From cf77d17d9e6c425b1899c03db8e07f265259791b Mon Sep 17 00:00:00 2001
From: Crozet Sébastien <developer@crozet.re>
Date: Wed, 3 Feb 2021 16:33:08 +0100
Subject: Experiment with incremental island computation.

---
 src_testbed/harness/mod.rs | 12 ++++++++----
 src_testbed/physics/mod.rs |  4 +++-
 2 files changed, 11 insertions(+), 5 deletions(-)

(limited to 'src_testbed')

diff --git a/src_testbed/harness/mod.rs b/src_testbed/harness/mod.rs
index afdc23a..b31faf9 100644
--- a/src_testbed/harness/mod.rs
+++ b/src_testbed/harness/mod.rs
@@ -4,7 +4,7 @@ use crate::{
 };
 use kiss3d::window::Window;
 use plugin::HarnessPlugin;
-use rapier::dynamics::{IntegrationParameters, JointSet, RigidBodySet};
+use rapier::dynamics::{IntegrationParameters, IslandSet, JointSet, RigidBodySet};
 use rapier::geometry::{BroadPhase, ColliderSet, NarrowPhase};
 use rapier::math::Vector;
 use rapier::pipeline::{ChannelEventCollector, PhysicsPipeline, QueryPipeline};
@@ -129,6 +129,7 @@ impl Harness {
         self.physics.joints = joints;
         self.physics.broad_phase = BroadPhase::new();
         self.physics.narrow_phase = NarrowPhase::new();
+        self.physics.islands = IslandSet::new();
         self.state.timestep_id = 0;
         self.physics.query_pipeline = QueryPipeline::new();
         self.physics.pipeline = PhysicsPipeline::new();
@@ -189,6 +190,7 @@ impl Harness {
             &self.physics.integration_parameters,
             &mut self.physics.broad_phase,
             &mut self.physics.narrow_phase,
+            &mut self.physics.islands,
             &mut self.physics.bodies,
             &mut self.physics.colliders,
             &mut self.physics.joints,
@@ -197,9 +199,11 @@ impl Harness {
             &self.event_handler,
         );
 
-        self.physics
-            .query_pipeline
-            .update(&self.physics.bodies, &self.physics.colliders);
+        self.physics.query_pipeline.update(
+            &self.physics.islands,
+            &self.physics.bodies,
+            &self.physics.colliders,
+        );
 
         for plugin in &mut self.plugins {
             plugin.step(&mut self.physics, &self.state)
diff --git a/src_testbed/physics/mod.rs b/src_testbed/physics/mod.rs
index 808e9bd..014276c 100644
--- a/src_testbed/physics/mod.rs
+++ b/src_testbed/physics/mod.rs
@@ -1,5 +1,5 @@
 use crossbeam::channel::Receiver;
-use rapier::dynamics::{IntegrationParameters, JointSet, RigidBodySet};
+use rapier::dynamics::{IntegrationParameters, IslandSet, JointSet, RigidBodySet};
 use rapier::geometry::{BroadPhase, ColliderSet, ContactEvent, IntersectionEvent, NarrowPhase};
 use rapier::math::Vector;
 use rapier::pipeline::{PhysicsPipeline, QueryPipeline};
@@ -70,6 +70,7 @@ impl PhysicsSnapshot {
 pub struct PhysicsState {
     pub broad_phase: BroadPhase,
     pub narrow_phase: NarrowPhase,
+    pub islands: IslandSet,
     pub bodies: RigidBodySet,
     pub colliders: ColliderSet,
     pub joints: JointSet,
@@ -84,6 +85,7 @@ impl PhysicsState {
         Self {
             broad_phase: BroadPhase::new(),
             narrow_phase: NarrowPhase::new(),
+            islands: IslandSet::new(),
             bodies: RigidBodySet::new(),
             colliders: ColliderSet::new(),
             joints: JointSet::new(),
-- 
cgit