector.y += (run_state.time * 5.0).sin() * dt;
+            next_pos.translation.vector.z += run_state.time.sin() * 5.0 * dt;
 
             if next_pos.translation.vector.z >= rad * 10.0 {
                 next_pos.translation.vector.z -= dt;
-- 
cgit 


From f7820139471178fd273c7698eba17cb4ee0cf00d Mon Sep 17 00:00:00 2001
From: rezural <rezural@protonmail.com>
Date: Thu, 31 Dec 2020 13:24:29 +1100
Subject: make examples compile, code that accessed window & graphics via the
 callback is currently disabled, until that is added back in

---
 examples3d/debug_add_remove_collider3.rs  | 6 ++++--
 examples3d/debug_dynamic_collider_add3.rs | 9 ++++++---
 examples3d/debug_rollback3.rs             | 2 +-
 examples3d/fountain3.rs                   | 9 ++++++---
 examples3d/platform3.rs                   | 2 +-
 examples3d/sensor3.rs                     | 8 +++++---
 6 files changed, 23 insertions(+), 13 deletions(-)

(limited to 'examples3d')

diff --git a/examples3d/debug_add_remove_collider3.rs b/examples3d/debug_add_remove_collider3.rs
index a42dc97..1c59fcf 100644
--- a/examples3d/debug_add_remove_collider3.rs
+++ b/examples3d/debug_add_remove_collider3.rs
@@ -34,7 +34,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let collider = ColliderBuilder::ball(ball_rad).density(100.0).build();
     colliders.insert(collider, ball_handle, &mut bodies);
 
-    testbed.add_callback(move |window, physics, _, graphics, _| {
+    testbed.harness_mut().add_callback(move |physics, _, _, _| {
         // Remove then re-add the ground collider.
         let coll = physics
             .colliders
@@ -43,7 +43,9 @@ pub fn init_world(testbed: &mut Testbed) {
         ground_collider_handle = physics
             .colliders
             .insert(coll, ground_handle, &mut physics.bodies);
-        graphics.add_collider(window, ground_collider_handle, &physics.colliders);
+
+        // TODO: need a way to access graphics & window
+        // graphics.add_collider(window, ground_collider_handle, &physics.colliders);
     });
 
     /*
diff --git a/examples3d/debug_dynamic_collider_add3.rs b/examples3d/debug_dynamic_collider_add3.rs
index a71e95e..da33494 100644
--- a/examples3d/debug_dynamic_collider_add3.rs
+++ b/examples3d/debug_dynamic_collider_add3.rs
@@ -45,7 +45,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let mut extra_colliders = Vec::new();
     let snapped_frame = 51;
 
-    testbed.add_callback(move |window, physics, _, graphics, _| {
+    testbed.harness_mut().add_callback(move |physics, _, _, _| {
         step += 1;
 
         // Add a bigger ball collider
@@ -56,7 +56,8 @@ pub fn init_world(testbed: &mut Testbed) {
             physics
                 .colliders
                 .insert(collider, ball_handle, &mut physics.bodies);
-        graphics.add_collider(window, new_ball_collider_handle, &physics.colliders);
+        // TODO: need a way to access graphics & window
+        // graphics.add_collider(window, new_ball_collider_handle, &physics.colliders);
         extra_colliders.push(new_ball_collider_handle);
 
         // Snap the ball velocity or restore it.
@@ -95,7 +96,9 @@ pub fn init_world(testbed: &mut Testbed) {
             physics
                 .colliders
                 .insert(coll, ground_handle, &mut physics.bodies);
-        graphics.add_collider(window, new_ground_collider_handle, &physics.colliders);
+
+        // TODO: need a way to access graphics & window
+        // graphics.add_collider(window, new_ground_collider_handle, &physics.colliders);
         extra_colliders.push(new_ground_collider_handle);
     });
 
diff --git a/examples3d/debug_rollback3.rs b/examples3d/debug_rollback3.rs
index 19f9474..c3eb684 100644
--- a/examples3d/debug_rollback3.rs
+++ b/examples3d/debug_rollback3.rs
@@ -44,7 +44,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let mut step = 0;
     let snapped_frame = 51;
 
-    testbed.add_callback(move |_, physics, _, _, _| {
+    testbed.harness_mut().add_callback(move |physics, _, _, _| {
         step += 1;
 
         // Snap the ball velocity or restore it.
diff --git a/examples3d/fountain3.rs b/examples3d/fountain3.rs
index fafa988..8dd12ed 100644
--- a/examples3d/fountain3.rs
+++ b/examples3d/fountain3.rs
@@ -26,7 +26,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let mut k = 0;
 
     // Callback that will be executed on the main loop to handle proximities.
-    testbed.add_callback(move |window, physics, _, graphics, _| {
+    testbed.harness_mut().add_callback(move |physics, _, _, _| {
         k += 1;
         let rigid_body = RigidBodyBuilder::new_dynamic()
             .translation(0.0, 10.0, 0.0)
@@ -41,7 +41,8 @@ pub fn init_world(testbed: &mut Testbed) {
         physics
             .colliders
             .insert(collider, handle, &mut physics.bodies);
-        graphics.add(window, handle, &physics.bodies, &physics.colliders);
+        // TODO: need a way to access graphics & window
+        // graphics.add(window, handle, &physics.bodies, &physics.colliders);
 
         if physics.bodies.len() > MAX_NUMBER_OF_BODIES {
             let mut to_remove: Vec<_> = physics
@@ -67,7 +68,9 @@ pub fn init_world(testbed: &mut Testbed) {
                 physics
                     .narrow_phase
                     .maintain(&mut physics.colliders, &mut physics.bodies);
-                graphics.remove_body_nodes(window, *handle);
+                
+                // TODO: need a way to access graphics & window
+                // graphics.remove_body_nodes(window, *handle);
             }
         }
     });
diff --git a/examples3d/platform3.rs b/examples3d/platform3.rs
index 1e8d330..82ea8f4 100644
--- a/examples3d/platform3.rs
+++ b/examples3d/platform3.rs
@@ -65,7 +65,7 @@ pub fn init_world(testbed: &mut Testbed) {
      * Setup a callback to control the platform.
      */
     let mut count = 0;
-    testbed.add_callback(move |_, physics, _, _, run_state| {
+    testbed.harness_mut().add_callback(move |physics, _, run_state, _| {
         count += 1;
         if count % 100 > 50 {
             return;
diff --git a/examples3d/sensor3.rs b/examples3d/sensor3.rs
index 7b218fe..44c8d25 100644
--- a/examples3d/sensor3.rs
+++ b/examples3d/sensor3.rs
@@ -73,7 +73,7 @@ pub fn init_world(testbed: &mut Testbed) {
     testbed.set_body_color(sensor_handle, Point3::new(0.5, 1.0, 1.0));
 
     // Callback that will be executed on the main loop to handle proximities.
-    testbed.add_callback(move |_, physics, events, graphics, _| {
+    testbed.harness_mut().add_callback(move |physics, events, _, _| {
         while let Ok(prox) = events.proximity_events.try_recv() {
             let color = match prox.new_status {
                 Proximity::WithinMargin | Proximity::Intersecting => Point3::new(1.0, 1.0, 0.0),
@@ -84,10 +84,12 @@ pub fn init_world(testbed: &mut Testbed) {
             let parent_handle2 = physics.colliders.get(prox.collider2).unwrap().parent();
 
             if parent_handle1 != ground_handle && parent_handle1 != sensor_handle {
-                graphics.set_body_color(parent_handle1, color);
+                // TODO: need a way to access graphics & window
+                // graphics.set_body_color(parent_handle1, color);
             }
             if parent_handle2 != ground_handle && parent_handle2 != sensor_handle {
-                graphics.set_body_color(parent_handle2, color);
+                // TODO: need a way to access graphics & window
+                // graphics.set_body_color(parent_handle2, color);
             }
         }
     });
-- 
cgit 


From e11ace383164de39dfaadcb00f258497b132cf1d Mon Sep 17 00:00:00 2001
From: rezural <rezural@protonmail.com>
Date: Thu, 31 Dec 2020 13:31:30 +1100
Subject: cargo fmt

---
 examples3d/fountain3.rs |  2 +-
 examples3d/platform3.rs | 40 +++++++++++++++++++++-------------------
 examples3d/sensor3.rs   | 40 +++++++++++++++++++++-------------------
 3 files changed, 43 insertions(+), 39 deletions(-)

(limited to 'examples3d')

diff --git a/examples3d/fountain3.rs b/examples3d/fountain3.rs
index 8dd12ed..5dcf2d8 100644
--- a/examples3d/fountain3.rs
+++ b/examples3d/fountain3.rs
@@ -68,7 +68,7 @@ pub fn init_world(testbed: &mut Testbed) {
                 physics
                     .narrow_phase
                     .maintain(&mut physics.colliders, &mut physics.bodies);
-                
+
                 // TODO: need a way to access graphics & window
                 // graphics.remove_body_nodes(window, *handle);
             }
diff --git a/examples3d/platform3.rs b/examples3d/platform3.rs
index 82ea8f4..b71d307 100644
--- a/examples3d/platform3.rs
+++ b/examples3d/platform3.rs
@@ -65,29 +65,31 @@ pub fn init_world(testbed: &mut Testbed) {
      * Setup a callback to control the platform.
      */
     let mut count = 0;
-    testbed.harness_mut().add_callback(move |physics, _, run_state, _| {
-        count += 1;
-        if count % 100 > 50 {
-            return;
-        }
+    testbed
+        .harness_mut()
+        .add_callback(move |physics, _, run_state, _| {
+            count += 1;
+            if count % 100 > 50 {
+                return;
+            }
 
-        if let Some(platform) = physics.bodies.get_mut(platform_handle) {
-            let mut next_pos = *platform.position();
+            if let Some(platform) = physics.bodies.get_mut(platform_handle) {
+                let mut next_pos = *platform.position();
 
-            let dt = 0.016;
-            next_pos.translation.vector.y += (run_state.time * 5.0).sin() * dt;
-            next_pos.translation.vector.z += run_state.time.sin() * 5.0 * dt;
+                let dt = 0.016;
+                next_pos.translation.vector.y += (run_state.time * 5.0).sin() * dt;
+                next_pos.translation.vector.z += run_state.time.sin() * 5.0 * dt;
 
-            if next_pos.translation.vector.z >= rad * 10.0 {
-                next_pos.translation.vector.z -= dt;
-            }
-            if next_pos.translation.vector.z <= -rad * 10.0 {
-                next_pos.translation.vector.z += dt;
-            }
+                if next_pos.translation.vector.z >= rad * 10.0 {
+                    next_pos.translation.vector.z -= dt;
+                }
+                if next_pos.translation.vector.z <= -rad * 10.0 {
+                    next_pos.translation.vector.z += dt;
+                }
 
-            platform.set_next_kinematic_position(next_pos);
-        }
-    });
+                platform.set_next_kinematic_position(next_pos);
+            }
+        });
 
     /*
      * Run the simulation.
diff --git a/examples3d/sensor3.rs b/examples3d/sensor3.rs
index 44c8d25..e734258 100644
--- a/examples3d/sensor3.rs
+++ b/examples3d/sensor3.rs
@@ -73,26 +73,28 @@ pub fn init_world(testbed: &mut Testbed) {
     testbed.set_body_color(sensor_handle, Point3::new(0.5, 1.0, 1.0));
 
     // Callback that will be executed on the main loop to handle proximities.
-    testbed.harness_mut().add_callback(move |physics, events, _, _| {
-        while let Ok(prox) = events.proximity_events.try_recv() {
-            let color = match prox.new_status {
-                Proximity::WithinMargin | Proximity::Intersecting => Point3::new(1.0, 1.0, 0.0),
-                Proximity::Disjoint => Point3::new(0.5, 0.5, 1.0),
-            };
-
-            let parent_handle1 = physics.colliders.get(prox.collider1).unwrap().parent();
-            let parent_handle2 = physics.colliders.get(prox.collider2).unwrap().parent();
-
-            if parent_handle1 != ground_handle && parent_handle1 != sensor_handle {
-                // TODO: need a way to access graphics & window
-                // graphics.set_body_color(parent_handle1, color);
+    testbed
+        .harness_mut()
+        .add_callback(move |physics, events, _, _| {
+            while let Ok(prox) = events.proximity_events.try_recv() {
+                let color = match prox.new_status {
+                    Proximity::WithinMargin | Proximity::Intersecting => Point3::new(1.0, 1.0, 0.0),
+                    Proximity::Disjoint => Point3::new(0.5, 0.5, 1.0),
+                };
+
+                let parent_handle1 = physics.colliders.get(prox.collider1).unwrap().parent();
+                let parent_handle2 = physics.colliders.get(prox.collider2).unwrap().parent();
+
+                if parent_handle1 != ground_handle && parent_handle1 != sensor_handle {
+                    // TODO: need a way to access graphics & window
+                    // graphics.set_body_color(parent_handle1, color);
+                }
+                if parent_handle2 != ground_handle && parent_handle2 != sensor_handle {
+                    // TODO: need a way to access graphics & window
+                    // graphics.set_body_color(parent_handle2, color);
+                }
             }
-            if parent_handle2 != ground_handle && parent_handle2 != sensor_handle {
-                // TODO: need a way to access graphics & window
-                // graphics.set_body_color(parent_handle2, color);
-            }
-        }
-    });
+        });
 
     /*
      * Set up the testbed.
-- 
cgit 


From 6f508e5d04e5652991f9feaad09231af84542ac1 Mon Sep 17 00:00:00 2001
From: rezural <rezural@protonmail.com>
Date: Thu, 31 Dec 2020 15:23:25 +1100
Subject: remove redundant time :f32 from harness callbacks. it can be access
 via run_state.time

---
 examples3d/debug_add_remove_collider3.rs  | 2 +-
 examples3d/debug_dynamic_collider_add3.rs | 2 +-
 examples3d/debug_rollback3.rs             | 2 +-
 examples3d/fountain3.rs                   | 2 +-
 examples3d/platform3.rs                   | 2 +-
 examples3d/sensor3.rs                     | 2 +-
 6 files changed, 6 insertions(+), 6 deletions(-)

(limited to 'examples3d')

diff --git a/examples3d/debug_add_remove_collider3.rs b/examples3d/debug_add_remove_collider3.rs
index 1c59fcf..437a27d 100644
--- a/examples3d/debug_add_remove_collider3.rs
+++ b/examples3d/debug_add_remove_collider3.rs
@@ -34,7 +34,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let collider = ColliderBuilder::ball(ball_rad).density(100.0).build();
     colliders.insert(collider, ball_handle, &mut bodies);
 
-    testbed.harness_mut().add_callback(move |physics, _, _, _| {
+    testbed.harness_mut().add_callback(move |physics, _, _| {
         // Remove then re-add the ground collider.
         let coll = physics
             .colliders
diff --git a/examples3d/debug_dynamic_collider_add3.rs b/examples3d/debug_dynamic_collider_add3.rs
index da33494..92ae209 100644
--- a/examples3d/debug_dynamic_collider_add3.rs
+++ b/examples3d/debug_dynamic_collider_add3.rs
@@ -45,7 +45,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let mut extra_colliders = Vec::new();
     let snapped_frame = 51;
 
-    testbed.harness_mut().add_callback(move |physics, _, _, _| {
+    testbed.harness_mut().add_callback(move |physics, _, _| {
         step += 1;
 
         // Add a bigger ball collider
diff --git a/examples3d/debug_rollback3.rs b/examples3d/debug_rollback3.rs
index c3eb684..aa0b0ff 100644
--- a/examples3d/debug_rollback3.rs
+++ b/examples3d/debug_rollback3.rs
@@ -44,7 +44,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let mut step = 0;
     let snapped_frame = 51;
 
-    testbed.harness_mut().add_callback(move |physics, _, _, _| {
+    testbed.harness_mut().add_callback(move |physics, _, _| {
         step += 1;
 
         // Snap the ball velocity or restore it.
diff --git a/examples3d/fountain3.rs b/examples3d/fountain3.rs
index 5dcf2d8..0909a0c 100644
--- a/examples3d/fountain3.rs
+++ b/examples3d/fountain3.rs
@@ -26,7 +26,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let mut k = 0;
 
     // Callback that will be executed on the main loop to handle proximities.
-    testbed.harness_mut().add_callback(move |physics, _, _, _| {
+    testbed.harness_mut().add_callback(move |physics, _, _| {
         k += 1;
         let rigid_body = RigidBodyBuilder::new_dynamic()
             .translation(0.0, 10.0, 0.0)
diff --git a/examples3d/platform3.rs b/examples3d/platform3.rs
index b71d307..944adae 100644
--- a/examples3d/platform3.rs
+++ b/examples3d/platform3.rs
@@ -67,7 +67,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let mut count = 0;
     testbed
         .harness_mut()
-        .add_callback(move |physics, _, run_state, _| {
+        .add_callback(move |physics, _, run_state| {
             count += 1;
             if count % 100 > 50 {
                 return;
diff --git a/examples3d/sensor3.rs b/examples3d/sensor3.rs
index e734258..db01265 100644
--- a/examples3d/sensor3.rs
+++ b/examples3d/sensor3.rs
@@ -75,7 +75,7 @@ pub fn init_world(testbed: &mut Testbed) {
     // Callback that will be executed on the main loop to handle proximities.
     testbed
         .harness_mut()
-        .add_callback(move |physics, events, _, _| {
+        .add_callback(move |physics, events, _| {
             while let Ok(prox) = events.proximity_events.try_recv() {
                 let color = match prox.new_status {
                     Proximity::WithinMargin | Proximity::Intersecting => Point3::new(1.0, 1.0, 0.0),
-- 
cgit 


From 34e79e9afc21ff0202d8a0338d0e8e038402a159 Mon Sep 17 00:00:00 2001
From: rezural <rezural@protonmail.com>
Date: Sat, 2 Jan 2021 16:45:55 +1100
Subject: unify callbacks with & without graphics & window

---
 examples3d/debug_add_remove_collider3.rs  | 10 ++++++--
 examples3d/debug_dynamic_collider_add3.rs | 19 ++++++++++----
 examples3d/debug_rollback3.rs             |  2 +-
 examples3d/fountain3.rs                   | 15 +++++++----
 examples3d/platform3.rs                   | 40 ++++++++++++++---------------
 examples3d/sensor3.rs                     | 42 ++++++++++++++++---------------
 6 files changed, 74 insertions(+), 54 deletions(-)

(limited to 'examples3d')

diff --git a/examples3d/debug_add_remove_collider3.rs b/examples3d/debug_add_remove_collider3.rs
index 437a27d..8a3d672 100644
--- a/examples3d/debug_add_remove_collider3.rs
+++ b/examples3d/debug_add_remove_collider3.rs
@@ -34,7 +34,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let collider = ColliderBuilder::ball(ball_rad).density(100.0).build();
     colliders.insert(collider, ball_handle, &mut bodies);
 
-    testbed.harness_mut().add_callback(move |physics, _, _| {
+    testbed.add_callback(move |window, graphics, physics, _, _| {
         // Remove then re-add the ground collider.
         let coll = physics
             .colliders
@@ -45,7 +45,13 @@ pub fn init_world(testbed: &mut Testbed) {
             .insert(coll, ground_handle, &mut physics.bodies);
 
         // TODO: need a way to access graphics & window
-        // graphics.add_collider(window, ground_collider_handle, &physics.colliders);
+        if graphics.is_some() {
+            graphics.unwrap().add_collider(
+                window.unwrap(),
+                ground_collider_handle,
+                &physics.colliders,
+            );
+        }
     });
 
     /*
diff --git a/examples3d/debug_dynamic_collider_add3.rs b/examples3d/debug_dynamic_collider_add3.rs
index 92ae209..cefe030 100644
--- a/examples3d/debug_dynamic_collider_add3.rs
+++ b/examples3d/debug_dynamic_collider_add3.rs
@@ -45,7 +45,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let mut extra_colliders = Vec::new();
     let snapped_frame = 51;
 
-    testbed.harness_mut().add_callback(move |physics, _, _| {
+    testbed.add_callback(move |window, graphics, physics, _, _| {
         step += 1;
 
         // Add a bigger ball collider
@@ -56,8 +56,14 @@ pub fn init_world(testbed: &mut Testbed) {
             physics
                 .colliders
                 .insert(collider, ball_handle, &mut physics.bodies);
-        // TODO: need a way to access graphics & window
-        // graphics.add_collider(window, new_ball_collider_handle, &physics.colliders);
+
+        if graphics.is_some() {
+            graphics.unwrap().add_collider(
+                window.unwrap(),
+                new_ball_collider_handle,
+                &physics.colliders,
+            );
+        }
         extra_colliders.push(new_ball_collider_handle);
 
         // Snap the ball velocity or restore it.
@@ -97,8 +103,11 @@ pub fn init_world(testbed: &mut Testbed) {
                 .colliders
                 .insert(coll, ground_handle, &mut physics.bodies);
 
-        // TODO: need a way to access graphics & window
-        // graphics.add_collider(window, new_ground_collider_handle, &physics.colliders);
+        //FIXME: This causes an error
+        // if graphics.is_some() {
+        //     graphics.unwrap().add_collider(window.unwrap(), new_ground_collider_handle, &physics.colliders);
+        // }
+
         extra_colliders.push(new_ground_collider_handle);
     });
 
diff --git a/examples3d/debug_rollback3.rs b/examples3d/debug_rollback3.rs
index aa0b0ff..27b27cf 100644
--- a/examples3d/debug_rollback3.rs
+++ b/examples3d/debug_rollback3.rs
@@ -44,7 +44,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let mut step = 0;
     let snapped_frame = 51;
 
-    testbed.harness_mut().add_callback(move |physics, _, _| {
+    testbed.add_callback(move |_, _, physics, _, _| {
         step += 1;
 
         // Snap the ball velocity or restore it.
diff --git a/examples3d/fountain3.rs b/examples3d/fountain3.rs
index 0909a0c..e42f71a 100644
--- a/examples3d/fountain3.rs
+++ b/examples3d/fountain3.rs
@@ -26,7 +26,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let mut k = 0;
 
     // Callback that will be executed on the main loop to handle proximities.
-    testbed.harness_mut().add_callback(move |physics, _, _| {
+    testbed.add_callback(move |window, graphics, physics, _, _| {
         k += 1;
         let rigid_body = RigidBodyBuilder::new_dynamic()
             .translation(0.0, 10.0, 0.0)
@@ -41,8 +41,12 @@ pub fn init_world(testbed: &mut Testbed) {
         physics
             .colliders
             .insert(collider, handle, &mut physics.bodies);
-        // TODO: need a way to access graphics & window
-        // graphics.add(window, handle, &physics.bodies, &physics.colliders);
+
+        if graphics.is_some() {
+            graphics
+                .unwrap()
+                .add(window.unwrap(), handle, &physics.bodies, &physics.colliders);
+        }
 
         if physics.bodies.len() > MAX_NUMBER_OF_BODIES {
             let mut to_remove: Vec<_> = physics
@@ -69,8 +73,9 @@ pub fn init_world(testbed: &mut Testbed) {
                     .narrow_phase
                     .maintain(&mut physics.colliders, &mut physics.bodies);
 
-                // TODO: need a way to access graphics & window
-                // graphics.remove_body_nodes(window, *handle);
+                // if graphics.is_some() {
+                //     graphics.unwrap().remove_body_nodes(window.unwrap(), *handle);
+                // }
             }
         }
     });
diff --git a/examples3d/platform3.rs b/examples3d/platform3.rs
index 944adae..7b5c986 100644
--- a/examples3d/platform3.rs
+++ b/examples3d/platform3.rs
@@ -65,31 +65,29 @@ pub fn init_world(testbed: &mut Testbed) {
      * Setup a callback to control the platform.
      */
     let mut count = 0;
-    testbed
-        .harness_mut()
-        .add_callback(move |physics, _, run_state| {
-            count += 1;
-            if count % 100 > 50 {
-                return;
-            }
-
-            if let Some(platform) = physics.bodies.get_mut(platform_handle) {
-                let mut next_pos = *platform.position();
+    testbed.add_callback(move |_, _, physics, _, run_state| {
+        count += 1;
+        if count % 100 > 50 {
+            return;
+        }
 
-                let dt = 0.016;
-                next_pos.translation.vector.y += (run_state.time * 5.0).sin() * dt;
-                next_pos.translation.vector.z += run_state.time.sin() * 5.0 * dt;
+        if let Some(platform) = physics.bodies.get_mut(platform_handle) {
+            let mut next_pos = *platform.position();
 
-                if next_pos.translation.vector.z >= rad * 10.0 {
-                    next_pos.translation.vector.z -= dt;
-                }
-                if next_pos.translation.vector.z <= -rad * 10.0 {
-                    next_pos.translation.vector.z += dt;
-                }
+            let dt = 0.016;
+            next_pos.translation.vector.y += (run_state.time * 5.0).sin() * dt;
+            next_pos.translation.vector.z += run_state.time.sin() * 5.0 * dt;
 
-                platform.set_next_kinematic_position(next_pos);
+            if next_pos.translation.vector.z >= rad * 10.0 {
+                next_pos.translation.vector.z -= dt;
             }
-        });
+            if next_pos.translation.vector.z <= -rad * 10.0 {
+                next_pos.translation.vector.z += dt;
+            }
+
+            platform.set_next_kinematic_position(next_pos);
+        }
+    });
 
     /*
      * Run the simulation.
diff --git a/examples3d/sensor3.rs b/examples3d/sensor3.rs
index db01265..37a8f5a 100644
--- a/examples3d/sensor3.rs
+++ b/examples3d/sensor3.rs
@@ -73,28 +73,30 @@ pub fn init_world(testbed: &mut Testbed) {
     testbed.set_body_color(sensor_handle, Point3::new(0.5, 1.0, 1.0));
 
     // Callback that will be executed on the main loop to handle proximities.
-    testbed
-        .harness_mut()
-        .add_callback(move |physics, events, _| {
-            while let Ok(prox) = events.proximity_events.try_recv() {
-                let color = match prox.new_status {
-                    Proximity::WithinMargin | Proximity::Intersecting => Point3::new(1.0, 1.0, 0.0),
-                    Proximity::Disjoint => Point3::new(0.5, 0.5, 1.0),
-                };
-
-                let parent_handle1 = physics.colliders.get(prox.collider1).unwrap().parent();
-                let parent_handle2 = physics.colliders.get(prox.collider2).unwrap().parent();
-
-                if parent_handle1 != ground_handle && parent_handle1 != sensor_handle {
-                    // TODO: need a way to access graphics & window
-                    // graphics.set_body_color(parent_handle1, color);
-                }
-                if parent_handle2 != ground_handle && parent_handle2 != sensor_handle {
-                    // TODO: need a way to access graphics & window
-                    // graphics.set_body_color(parent_handle2, color);
+    testbed.add_callback(move |_, graphics, physics, events, _| {
+        let graphics = &graphics;
+        while let Ok(prox) = events.proximity_events.try_recv() {
+            let color = match prox.new_status {
+                Proximity::WithinMargin | Proximity::Intersecting => Point3::new(1.0, 1.0, 0.0),
+                Proximity::Disjoint => Point3::new(0.5, 0.5, 1.0),
+            };
+
+            let parent_handle1 = physics.colliders.get(prox.collider1).unwrap().parent();
+            let parent_handle2 = physics.colliders.get(prox.collider2).unwrap().parent();
+
+            match graphics {
+                Some(graphics) => {
+                    if parent_handle1 != ground_handle && parent_handle1 != sensor_handle {
+                        // graphics.set_body_color(parent_handle1, color);
+                    }
+                    if parent_handle2 != ground_handle && parent_handle2 != sensor_handle {
+                        // graphics.set_body_color(parent_handle2, color);
+                    }
                 }
+                None => {}
             }
-        });
+        }
+    });
 
     /*
      * Set up the testbed.
-- 
cgit 


From 5ca82eeaee5c45d31cdbb5f963d0f93b19196ea8 Mon Sep 17 00:00:00 2001
From: rezural <rezural@protonmail.com>
Date: Sun, 3 Jan 2021 19:54:56 +1100
Subject: enable graphics and windows related code in examples

---
 examples3d/debug_add_remove_collider3.rs  | 11 +++--------
 examples3d/debug_dynamic_collider_add3.rs | 18 +++++++-----------
 examples3d/fountain3.rs                   | 14 ++++++--------
 examples3d/sensor3.rs                     | 18 +++++++-----------
 4 files changed, 23 insertions(+), 38 deletions(-)

(limited to 'examples3d')

diff --git a/examples3d/debug_add_remove_collider3.rs b/examples3d/debug_add_remove_collider3.rs
index 8a3d672..f353162 100644
--- a/examples3d/debug_add_remove_collider3.rs
+++ b/examples3d/debug_add_remove_collider3.rs
@@ -34,7 +34,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let collider = ColliderBuilder::ball(ball_rad).density(100.0).build();
     colliders.insert(collider, ball_handle, &mut bodies);
 
-    testbed.add_callback(move |window, graphics, physics, _, _| {
+    testbed.add_callback(move |mut window, mut graphics, physics, _, _| {
         // Remove then re-add the ground collider.
         let coll = physics
             .colliders
@@ -44,13 +44,8 @@ pub fn init_world(testbed: &mut Testbed) {
             .colliders
             .insert(coll, ground_handle, &mut physics.bodies);
 
-        // TODO: need a way to access graphics & window
-        if graphics.is_some() {
-            graphics.unwrap().add_collider(
-                window.unwrap(),
-                ground_collider_handle,
-                &physics.colliders,
-            );
+        if let (Some(graphics), Some(window)) = (&mut graphics, &mut window) {
+            graphics.add_collider(window, ground_collider_handle, &physics.colliders);
         }
     });
 
diff --git a/examples3d/debug_dynamic_collider_add3.rs b/examples3d/debug_dynamic_collider_add3.rs
index cefe030..bd7205e 100644
--- a/examples3d/debug_dynamic_collider_add3.rs
+++ b/examples3d/debug_dynamic_collider_add3.rs
@@ -45,7 +45,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let mut extra_colliders = Vec::new();
     let snapped_frame = 51;
 
-    testbed.add_callback(move |window, graphics, physics, _, _| {
+    testbed.add_callback(move |mut window, mut graphics, physics, _, _| {
         step += 1;
 
         // Add a bigger ball collider
@@ -57,13 +57,10 @@ pub fn init_world(testbed: &mut Testbed) {
                 .colliders
                 .insert(collider, ball_handle, &mut physics.bodies);
 
-        if graphics.is_some() {
-            graphics.unwrap().add_collider(
-                window.unwrap(),
-                new_ball_collider_handle,
-                &physics.colliders,
-            );
+        if let (Some(graphics), Some(window)) = (&mut graphics, &mut window) {
+            graphics.add_collider(window, new_ball_collider_handle, &physics.colliders);
         }
+
         extra_colliders.push(new_ball_collider_handle);
 
         // Snap the ball velocity or restore it.
@@ -103,10 +100,9 @@ pub fn init_world(testbed: &mut Testbed) {
                 .colliders
                 .insert(coll, ground_handle, &mut physics.bodies);
 
-        //FIXME: This causes an error
-        // if graphics.is_some() {
-        //     graphics.unwrap().add_collider(window.unwrap(), new_ground_collider_handle, &physics.colliders);
-        // }
+        if let (Some(graphics), Some(window)) = (&mut graphics, &mut window) {
+            graphics.add_collider(window, new_ground_collider_handle, &physics.colliders);
+        }
 
         extra_colliders.push(new_ground_collider_handle);
     });
diff --git a/examples3d/fountain3.rs b/examples3d/fountain3.rs
index e42f71a..5acc2e8 100644
--- a/examples3d/fountain3.rs
+++ b/examples3d/fountain3.rs
@@ -26,7 +26,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let mut k = 0;
 
     // Callback that will be executed on the main loop to handle proximities.
-    testbed.add_callback(move |window, graphics, physics, _, _| {
+    testbed.add_callback(move |mut window, mut graphics, physics, _, _| {
         k += 1;
         let rigid_body = RigidBodyBuilder::new_dynamic()
             .translation(0.0, 10.0, 0.0)
@@ -42,10 +42,8 @@ pub fn init_world(testbed: &mut Testbed) {
             .colliders
             .insert(collider, handle, &mut physics.bodies);
 
-        if graphics.is_some() {
-            graphics
-                .unwrap()
-                .add(window.unwrap(), handle, &physics.bodies, &physics.colliders);
+        if let (Some(graphics), Some(window)) = (&mut graphics, &mut window) {
+            graphics.add(window, handle, &physics.bodies, &physics.colliders);
         }
 
         if physics.bodies.len() > MAX_NUMBER_OF_BODIES {
@@ -73,9 +71,9 @@ pub fn init_world(testbed: &mut Testbed) {
                     .narrow_phase
                     .maintain(&mut physics.colliders, &mut physics.bodies);
 
-                // if graphics.is_some() {
-                //     graphics.unwrap().remove_body_nodes(window.unwrap(), *handle);
-                // }
+                if let (Some(graphics), Some(window)) = (&mut graphics, &mut window) {
+                    graphics.remove_body_nodes(window, *handle);
+                }
             }
         }
     });
diff --git a/examples3d/sensor3.rs b/examples3d/sensor3.rs
index 37a8f5a..4160248 100644
--- a/examples3d/sensor3.rs
+++ b/examples3d/sensor3.rs
@@ -73,8 +73,7 @@ pub fn init_world(testbed: &mut Testbed) {
     testbed.set_body_color(sensor_handle, Point3::new(0.5, 1.0, 1.0));
 
     // Callback that will be executed on the main loop to handle proximities.
-    testbed.add_callback(move |_, graphics, physics, events, _| {
-        let graphics = &graphics;
+    testbed.add_callback(move |_, mut graphics, physics, events, _| {
         while let Ok(prox) = events.proximity_events.try_recv() {
             let color = match prox.new_status {
                 Proximity::WithinMargin | Proximity::Intersecting => Point3::new(1.0, 1.0, 0.0),
@@ -84,16 +83,13 @@ pub fn init_world(testbed: &mut Testbed) {
             let parent_handle1 = physics.colliders.get(prox.collider1).unwrap().parent();
             let parent_handle2 = physics.colliders.get(prox.collider2).unwrap().parent();
 
-            match graphics {
-                Some(graphics) => {
-                    if parent_handle1 != ground_handle && parent_handle1 != sensor_handle {
-                        // graphics.set_body_color(parent_handle1, color);
-                    }
-                    if parent_handle2 != ground_handle && parent_handle2 != sensor_handle {
-                        // graphics.set_body_color(parent_handle2, color);
-                    }
+            if let Some(graphics) = &mut graphics {
+                if parent_handle1 != ground_handle && parent_handle1 != sensor_handle {
+                    graphics.set_body_color(parent_handle1, color);
+                }
+                if parent_handle2 != ground_handle && parent_handle2 != sensor_handle {
+                    graphics.set_body_color(parent_handle2, color);
                 }
-                None => {}
             }
         }
     });
-- 
cgit