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 From fbde6847df10e0a5a9a5eac0912abaa641106f88 Mon Sep 17 00:00:00 2001 From: rezural Date: Thu, 24 Dec 2020 18:02:19 +1100 Subject: remove unused physics var --- src_testbed/testbed.rs | 6 ++---- 1 file changed, 2 insertions(+), 4 deletions(-) (limited to 'src_testbed/testbed.rs') diff --git a/src_testbed/testbed.rs b/src_testbed/testbed.rs index ddfb770..778dd6e 100644 --- a/src_testbed/testbed.rs +++ b/src_testbed/testbed.rs @@ -21,11 +21,11 @@ use na::{self, Point2, Point3, Vector3}; use rapier::dynamics::{ ActivationStatus, IntegrationParameters, JointSet, RigidBodyHandle, RigidBodySet, }; -use rapier::geometry::{BroadPhase, ColliderHandle, ColliderSet, NarrowPhase}; +use rapier::geometry::{ColliderHandle, ColliderSet, NarrowPhase}; #[cfg(feature = "dim3")] use rapier::geometry::{InteractionGroups, Ray}; use rapier::math::Vector; -use rapier::pipeline::{ChannelEventCollector, PhysicsPipeline, QueryPipeline}; +use rapier::pipeline::{ChannelEventCollector}; #[cfg(all(feature = "dim2", feature = "other-backends"))] use crate::box2d_backend::Box2dWorld; @@ -303,8 +303,6 @@ impl Testbed { self.state.timestep_id = 0; self.state.highlighted_body = None; - let physics = &self.harness.physics; - #[cfg(all(feature = "dim2", feature = "other-backends"))] { if self.state.selected_backend == BOX2D_BACKEND { -- cgit From 0a0c79a36bb28f282fb4ca6d057e7de3e3e7e34c Mon Sep 17 00:00:00 2001 From: rezural Date: Thu, 24 Dec 2020 18:25:35 +1100 Subject: remove time & timestep_id from testbed side of things remove events code --- src_testbed/testbed.rs | 28 ++++++---------------------- 1 file changed, 6 insertions(+), 22 deletions(-) (limited to 'src_testbed/testbed.rs') diff --git a/src_testbed/testbed.rs b/src_testbed/testbed.rs index 778dd6e..f89346b 100644 --- a/src_testbed/testbed.rs +++ b/src_testbed/testbed.rs @@ -117,9 +117,6 @@ 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, - pub timestep_id: usize, } pub struct Testbed { @@ -129,13 +126,10 @@ pub struct Testbed { camera_locked: bool, // Used so that the camera can remain the same before and after we change backend or press the restart button. callbacks: Callbacks, plugins: Vec>, - time: f32, hide_counters: bool, // persistant_contacts: HashMap, font: Rc, cursor_pos: Point2, - events: PhysicsEvents, - event_handler: ChannelEventCollector, ui: Option, state: TestbedState, harness: Harness, @@ -194,7 +188,6 @@ impl Testbed { backend_names, example_names: Vec::new(), selected_example: 0, - timestep_id: 0, selected_backend: RAPIER_BACKEND, physx_use_two_friction_directions: true, num_threads, @@ -219,14 +212,11 @@ impl Testbed { graphics, nsteps: 1, camera_locked: false, - time: 0.0, hide_counters: true, // persistant_contacts: HashMap::new(), font: Font::default(), cursor_pos: Point2::new(0.0f32, 0.0), ui, - event_handler, - events, state, harness, #[cfg(all(feature = "dim2", feature = "other-backends"))] @@ -298,9 +288,6 @@ impl Testbed { .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; #[cfg(all(feature = "dim2", feature = "other-backends"))] @@ -462,6 +449,7 @@ impl Testbed { } } + //FIXME: move this to dedicated benchmarking code if benchmark_mode { use std::fs::File; use std::io::{BufWriter, Write}; @@ -494,7 +482,6 @@ impl Testbed { let mut timings = Vec::new(); for k in 0..=NUM_ITERS { { - // FIXME: code duplicated from self.step() if self.state.selected_backend == RAPIER_BACKEND { self.harness.step(); } @@ -1109,7 +1096,7 @@ impl State for Testbed { .action_flags .set(TestbedActionFlags::TAKE_SNAPSHOT, false); self.state.snapshot = PhysicsSnapshot::new( - self.state.timestep_id, + self.harness.state.timestep_id, &self.harness.physics.broad_phase, &self.harness.physics.narrow_phase, &self.harness.physics.bodies, @@ -1144,7 +1131,8 @@ impl State for Testbed { self.set_world(w.3, w.4, w.5); self.harness.physics.broad_phase = w.1; self.harness.physics.narrow_phase = w.2; - self.state.timestep_id = w.0; + //FIXME: not completely sure this is valid + self.harness.state.timestep_id = w.0; } } } @@ -1253,7 +1241,6 @@ impl State for Testbed { if self.state.running != RunMode::Stop { for _ in 0..self.nsteps { - self.state.timestep_id += 1; if self.state.selected_backend == RAPIER_BACKEND { self.harness.step(); @@ -1311,12 +1298,10 @@ impl State for Testbed { // FIXME: should this be handled by harness plugins? for plugin in &mut self.plugins { { - plugin.run_callbacks(window, &mut self.harness.physics, self.time); + plugin.run_callbacks(window, &mut self.harness.physics, self.harness.state.time); } } - self.events.poll_all(); - // if true { // // !self.hide_counters { // #[cfg(not(feature = "log"))] @@ -1324,7 +1309,6 @@ impl State for Testbed { // #[cfg(feature = "log")] // debug!("{}", self.world.counters); // } - self.time += self.harness.physics.integration_parameters.dt(); } } @@ -1425,7 +1409,7 @@ Hashes at frame: {} |_ Joints [{:.1}KB]: {:?}"#, profile, serialization_time, - self.state.timestep_id, + self.harness.state.timestep_id, bf.len() as f32 / 1000.0, hash_bf, nf.len() as f32 / 1000.0, -- cgit From bd6e46cdd928eca854248e95fe04efdc41010248 Mon Sep 17 00:00:00 2001 From: rezural Date: Thu, 24 Dec 2020 18:32:07 +1100 Subject: remove event code --- src_testbed/testbed.rs | 8 -------- 1 file changed, 8 deletions(-) (limited to 'src_testbed/testbed.rs') diff --git a/src_testbed/testbed.rs b/src_testbed/testbed.rs index f89346b..6ae1351 100644 --- a/src_testbed/testbed.rs +++ b/src_testbed/testbed.rs @@ -197,14 +197,6 @@ impl Testbed { 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); - let events = PhysicsEvents { - contact_events: contact_channel.1, - proximity_events: proximity_channel.1, - }; - Testbed { builders: Vec::new(), callbacks: Vec::new(), -- cgit From cbe6baced5c36c39a0bd3cb8977c6097249ec5cb Mon Sep 17 00:00:00 2001 From: rezural Date: Thu, 24 Dec 2020 19:15:34 +1100 Subject: remove fixme comments --- src_testbed/testbed.rs | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) (limited to 'src_testbed/testbed.rs') diff --git a/src_testbed/testbed.rs b/src_testbed/testbed.rs index 6ae1351..20a9e0a 100644 --- a/src_testbed/testbed.rs +++ b/src_testbed/testbed.rs @@ -396,6 +396,7 @@ impl Testbed { } fn clear(&mut self, window: &mut Window) { + //FIXME: do we need to do this still, after moving to harness code? self.callbacks.clear(); // self.persistant_contacts.clear(); // self.state.grabbed_object = None; @@ -1236,7 +1237,6 @@ impl State for Testbed { if self.state.selected_backend == RAPIER_BACKEND { self.harness.step(); - //FIXME: this should probably be delegated to harness plugins for plugin in &mut self.plugins { plugin.step(&mut self.harness.physics) } @@ -1287,7 +1287,6 @@ impl State for Testbed { } } - // FIXME: should this be handled by harness plugins? for plugin in &mut self.plugins { { plugin.run_callbacks(window, &mut self.harness.physics, self.harness.state.time); -- cgit From baccfff4cde4e70f79bef1d061a4bdea9a845546 Mon Sep 17 00:00:00 2001 From: rezural Date: Thu, 24 Dec 2020 19:17:06 +1100 Subject: reenable self.highlight_hovered_body --- src_testbed/testbed.rs | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) (limited to 'src_testbed/testbed.rs') diff --git a/src_testbed/testbed.rs b/src_testbed/testbed.rs index 20a9e0a..46cb64f 100644 --- a/src_testbed/testbed.rs +++ b/src_testbed/testbed.rs @@ -1303,8 +1303,8 @@ impl State for Testbed { } } - // FIXME: this is causing errors, but should be put back in some how - // self.highlight_hovered_body(window); + self.highlight_hovered_body(window); + let physics = &self.harness.physics; self.graphics .draw(&physics.bodies, &physics.colliders, window); -- cgit From b1d0dc006d39faeb4a3ef85acc62f2981d26a85b Mon Sep 17 00:00:00 2001 From: rezural Date: Thu, 24 Dec 2020 20:16:11 +1100 Subject: cargo fmt --- src_testbed/testbed.rs | 72 ++++++++++++++++++++++++++++++++------------------ 1 file changed, 47 insertions(+), 25 deletions(-) (limited to 'src_testbed/testbed.rs') diff --git a/src_testbed/testbed.rs b/src_testbed/testbed.rs index 46cb64f..b7a6974 100644 --- a/src_testbed/testbed.rs +++ b/src_testbed/testbed.rs @@ -25,15 +25,15 @@ use rapier::geometry::{ColliderHandle, ColliderSet, NarrowPhase}; #[cfg(feature = "dim3")] use rapier::geometry::{InteractionGroups, Ray}; use rapier::math::Vector; -use rapier::pipeline::{ChannelEventCollector}; +use rapier::pipeline::ChannelEventCollector; #[cfg(all(feature = "dim2", feature = "other-backends"))] use crate::box2d_backend::Box2dWorld; +use crate::harness::{Harness, RunState}; #[cfg(feature = "other-backends")] 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; @@ -141,8 +141,9 @@ pub struct Testbed { nphysics: Option, } -type Callbacks = - Vec>; +type Callbacks = Vec< + Box, +>; impl Testbed { pub fn new_empty() -> Testbed { @@ -271,10 +272,10 @@ impl Testbed { joints: JointSet, gravity: Vector, ) { - println!("Num bodies: {}", bodies.len()); println!("Num joints: {}", joints.len()); - self.harness.set_world_with_gravity(bodies, colliders, joints, gravity); + self.harness + .set_world_with_gravity(bodies, colliders, joints, gravity); self.state .action_flags @@ -416,7 +417,8 @@ impl Testbed { } pub fn add_callback< - F: FnMut(&mut Window, &mut PhysicsState, &PhysicsEvents, &mut GraphicsManager, &RunState) + 'static, + F: FnMut(&mut Window, &mut PhysicsState, &PhysicsEvents, &mut GraphicsManager, &RunState) + + 'static, >( &mut self, callback: F, @@ -463,11 +465,23 @@ impl Testbed { && (backend_id == PHYSX_BACKEND_PATCH_FRICTION || backend_id == PHYSX_BACKEND_TWO_FRICTION_DIR) { - self.harness.physics.integration_parameters.max_velocity_iterations = 1; - self.harness.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.harness.physics.integration_parameters.max_velocity_iterations = 4; - self.harness.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); @@ -581,7 +595,9 @@ 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.harness.physics + let mut colliders: Vec<_> = self + .harness + .physics .bodies .iter() .filter(|e| e.1.is_dynamic()) @@ -592,11 +608,11 @@ impl Testbed { let num_to_delete = (colliders.len() / 10).max(1); for to_delete in &colliders[..num_to_delete] { - self - .harness - .physics - .colliders - .remove(to_delete[0], &mut self.harness.physics.bodies, true); + self.harness.physics.colliders.remove( + to_delete[0], + &mut self.harness.physics.bodies, + true, + ); } } WindowEvent::Key(Key::D, Action::Release, _) => { @@ -623,11 +639,11 @@ impl Testbed { 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 - .harness - .physics - .joints - .remove(*to_delete, &mut self.harness.physics.bodies, true); + self.harness.physics.joints.remove( + *to_delete, + &mut self.harness.physics.bodies, + true, + ); } } WindowEvent::CursorPos(x, y, _) => { @@ -1103,7 +1119,6 @@ impl State for Testbed { } } - if self .state .action_flags @@ -1184,7 +1199,10 @@ impl State for Testbed { .contains(TestbedStateFlags::SUB_STEPPING) != self.state.flags.contains(TestbedStateFlags::SUB_STEPPING) { - self.harness.physics.integration_parameters.return_after_ccd_substep = + self.harness + .physics + .integration_parameters + .return_after_ccd_substep = self.state.flags.contains(TestbedStateFlags::SUB_STEPPING); } @@ -1289,7 +1307,11 @@ impl State for Testbed { for plugin in &mut self.plugins { { - plugin.run_callbacks(window, &mut self.harness.physics, self.harness.state.time); + plugin.run_callbacks( + window, + &mut self.harness.physics, + self.harness.state.time, + ); } } -- cgit From 5ffacf0a14cda067c7e362e33303bcde8b76e68e Mon Sep 17 00:00:00 2001 From: rezural Date: Thu, 24 Dec 2020 20:56:11 +1100 Subject: pass run_state instead of time to TestbedPlugin::run_callbacks --- src_testbed/testbed.rs | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'src_testbed/testbed.rs') diff --git a/src_testbed/testbed.rs b/src_testbed/testbed.rs index b7a6974..d87c565 100644 --- a/src_testbed/testbed.rs +++ b/src_testbed/testbed.rs @@ -1310,7 +1310,7 @@ impl State for Testbed { plugin.run_callbacks( window, &mut self.harness.physics, - self.harness.state.time, + &self.harness.state, ); } } -- cgit From 31032ab96978a32811319bb911b4e8e905918fe7 Mon Sep 17 00:00:00 2001 From: rezural Date: Thu, 24 Dec 2020 21:27:57 +1100 Subject: remove thread code completely from testbed --- src_testbed/testbed.rs | 13 ------------- 1 file changed, 13 deletions(-) (limited to 'src_testbed/testbed.rs') diff --git a/src_testbed/testbed.rs b/src_testbed/testbed.rs index d87c565..bb663e7 100644 --- a/src_testbed/testbed.rs +++ b/src_testbed/testbed.rs @@ -162,17 +162,6 @@ impl Testbed { #[cfg(all(feature = "dim3", feature = "other-backends"))] backend_names.push("physx (two friction dir)"); - #[cfg(feature = "parallel")] - let num_threads = num_cpus::get_physical(); - #[cfg(not(feature = "parallel"))] - let num_threads = 1; - - #[cfg(feature = "parallel")] - let thread_pool = rapier::rayon::ThreadPoolBuilder::new() - .num_threads(num_threads) - .build() - .unwrap(); - let state = TestbedState { running: RunMode::Running, draw_colls: false, @@ -192,8 +181,6 @@ impl Testbed { selected_backend: RAPIER_BACKEND, physx_use_two_friction_directions: true, num_threads, - #[cfg(feature = "parallel")] - thread_pool, }; let harness = Harness::new_empty(); -- cgit From 5fce09cb52f7c24662650a998d279433a324e517 Mon Sep 17 00:00:00 2001 From: rezural Date: Thu, 24 Dec 2020 21:42:46 +1100 Subject: rework some threading code with the ui --- src_testbed/testbed.rs | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) (limited to 'src_testbed/testbed.rs') diff --git a/src_testbed/testbed.rs b/src_testbed/testbed.rs index bb663e7..949afe7 100644 --- a/src_testbed/testbed.rs +++ b/src_testbed/testbed.rs @@ -115,7 +115,6 @@ pub struct TestbedState { pub selected_example: usize, pub selected_backend: usize, pub physx_use_two_friction_directions: bool, - pub num_threads: usize, pub snapshot: Option, } @@ -180,7 +179,6 @@ impl Testbed { selected_example: 0, selected_backend: RAPIER_BACKEND, physx_use_two_friction_directions: true, - num_threads, }; let harness = Harness::new_empty(); @@ -1027,6 +1025,7 @@ impl State for Testbed { window, &mut self.harness.physics.integration_parameters, &mut self.state, + &mut self.harness.state ); } -- cgit From caf9d71bc7ae069d1d80194164f54b1132e3b2ad Mon Sep 17 00:00:00 2001 From: rezural Date: Thu, 24 Dec 2020 21:45:00 +1100 Subject: cargo fmt --- src_testbed/testbed.rs | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'src_testbed/testbed.rs') diff --git a/src_testbed/testbed.rs b/src_testbed/testbed.rs index 949afe7..f02380c 100644 --- a/src_testbed/testbed.rs +++ b/src_testbed/testbed.rs @@ -1025,7 +1025,7 @@ impl State for Testbed { window, &mut self.harness.physics.integration_parameters, &mut self.state, - &mut self.harness.state + &mut self.harness.state, ); } -- cgit From 75c80bff5fe44752eeaa8f4aaa4ade2ee54b4bd3 Mon Sep 17 00:00:00 2001 From: rezural <69941255+rezural@users.noreply.github.com> Date: Thu, 31 Dec 2020 11:47:02 +1100 Subject: TODO comment update MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Co-authored-by: Sébastien Crozet --- src_testbed/testbed.rs | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'src_testbed/testbed.rs') diff --git a/src_testbed/testbed.rs b/src_testbed/testbed.rs index f02380c..c16e62e 100644 --- a/src_testbed/testbed.rs +++ b/src_testbed/testbed.rs @@ -429,7 +429,7 @@ impl Testbed { } } - //FIXME: move this to dedicated benchmarking code + // TODO: move this to dedicated benchmarking code if benchmark_mode { use std::fs::File; use std::io::{BufWriter, Write}; -- cgit From d75d325b49c2acfd996fb2c625cda790ff1189bc Mon Sep 17 00:00:00 2001 From: rezural <69941255+rezural@users.noreply.github.com> Date: Thu, 31 Dec 2020 11:52:24 +1100 Subject: remove comment MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Co-authored-by: Sébastien Crozet --- src_testbed/testbed.rs | 1 - 1 file changed, 1 deletion(-) (limited to 'src_testbed/testbed.rs') diff --git a/src_testbed/testbed.rs b/src_testbed/testbed.rs index c16e62e..62f02c1 100644 --- a/src_testbed/testbed.rs +++ b/src_testbed/testbed.rs @@ -1125,7 +1125,6 @@ impl State for Testbed { self.set_world(w.3, w.4, w.5); self.harness.physics.broad_phase = w.1; self.harness.physics.narrow_phase = w.2; - //FIXME: not completely sure this is valid self.harness.state.timestep_id = w.0; } } -- cgit From 47e0ad44257d386e3647564c5b2120042c207992 Mon Sep 17 00:00:00 2001 From: rezural <69941255+rezural@users.noreply.github.com> Date: Thu, 31 Dec 2020 12:00:33 +1100 Subject: Update src_testbed/testbed.rs MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Co-authored-by: Sébastien Crozet --- src_testbed/testbed.rs | 12 +++++------- 1 file changed, 5 insertions(+), 7 deletions(-) (limited to 'src_testbed/testbed.rs') diff --git a/src_testbed/testbed.rs b/src_testbed/testbed.rs index 62f02c1..c169a85 100644 --- a/src_testbed/testbed.rs +++ b/src_testbed/testbed.rs @@ -1291,13 +1291,11 @@ impl State for Testbed { } for plugin in &mut self.plugins { - { - plugin.run_callbacks( - window, - &mut self.harness.physics, - &self.harness.state, - ); - } + plugin.run_callbacks( + window, + &mut self.harness.physics, + &self.harness.state, + ); } // if true { -- cgit From d51008903dc77be6bf7ed1eebcf592f587b3f448 Mon Sep 17 00:00:00 2001 From: rezural Date: Thu, 31 Dec 2020 12:14:38 +1100 Subject: remove plugin callback related code from testbed --- src_testbed/testbed.rs | 26 +------------------------- 1 file changed, 1 insertion(+), 25 deletions(-) (limited to 'src_testbed/testbed.rs') diff --git a/src_testbed/testbed.rs b/src_testbed/testbed.rs index c169a85..db9f32d 100644 --- a/src_testbed/testbed.rs +++ b/src_testbed/testbed.rs @@ -123,7 +123,6 @@ pub struct Testbed { 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. - callbacks: Callbacks, plugins: Vec>, hide_counters: bool, // persistant_contacts: HashMap, @@ -140,10 +139,6 @@ pub struct Testbed { nphysics: Option, } -type Callbacks = Vec< - Box, ->; - impl Testbed { pub fn new_empty() -> Testbed { let graphics = GraphicsManager::new(); @@ -185,7 +180,6 @@ impl Testbed { Testbed { builders: Vec::new(), - callbacks: Vec::new(), plugins: Vec::new(), graphics, nsteps: 1, @@ -382,8 +376,6 @@ impl Testbed { } fn clear(&mut self, window: &mut Window) { - //FIXME: do we need to do this still, after moving to harness code? - self.callbacks.clear(); // self.persistant_contacts.clear(); // self.state.grabbed_object = None; // self.state.grabbed_object_constraint = None; @@ -401,16 +393,6 @@ impl Testbed { self.plugins.push(Box::new(plugin)); } - pub fn add_callback< - F: FnMut(&mut Window, &mut PhysicsState, &PhysicsEvents, &mut GraphicsManager, &RunState) - + 'static, - >( - &mut self, - callback: F, - ) { - self.callbacks.push(Box::new(callback)); - } - pub fn run(mut self) { let mut args = env::args(); let mut benchmark_mode = false; @@ -1029,8 +1011,6 @@ impl State for Testbed { ); } - // let physics = &self.harness.physics; - // Handle UI actions. { let backend_changed = self @@ -1291,11 +1271,7 @@ impl State for Testbed { } for plugin in &mut self.plugins { - plugin.run_callbacks( - window, - &mut self.harness.physics, - &self.harness.state, - ); + plugin.run_callbacks(window, &mut self.harness.physics, &self.harness.state); } // if true { -- cgit From d992ebc4885737511d9b5fafd1846e7601963e55 Mon Sep 17 00:00:00 2001 From: rezural Date: Thu, 31 Dec 2020 13:06:29 +1100 Subject: remove unused use --- src_testbed/testbed.rs | 1 - 1 file changed, 1 deletion(-) (limited to 'src_testbed/testbed.rs') diff --git a/src_testbed/testbed.rs b/src_testbed/testbed.rs index db9f32d..d723e59 100644 --- a/src_testbed/testbed.rs +++ b/src_testbed/testbed.rs @@ -25,7 +25,6 @@ use rapier::geometry::{ColliderHandle, ColliderSet, NarrowPhase}; #[cfg(feature = "dim3")] use rapier::geometry::{InteractionGroups, Ray}; use rapier::math::Vector; -use rapier::pipeline::ChannelEventCollector; #[cfg(all(feature = "dim2", feature = "other-backends"))] use crate::box2d_backend::Box2dWorld; -- cgit From 26af08e03c4e54f7a00603804ae9a4ff3e2ab3ea Mon Sep 17 00:00:00 2001 From: rezural Date: Thu, 31 Dec 2020 13:25:05 +1100 Subject: add harness_mut() to testbed --- src_testbed/testbed.rs | 4 ++++ 1 file changed, 4 insertions(+) (limited to 'src_testbed/testbed.rs') diff --git a/src_testbed/testbed.rs b/src_testbed/testbed.rs index d723e59..8b9f2eb 100644 --- a/src_testbed/testbed.rs +++ b/src_testbed/testbed.rs @@ -239,6 +239,10 @@ impl Testbed { &mut self.harness.physics } + pub fn harness_mut(&mut self) -> &mut Harness { + &mut self.harness + } + pub fn set_world(&mut self, bodies: RigidBodySet, colliders: ColliderSet, joints: JointSet) { self.set_world_with_gravity(bodies, colliders, joints, Vector::y() * -9.81) } -- cgit From ed76291fbfdc93290754cb0be500775fb9c5f48c Mon Sep 17 00:00:00 2001 From: rezural Date: Thu, 31 Dec 2020 15:39:44 +1100 Subject: remove some unused imports --- src_testbed/testbed.rs | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) (limited to 'src_testbed/testbed.rs') diff --git a/src_testbed/testbed.rs b/src_testbed/testbed.rs index 8b9f2eb..bb3d8ee 100644 --- a/src_testbed/testbed.rs +++ b/src_testbed/testbed.rs @@ -4,7 +4,7 @@ use std::path::Path; use std::rc::Rc; use crate::engine::GraphicsManager; -use crate::physics::{PhysicsEvents, PhysicsSnapshot, PhysicsState}; +use crate::physics::{PhysicsSnapshot, PhysicsState}; use crate::plugin::TestbedPlugin; use crate::ui::TestbedUi; @@ -28,7 +28,7 @@ use rapier::math::Vector; #[cfg(all(feature = "dim2", feature = "other-backends"))] use crate::box2d_backend::Box2dWorld; -use crate::harness::{Harness, RunState}; +use crate::harness::Harness; #[cfg(feature = "other-backends")] use crate::nphysics_backend::NPhysicsWorld; #[cfg(all(feature = "dim3", feature = "other-backends"))] -- cgit From 34e79e9afc21ff0202d8a0338d0e8e038402a159 Mon Sep 17 00:00:00 2001 From: rezural Date: Sat, 2 Jan 2021 16:45:55 +1100 Subject: unify callbacks with & without graphics & window --- src_testbed/testbed.rs | 23 ++++++++++++++++++++--- 1 file changed, 20 insertions(+), 3 deletions(-) (limited to 'src_testbed/testbed.rs') diff --git a/src_testbed/testbed.rs b/src_testbed/testbed.rs index bb3d8ee..fd6b9a0 100644 --- a/src_testbed/testbed.rs +++ b/src_testbed/testbed.rs @@ -3,10 +3,10 @@ use std::mem; use std::path::Path; use std::rc::Rc; -use crate::engine::GraphicsManager; -use crate::physics::{PhysicsSnapshot, PhysicsState}; +use crate::physics::{PhysicsEvents, PhysicsSnapshot, PhysicsState}; use crate::plugin::TestbedPlugin; use crate::ui::TestbedUi; +use crate::{engine::GraphicsManager, harness::RunState}; use kiss3d::camera::Camera; use kiss3d::event::Event; @@ -392,6 +392,21 @@ impl Testbed { self.plugins.clear(); } + pub fn add_callback< + F: FnMut( + Option<&mut Window>, + Option<&mut GraphicsManager>, + &mut PhysicsState, + &PhysicsEvents, + &RunState, + ) + 'static, + >( + &mut self, + callback: F, + ) { + self.harness.add_callback(callback); + } + pub fn add_plugin(&mut self, plugin: impl TestbedPlugin + 'static) { self.plugins.push(Box::new(plugin)); } @@ -1221,7 +1236,9 @@ impl State for Testbed { if self.state.running != RunMode::Stop { for _ in 0..self.nsteps { if self.state.selected_backend == RAPIER_BACKEND { - self.harness.step(); + let graphics = &mut self.graphics; + self.harness + .step_with_graphics(Some(window), Some(graphics)); for plugin in &mut self.plugins { plugin.step(&mut self.harness.physics) -- cgit