path: root/src_testbed/testbed.rs

use std::env;
use std::mem;

use bevy::pbr::Light;
use bevy::prelude::*;

use crate::physics::{PhysicsEvents, PhysicsSnapshot, PhysicsState};
use crate::plugin::TestbedPlugin;
use crate::ui;
use crate::{graphics::GraphicsManager, harness::RunState};

use na::{self, Point2, Point3, Vector3};
use rapier::dynamics::{
    IntegrationParameters, JointSet, RigidBodyActivation, RigidBodyHandle, RigidBodySet,
};
use rapier::geometry::{ColliderHandle, ColliderSet, NarrowPhase};
#[cfg(feature = "dim3")]
use rapier::geometry::{InteractionGroups, Ray};
use rapier::math::Vector;
use rapier::pipeline::PhysicsHooks;

#[cfg(all(feature = "dim2", feature = "other-backends"))]
use crate::box2d_backend::Box2dWorld;
use crate::harness::Harness;
#[cfg(feature = "other-backends")]
use crate::nphysics_backend::NPhysicsWorld;
#[cfg(all(feature = "dim3", feature = "other-backends"))]
use crate::physx_backend::PhysxWorld;
use bevy::render::camera::Camera;
use bevy::render::wireframe::WireframePlugin;
use bevy::wgpu::{WgpuFeature, WgpuFeatures, WgpuOptions};
use bevy_egui::EguiContext;

#[cfg(feature = "dim2")]
use crate::camera2d::{OrbitCamera, OrbitCameraPlugin};
#[cfg(feature = "dim3")]
use crate::camera3d::{OrbitCamera, OrbitCameraPlugin};

const RAPIER_BACKEND: usize = 0;
#[cfg(feature = "other-backends")]
const NPHYSICS_BACKEND: usize = 1;
#[cfg(all(feature = "dim2", feature = "other-backends"))]
const BOX2D_BACKEND: usize = 2;
pub(crate) const PHYSX_BACKEND_PATCH_FRICTION: usize = 2;
pub(crate) const PHYSX_BACKEND_TWO_FRICTION_DIR: usize = 3;

#[derive(PartialEq)]
pub enum RunMode {
    Running,
    Stop,
    Step,
}

#[cfg(not(feature = "log"))]
fn usage(exe_name: &str) {
    println!("Usage: {} [OPTION] ", exe_name);
    println!();
    println!("Options:");
    println!("    --help  - prints this help message and exits.");
    println!("    --pause - do not start the simulation right away.");
}

#[cfg(feature = "log")]
fn usage(exe_name: &str) {
    info!("Usage: {} [OPTION] ", exe_name);
    info!("");
    info!("Options:");
    info!("    --help  - prints this help message and exits.");
    info!("    --pause - do not start the simulation right away.");
}

bitflags! {
    #[derive(Default)]
    pub struct TestbedStateFlags: u32 {
        const NONE = 0;
        const SLEEP = 1 << 0;
        const SUB_STEPPING = 1