From c56ebcc663d15ded86233d8caa11d00179e5ec16 Mon Sep 17 00:00:00 2001 From: rezural Date: Thu, 24 Dec 2020 17:58:37 +1100 Subject: refactor testbed to use harness --- src_testbed/testbed.rs | 301 +++++++++++++++++++------------------------------ 1 file changed, 117 insertions(+), 184 deletions(-) (limited to 'src_testbed/testbed.rs') diff --git a/src_testbed/testbed.rs b/src_testbed/testbed.rs index 4fac8e1..ddfb770 100644 --- a/src_testbed/testbed.rs +++ b/src_testbed/testbed.rs @@ -33,6 +33,7 @@ use crate::box2d_backend::Box2dWorld; use crate::nphysics_backend::NPhysicsWorld; #[cfg(all(feature = "dim3", feature = "other-backends"))] use crate::physx_backend::PhysxWorld; +use crate::harness::{Harness, RunState}; const RAPIER_BACKEND: usize = 0; const NPHYSICS_BACKEND: usize = 1; @@ -116,14 +117,13 @@ pub struct TestbedState { pub physx_use_two_friction_directions: bool, pub num_threads: usize, pub snapshot: Option, - #[cfg(feature = "parallel")] - pub thread_pool: rapier::rayon::ThreadPool, + // #[cfg(feature = "parallel")] + // pub thread_pool: rapier::rayon::ThreadPool, pub timestep_id: usize, } pub struct Testbed { builders: Vec<(&'static str, fn(&mut Testbed))>, - physics: PhysicsState, graphics: GraphicsManager, nsteps: usize, camera_locked: bool, // Used so that the camera can remain the same before and after we change backend or press the restart button. @@ -138,6 +138,7 @@ pub struct Testbed { event_handler: ChannelEventCollector, ui: Option, state: TestbedState, + harness: Harness, #[cfg(all(feature = "dim2", feature = "other-backends"))] box2d: Option, #[cfg(all(feature = "dim3", feature = "other-backends"))] @@ -147,7 +148,7 @@ pub struct Testbed { } type Callbacks = - Vec>; + Vec>; impl Testbed { pub fn new_empty() -> Testbed { @@ -201,6 +202,8 @@ impl Testbed { thread_pool, }; + let harness = Harness::new_empty(); + let contact_channel = crossbeam::channel::unbounded(); let proximity_channel = crossbeam::channel::unbounded(); let event_handler = ChannelEventCollector::new(proximity_channel.0, contact_channel.0); @@ -208,11 +211,9 @@ impl Testbed { contact_events: contact_channel.1, proximity_events: proximity_channel.1, }; - let physics = PhysicsState::new(); Testbed { builders: Vec::new(), - physics, callbacks: Vec::new(), plugins: Vec::new(), graphics, @@ -227,6 +228,7 @@ impl Testbed { event_handler, events, state, + harness, #[cfg(all(feature = "dim2", feature = "other-backends"))] box2d: None, #[cfg(all(feature = "dim3", feature = "other-backends"))] @@ -238,7 +240,7 @@ impl Testbed { pub fn new(bodies: RigidBodySet, colliders: ColliderSet, joints: JointSet) -> Self { let mut res = Self::new_empty(); - res.set_world(bodies, colliders, joints); + res.harness.set_world(bodies, colliders, joints); res } @@ -269,11 +271,11 @@ impl Testbed { } pub fn integration_parameters_mut(&mut self) -> &mut IntegrationParameters { - &mut self.physics.integration_parameters + &mut self.harness.physics.integration_parameters } pub fn physics_state_mut(&mut self) -> &mut PhysicsState { - &mut self.physics + &mut self.harness.physics } pub fn set_world(&mut self, bodies: RigidBodySet, colliders: ColliderSet, joints: JointSet) { @@ -287,32 +289,30 @@ impl Testbed { joints: JointSet, gravity: Vector, ) { + println!("Num bodies: {}", bodies.len()); println!("Num joints: {}", joints.len()); - self.physics.gravity = gravity; - 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.harness.set_world_with_gravity(bodies, colliders, joints, gravity); + self.state .action_flags .set(TestbedActionFlags::RESET_WORLD_GRAPHICS, true); + + //FIXME: remove time & state.timestep_id if appropriate 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(); + + let physics = &self.harness.physics; #[cfg(all(feature = "dim2", feature = "other-backends"))] { if self.state.selected_backend == BOX2D_BACKEND { self.box2d = Some(Box2dWorld::from_rapier( - self.physics.gravity, - &self.physics.bodies, - &self.physics.colliders, - &self.physics.joints, + physics.gravity, + &physics.bodies, + &physics.colliders, + &physics.joints, )); } } @@ -323,13 +323,13 @@ impl Testbed { || self.state.selected_backend == PHYSX_BACKEND_TWO_FRICTION_DIR { self.physx = Some(PhysxWorld::from_rapier( - self.physics.gravity, - &self.physics.integration_parameters, - &self.physics.bodies, - &self.physics.colliders, - &self.physics.joints, + physics.gravity, + &physics.integration_parameters, + &physics.bodies, + &physics.colliders, + &physics.joints, self.state.selected_backend == PHYSX_BACKEND_TWO_FRICTION_DIR, - self.state.num_threads, + self.harness.state.num_threads, )); } } @@ -338,10 +338,10 @@ impl Testbed { { if self.state.selected_backend == NPHYSICS_BACKEND { self.nphysics = Some(NPhysicsWorld::from_rapier( - self.physics.gravity, - &self.physics.bodies, - &self.physics.colliders, - &self.physics.joints, + physics.gravity, + &physics.bodies, + &physics.colliders, + &physics.joints, )); } } @@ -438,7 +438,7 @@ impl Testbed { } pub fn add_callback< - F: FnMut(&mut Window, &mut PhysicsState, &PhysicsEvents, &mut GraphicsManager, f32) + 'static, + F: FnMut(&mut Window, &mut PhysicsState, &PhysicsEvents, &mut GraphicsManager, &RunState) + 'static, >( &mut self, callback: F, @@ -484,11 +484,11 @@ impl Testbed { && (backend_id == PHYSX_BACKEND_PATCH_FRICTION || backend_id == PHYSX_BACKEND_TWO_FRICTION_DIR) { - self.physics.integration_parameters.max_velocity_iterations = 1; - self.physics.integration_parameters.max_position_iterations = 4; + self.harness.physics.integration_parameters.max_velocity_iterations = 1; + self.harness.physics.integration_parameters.max_position_iterations = 4; } else { - self.physics.integration_parameters.max_velocity_iterations = 4; - self.physics.integration_parameters.max_position_iterations = 1; + self.harness.physics.integration_parameters.max_velocity_iterations = 4; + self.harness.physics.integration_parameters.max_position_iterations = 1; } // Init world. (builder.1)(&mut self); @@ -498,55 +498,19 @@ impl Testbed { { // FIXME: code duplicated from self.step() if self.state.selected_backend == RAPIER_BACKEND { - #[cfg(feature = "parallel")] - { - let physics = &mut self.physics; - let event_handler = &self.event_handler; - self.state.thread_pool.install(|| { - physics.pipeline.step( - &physics.gravity, - &physics.integration_parameters, - &mut physics.broad_phase, - &mut physics.narrow_phase, - &mut physics.bodies, - &mut physics.colliders, - &mut physics.joints, - None, - None, - event_handler, - ); - }); - } - - #[cfg(not(feature = "parallel"))] - self.physics.pipeline.step( - &self.physics.gravity, - &self.physics.integration_parameters, - &mut self.physics.broad_phase, - &mut self.physics.narrow_phase, - &mut self.physics.bodies, - &mut self.physics.colliders, - &mut self.physics.joints, - None, - None, - &self.event_handler, - ); - - self.physics - .query_pipeline - .update(&self.physics.bodies, &self.physics.colliders); + self.harness.step(); } #[cfg(all(feature = "dim2", feature = "other-backends"))] { if self.state.selected_backend == BOX2D_BACKEND { self.box2d.as_mut().unwrap().step( - &mut self.physics.pipeline.counters, - &self.physics.integration_parameters, + &mut self.harness.physics.pipeline.counters, + &physics.integration_parameters, ); self.box2d.as_mut().unwrap().sync( - &mut self.physics.bodies, - &mut self.physics.colliders, + &mut self.harness.physics.bodies, + &mut self.harness.physics.colliders, ); } } @@ -558,12 +522,12 @@ impl Testbed { { // println!("Step"); self.physx.as_mut().unwrap().step( - &mut self.physics.pipeline.counters, - &self.physics.integration_parameters, + &mut self.harness.physics.pipeline.counters, + &physics.integration_parameters, ); self.physx.as_mut().unwrap().sync( - &mut self.physics.bodies, - &mut self.physics.colliders, + &mut self.harness.physics.bodies, + &mut self.harness.physics.colliders, ); } } @@ -572,12 +536,12 @@ impl Testbed { { if self.state.selected_backend == NPHYSICS_BACKEND { self.nphysics.as_mut().unwrap().step( - &mut self.physics.pipeline.counters, - &self.physics.integration_parameters, + &mut self.harness.physics.pipeline.counters, + &physics.integration_parameters, ); self.nphysics.as_mut().unwrap().sync( - &mut self.physics.bodies, - &mut self.physics.colliders, + &mut self.harness.physics.bodies, + &mut self.harness.physics.colliders, ); } } @@ -585,7 +549,7 @@ impl Testbed { // Skip the first update. if k > 0 { - timings.push(self.physics.pipeline.counters.step_time.time()); + timings.push(self.harness.physics.pipeline.counters.step_time.time()); } } results.push(timings); @@ -639,8 +603,7 @@ impl Testbed { .set(TestbedActionFlags::EXAMPLE_CHANGED, true), WindowEvent::Key(Key::C, Action::Release, _) => { // Delete 1 collider of 10% of the remaining dynamic bodies. - let mut colliders: Vec<_> = self - .physics + let mut colliders: Vec<_> = self.harness.physics .bodies .iter() .filter(|e| e.1.is_dynamic()) @@ -651,14 +614,17 @@ impl Testbed { let num_to_delete = (colliders.len() / 10).max(1); for to_delete in &colliders[..num_to_delete] { - self.physics + self + .harness + .physics .colliders - .remove(to_delete[0], &mut self.physics.bodies, true); + .remove(to_delete[0], &mut self.harness.physics.bodies, true); } } WindowEvent::Key(Key::D, Action::Release, _) => { // Delete 10% of the remaining dynamic bodies. let dynamic_bodies: Vec<_> = self + .harness .physics .bodies .iter() @@ -667,21 +633,23 @@ impl Testbed { .collect(); let num_to_delete = (dynamic_bodies.len() / 10).max(1); for to_delete in &dynamic_bodies[..num_to_delete] { - self.physics.bodies.remove( + self.harness.physics.bodies.remove( *to_delete, - &mut self.physics.colliders, - &mut self.physics.joints, + &mut self.harness.physics.colliders, + &mut self.harness.physics.joints, ); } } WindowEvent::Key(Key::J, Action::Release, _) => { // Delete 10% of the remaining joints. - let joints: Vec<_> = self.physics.joints.iter().map(|e| e.0).collect(); + let joints: Vec<_> = self.harness.physics.joints.iter().map(|e| e.0).collect(); let num_to_delete = (joints.len() / 10).max(1); for to_delete in &joints[..num_to_delete] { - self.physics + self + .harness + .physics .joints - .remove(*to_delete, &mut self.physics.bodies, true); + .remove(*to_delete, &mut self.harness.physics.bodies, true); } } WindowEvent::CursorPos(x, y, _) => { @@ -1028,15 +996,16 @@ impl Testbed { .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, + let physics = &self.harness.physics; + let hit = physics.query_pipeline.cast_ray( + &physics.colliders, &ray, f32::MAX, InteractionGroups::all(), ); if let Some((_, collider, _)) = hit { - if self.physics.bodies[collider.parent()].is_dynamic() { + 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() { node.select() @@ -1075,11 +1044,13 @@ impl State for Testbed { if let Some(ui) = &mut self.ui { ui.update( window, - &mut self.physics.integration_parameters, + &mut self.harness.physics.integration_parameters, &mut self.state, ); } + // let physics = &self.harness.physics; + // Handle UI actions. { let backend_changed = self @@ -1123,7 +1094,7 @@ impl State for Testbed { self.clear(window); if self.state.selected_example != prev_example { - self.physics.integration_parameters = IntegrationParameters::default(); + self.harness.physics.integration_parameters = IntegrationParameters::default(); } self.builders[self.state.selected_example].1(self); @@ -1141,11 +1112,11 @@ impl State for Testbed { .set(TestbedActionFlags::TAKE_SNAPSHOT, false); self.state.snapshot = PhysicsSnapshot::new( self.state.timestep_id, - &self.physics.broad_phase, - &self.physics.narrow_phase, - &self.physics.bodies, - &self.physics.colliders, - &self.physics.joints, + &self.harness.physics.broad_phase, + &self.harness.physics.narrow_phase, + &self.harness.physics.bodies, + &self.harness.physics.colliders, + &self.harness.physics.joints, ) .ok(); @@ -1154,6 +1125,7 @@ impl State for Testbed { } } + if self .state .action_flags @@ -1172,8 +1144,8 @@ impl State for Testbed { } self.set_world(w.3, w.4, w.5); - self.physics.broad_phase = w.1; - self.physics.narrow_phase = w.2; + self.harness.physics.broad_phase = w.1; + self.harness.physics.narrow_phase = w.2; self.state.timestep_id = w.0; } } @@ -1187,12 +1159,12 @@ impl State for Testbed { self.state .action_flags .set(TestbedActionFlags::RESET_WORLD_GRAPHICS, false); - for (handle, _) in self.physics.bodies.iter() { + for (handle, _) in self.harness.physics.bodies.iter() { self.graphics.add( window, handle, - &self.physics.bodies, - &self.physics.colliders, + &self.harness.physics.bodies, + &self.harness.physics.colliders, ); } @@ -1207,7 +1179,7 @@ impl State for Testbed { != self.state.flags.contains(TestbedStateFlags::WIREFRAME) { self.graphics.toggle_wireframe_mode( - &self.physics.colliders, + &self.harness.physics.colliders, self.state.flags.contains(TestbedStateFlags::WIREFRAME), ) } @@ -1216,11 +1188,11 @@ impl State for Testbed { != self.state.flags.contains(TestbedStateFlags::SLEEP) { if self.state.flags.contains(TestbedStateFlags::SLEEP) { - for (_, mut body) in self.physics.bodies.iter_mut() { + for (_, mut body) in self.harness.physics.bodies.iter_mut() { body.activation.threshold = ActivationStatus::default_threshold(); } } else { - for (_, mut body) in self.physics.bodies.iter_mut() { + for (_, mut body) in self.harness.physics.bodies.iter_mut() { body.wake_up(true); body.activation.threshold = -1.0; } @@ -1233,7 +1205,7 @@ impl State for Testbed { .contains(TestbedStateFlags::SUB_STEPPING) != self.state.flags.contains(TestbedStateFlags::SUB_STEPPING) { - self.physics.integration_parameters.return_after_ccd_substep = + self.harness.physics.integration_parameters.return_after_ccd_substep = self.state.flags.contains(TestbedStateFlags::SUB_STEPPING); } @@ -1285,46 +1257,11 @@ impl State for Testbed { for _ in 0..self.nsteps { self.state.timestep_id += 1; if self.state.selected_backend == RAPIER_BACKEND { - #[cfg(feature = "parallel")] - { - let physics = &mut self.physics; - let event_handler = &self.event_handler; - self.state.thread_pool.install(|| { - physics.pipeline.step( - &physics.gravity, - &physics.integration_parameters, - &mut physics.broad_phase, - &mut physics.narrow_phase, - &mut physics.bodies, - &mut physics.colliders, - &mut physics.joints, - None, - None, - event_handler, - ); - }); - } - - #[cfg(not(feature = "parallel"))] - self.physics.pipeline.step( - &self.physics.gravity, - &self.physics.integration_parameters, - &mut self.physics.broad_phase, - &mut self.physics.narrow_phase, - &mut self.physics.bodies, - &mut self.physics.colliders, - &mut self.physics.joints, - None, - None, - &self.event_handler, - ); - - self.physics - .query_pipeline - .update(&self.physics.bodies, &self.physics.colliders); + self.harness.step(); + //FIXME: this should probably be delegated to harness plugins for plugin in &mut self.plugins { - plugin.step(&mut self.physics) + plugin.step(&mut self.harness.physics) } } @@ -1332,13 +1269,13 @@ impl State for Testbed { { if self.state.selected_backend == BOX2D_BACKEND { self.box2d.as_mut().unwrap().step( - &mut self.physics.pipeline.counters, - &self.physics.integration_parameters, + &mut physics.pipeline.counters, + &physics.integration_parameters, ); self.box2d .as_mut() .unwrap() - .sync(&mut self.physics.bodies, &mut self.physics.colliders); + .sync(&mut physics.bodies, &mut physics.colliders); } } @@ -1349,13 +1286,13 @@ impl State for Testbed { { // println!("Step"); self.physx.as_mut().unwrap().step( - &mut self.physics.pipeline.counters, - &self.physics.integration_parameters, + &mut physics.pipeline.counters, + &physics.integration_parameters, ); self.physx .as_mut() .unwrap() - .sync(&mut self.physics.bodies, &mut self.physics.colliders); + .sync(&mut physics.bodies, &mut physics.colliders); } } @@ -1363,28 +1300,21 @@ impl State for Testbed { { if self.state.selected_backend == NPHYSICS_BACKEND { self.nphysics.as_mut().unwrap().step( - &mut self.physics.pipeline.counters, - &self.physics.integration_parameters, + &mut physics.pipeline.counters, + &physics.integration_parameters, ); self.nphysics .as_mut() .unwrap() - .sync(&mut self.physics.bodies, &mut self.physics.colliders); + .sync(&mut physics.bodies, &mut physics.colliders); } } - for f in &mut self.callbacks { - f( - window, - &mut self.physics, - &self.events, - &mut self.graphics, - self.time, - ) - } - + // FIXME: should this be handled by harness plugins? for plugin in &mut self.plugins { - plugin.run_callbacks(window, &mut self.physics, self.time) + { + plugin.run_callbacks(window, &mut self.harness.physics, self.time); + } } self.events.poll_all(); @@ -1396,20 +1326,22 @@ impl State for Testbed { // #[cfg(feature = "log")] // debug!("{}", self.world.counters); // } - self.time += self.physics.integration_parameters.dt(); + self.time += self.harness.physics.integration_parameters.dt(); } } - self.highlight_hovered_body(window); + // FIXME: this is causing errors, but should be put back in some how + // self.highlight_hovered_body(window); + let physics = &self.harness.physics; self.graphics - .draw(&self.physics.bodies, &self.physics.colliders, window); + .draw(&physics.bodies, &physics.colliders, window); for plugin in &mut self.plugins { plugin.draw(); } if self.state.flags.contains(TestbedStateFlags::CONTACT_POINTS) { - draw_contacts(window, &self.physics.narrow_phase, &self.physics.colliders); + draw_contacts(window, &physics.narrow_phase, &physics.colliders); } if self.state.running == RunMode::Step { @@ -1421,7 +1353,7 @@ impl State for Testbed { } let color = Point3::new(0.0, 0.0, 0.0); - let counters = self.physics.pipeline.counters; + let counters = physics.pipeline.counters; let mut profile = String::new(); if self.state.flags.contains(TestbedStateFlags::PROFILE) { @@ -1472,11 +1404,12 @@ CCD: {:.2}ms if self.state.flags.contains(TestbedStateFlags::DEBUG) { let t = instant::now(); - 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 physics = &self.harness.physics; + let bf = bincode::serialize(&physics.broad_phase).unwrap(); + let nf = bincode::serialize(&physics.narrow_phase).unwrap(); + let bs = bincode::serialize(&physics.bodies).unwrap(); + let cs = bincode::serialize(&physics.colliders).unwrap(); + let js = bincode::serialize(&physics.joints).unwrap(); let serialization_time = instant::now() - t; let hash_bf = md5::compute(&bf); let hash_nf = md5::compute(&nf); -- cgit