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|
use crate::{
physics::{PhysicsEvents, PhysicsState},
TestbedGraphics,
};
use plugin::HarnessPlugin;
use rapier::dynamics::{CCDSolver, IntegrationParameters, IslandManager, JointSet, RigidBodySet};
use rapier::geometry::{BroadPhase, ColliderSet, NarrowPhase};
use rapier::math::Vector;
use rapier::pipeline::{ChannelEventCollector, PhysicsHooks, PhysicsPipeline, QueryPipeline};
pub mod plugin;
pub struct RunState {
#[cfg(feature = "parallel")]
pub thread_pool: rapier::rayon::ThreadPool,
pub num_threads: usize,
pub timestep_id: usize,
pub time: f32,
}
impl RunState {
pub fn new() -> Self {
#[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();
Self {
#[cfg(feature = "parallel")]
thread_pool: thread_pool,
num_threads,
timestep_id: 0,
time: 0.0,
}
}
}
pub struct Harness {
pub physics: PhysicsState,
max_steps: usize,
callbacks: Callbacks,
plugins: Vec<Box<dyn HarnessPlugin>>,
events: PhysicsEvents,
event_handler: ChannelEventCollector,
pub state: RunState,
}
type Callbacks =
Vec<Box<dyn FnMut(Option<&mut TestbedGraphics>, &mut PhysicsState, &PhysicsEvents, &RunState)>>;
#[allow(dead_code)]
impl Harness {
pub fn new_empty() -> Self {
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,
intersection_events: proximity_channel.1,
};
let physics = PhysicsState::new();
let state = RunState::new();
Self {
physics,
max_steps: 1000,
callbacks: Vec::new(),
plugins: Vec::new(),
events,
event_handler,
state,
}
}
pub fn new(bodies: RigidBodySet, colliders: ColliderSet, joints: JointSet) -> Self {
let mut res = Self::new_empty();
res.set_world(bodies, colliders, joints);
res
}
pub fn set_max_steps(&mut self, max_steps: usize) {
self.max_steps = max_steps
}
pub fn integration_parameters_mut(&mut self) -> &mut IntegrationParameters {
&mut self.physics.integration_parameters
}
pub fn clear_callbacks(&mut self) {
self.callbacks.clear();
}
pub fn physics_state_mut(&mut self) -> &mut PhysicsState {
&mut self.physics
}
pub fn set_world(&mut self, bodies: RigidBodySet, colliders: ColliderSet, joints: JointSet) {
self.set_world_with_params(bodies, colliders, joints, Vector::y() * -9.81, ())
}
pub fn set_world_with_params(
&mut self,
bodies: RigidBodySet,
colliders: ColliderSet,
joints: JointSet,
gravity: Vector<f32>,
hooks: impl PhysicsHooks<RigidBodySet, ColliderSet> + 'static,
) {
// 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.hooks = Box::new(hooks);
self.physics.islands = IslandManager::new();
self.physics.broad_phase = BroadPhase::new();
self.physics.narrow_phase = NarrowPhase::new();
self.state.timestep_id = 0;
self.state.time = 0.0;
self.physics.ccd_solver = CCDSolver::new();
self.physics.query_pipeline = QueryPipeline::new();
self.physics.pipeline = PhysicsPipeline::new();
self.physics.pipeline.counters.enable();
}
pub fn add_plugin(&mut self, plugin: impl HarnessPlugin + 'static) {
self.plugins.push(Box::new(plugin));
}
pub fn add_callback<
F: FnMut(Option<&mut TestbedGraphics>, &mut PhysicsState, &PhysicsEvents, &RunState) + 'static,
>(
&mut self,
callback: F,
) {
self.callbacks.push(Box::new(callback));
}
pub fn step(&mut self) {
self.step_with_graphics(None);
}
pub fn step_with_graphics(&mut self, mut graphics: Option<&mut TestbedGraphics>) {
#[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.islands,
&mut physics.broad_phase,
&mut physics.narrow_phase,
&mut physics.bodies,
&mut physics.colliders,
&mut physics.joints,
&mut physics.ccd_solver,
&*physics.hooks,
event_handler,
);
});
}
#[cfg(not(feature = "parallel"))]
self.physics.pipeline.step(
&self.physics.gravity,
&self.physics.integration_parameters,
&mut self.physics.islands,
&mut self.physics.broad_phase,
&mut self.physics.narrow_phase,
&mut self.physics.bodies,
&mut self.physics.colliders,
&mut self.physics.joints,
&mut self.physics.ccd_solver,
&*self.physics.hooks,
&self.event_handler,
);
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)
}
for f in &mut self.callbacks {
f(
graphics.as_deref_mut(),
&mut self.physics,
&self.events,
&self.state,
);
}
for plugin in &mut self.plugins {
plugin.run_callbacks(&mut self.physics, &self.events, &self.state)
}
self.events.poll_all();
self.state.time += self.physics.integration_parameters.dt;
self.state.timestep_id += 1;
}
pub fn run(&mut self) {
for _ in 0..self.max_steps {
self.step();
}
}
}
|
