feat: migrate to glam whenever relevant + migrate testbed to kiss3d instead of bevy + release v0.32.0 (#909)
* feat: migrate to glam whenever relevant + migrate testbed to kiss3d instead of bevy * chore: update changelog * Fix warnings and tests * Release v0.32.0
This commit is contained in:
Sébastien Crozet
GitHub
@@ -1,15 +1,12 @@
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#![allow(dead_code)]
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#![allow(clippy::type_complexity)]
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#[cfg(target_arch = "wasm32")]
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use wasm_bindgen::prelude::*;
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use rapier_testbed3d::{Testbed, TestbedApp};
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use std::cmp::Ordering;
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use rapier_testbed3d::{Example, TestbedApp};
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mod utils;
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mod ccd3;
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mod character_controller3;
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mod collision_groups3;
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mod compound3;
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mod convex_decomposition3;
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@@ -20,36 +17,34 @@ mod debug_articulations3;
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mod debug_balls3;
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mod debug_big_colliders3;
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mod debug_boxes3;
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mod debug_chain_high_mass_ratio3;
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mod debug_cube_high_mass_ratio3;
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mod debug_cylinder3;
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mod debug_deserialize3;
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mod debug_disabled3;
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mod debug_dynamic_collider_add3;
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mod debug_friction3;
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mod debug_infinite_fall3;
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mod debug_internal_edges3;
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mod debug_long_chain3;
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mod debug_multibody_ang_motor_pos3;
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mod debug_pop3;
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mod debug_prismatic3;
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mod debug_rollback3;
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mod debug_shape_modification3;
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mod debug_sleeping_kinematic3;
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mod debug_thin_cube_on_mesh3;
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mod debug_triangle3;
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mod debug_trimesh3;
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mod debug_two_cubes3;
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mod domino3;
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mod dynamic_trimesh3;
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mod fountain3;
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mod heightfield3;
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mod joints3;
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// mod joints3;
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mod character_controller3;
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mod debug_chain_high_mass_ratio3;
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mod debug_cube_high_mass_ratio3;
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mod debug_disabled3;
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mod debug_internal_edges3;
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mod debug_long_chain3;
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mod debug_multibody_ang_motor_pos3;
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mod debug_sleeping_kinematic3;
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mod debug_two_cubes3;
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mod gyroscopic3;
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mod heightfield3;
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mod inverse_kinematics3;
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mod joint_motor_position3;
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mod joints3;
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mod keva3;
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mod locked_rotations3;
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mod newton_cradle3;
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@@ -60,101 +55,162 @@ mod restitution3;
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mod rope_joints3;
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mod sensor3;
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mod spring_joints3;
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mod stress_tests;
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mod trimesh3;
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mod urdf3;
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mod vehicle_controller3;
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mod vehicle_joints3;
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mod voxels3;
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#[cfg_attr(target_arch = "wasm32", wasm_bindgen(start))]
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pub fn main() {
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let mut builders: Vec<(_, fn(&mut Testbed))> = vec![
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("Character controller", character_controller3::init_world),
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("Fountain", fountain3::init_world),
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("Primitives", primitives3::init_world),
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("Multibody joints", joints3::init_world_with_articulations),
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("CCD", ccd3::init_world),
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("Collision groups", collision_groups3::init_world),
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("Compound", compound3::init_world),
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("Convex decomposition", convex_decomposition3::init_world),
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("Convex polyhedron", convex_polyhedron3::init_world),
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("Damping", damping3::init_world),
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("Gyroscopic", gyroscopic3::init_world),
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("Domino", domino3::init_world),
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("Dynamic trimeshes", dynamic_trimesh3::init_world),
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("Heightfield", heightfield3::init_world),
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("Impulse Joints", joints3::init_world_with_joints),
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("Inverse kinematics", inverse_kinematics3::init_world),
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("Joint Motor Position", joint_motor_position3::init_world),
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("Locked rotations", locked_rotations3::init_world),
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("One-way platforms", one_way_platforms3::init_world),
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("Platform", platform3::init_world),
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("Restitution", restitution3::init_world),
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("Rope Joints", rope_joints3::init_world),
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("Sensor", sensor3::init_world),
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("Spring Joints", spring_joints3::init_world),
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("TriMesh", trimesh3::init_world),
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("Urdf", urdf3::init_world),
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("Voxels", voxels3::init_world),
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("Vehicle controller", vehicle_controller3::init_world),
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("Vehicle joints", vehicle_joints3::init_world),
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("Keva tower", keva3::init_world),
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("Newton cradle", newton_cradle3::init_world),
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("(Debug) multibody_joints", debug_articulations3::init_world),
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(
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"(Debug) add/rm collider",
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#[kiss3d::main]
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pub async fn main() {
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const COLLISIONS: &str = "Collisions";
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const DYNAMICS: &str = "Dynamics";
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const COMPLEX: &str = "Complex Shapes";
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const JOINTS: &str = "Joints";
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const CONTROLS: &str = "Controls";
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const DEBUG: &str = "Debug";
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const ROBOTICS: &str = "Robotics";
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let mut builders: Vec<Example> = vec![
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// ── Collisions ──────────────────────────────────────────────────────────
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Example::new(COLLISIONS, "Fountain", fountain3::init_world),
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Example::new(COLLISIONS, "Primitives", primitives3::init_world),
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Example::new(COLLISIONS, "Keva tower", keva3::init_world),
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Example::new(COLLISIONS, "Newton cradle", newton_cradle3::init_world),
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Example::new(COLLISIONS, "Domino", domino3::init_world),
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Example::new(COLLISIONS, "Platform", platform3::init_world),
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Example::new(COLLISIONS, "Sensor", sensor3::init_world),
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Example::new(COLLISIONS, "Compound", compound3::init_world),
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#[cfg(not(target_arch = "wasm32"))]
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Example::new(
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COLLISIONS,
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"Convex decomposition",
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convex_decomposition3::init_world,
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),
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Example::new(
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COLLISIONS,
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"Convex polyhedron",
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convex_polyhedron3::init_world,
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),
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Example::new(COLLISIONS, "TriMesh", trimesh3::init_world),
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#[cfg(not(target_arch = "wasm32"))]
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Example::new(
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COLLISIONS,
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"Dynamic trimeshes",
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dynamic_trimesh3::init_world,
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),
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Example::new(COLLISIONS, "Heightfield", heightfield3::init_world),
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Example::new(COLLISIONS, "Voxels", voxels3::init_world),
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Example::new(
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COLLISIONS,
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"Collision groups",
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collision_groups3::init_world,
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),
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Example::new(
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COLLISIONS,
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"One-way platforms",
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one_way_platforms3::init_world,
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),
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// ── Dynamics ─────────────────────────────────────────────────────────
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Example::new(DYNAMICS, "Locked rotations", locked_rotations3::init_world),
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Example::new(DYNAMICS, "Restitution", restitution3::init_world),
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Example::new(DYNAMICS, "Damping", damping3::init_world),
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Example::new(DYNAMICS, "Gyroscopic", gyroscopic3::init_world),
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Example::new(DYNAMICS, "CCD", ccd3::init_world),
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// ── Joints ─────────────────────────────────────────────────────────
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Example::new(JOINTS, "Impulse Joints", joints3::init_world_with_joints),
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Example::new(
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JOINTS,
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"Multibody Joints",
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joints3::init_world_with_articulations,
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),
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Example::new(JOINTS, "Rope Joints", rope_joints3::init_world),
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Example::new(JOINTS, "Spring Joints", spring_joints3::init_world),
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Example::new(
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JOINTS,
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"Joint Motor Position",
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joint_motor_position3::init_world,
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),
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Example::new(
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JOINTS,
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"Inverse kinematics",
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inverse_kinematics3::init_world,
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),
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// ── Controls ─────────────────────────────────────────────────────
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Example::new(
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CONTROLS,
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"Character controller",
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character_controller3::init_world,
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),
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Example::new(
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CONTROLS,
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"Vehicle controller",
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vehicle_controller3::init_world,
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),
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Example::new(CONTROLS, "Vehicle joints", vehicle_joints3::init_world),
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// ── Robotics ───────────────────────────────────────────────────────
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#[cfg(not(target_arch = "wasm32"))]
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Example::new(ROBOTICS, "URDF", urdf3::init_world),
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// ── Debug ──────────────────────────────────────────────────────────
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Example::new(DEBUG, "Multibody joints", debug_articulations3::init_world),
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Example::new(
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DEBUG,
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"Add/rm collider",
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debug_add_remove_collider3::init_world,
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),
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("(Debug) big colliders", debug_big_colliders3::init_world),
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("(Debug) boxes", debug_boxes3::init_world),
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("(Debug) balls", debug_balls3::init_world),
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("(Debug) disabled", debug_disabled3::init_world),
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("(Debug) two cubes", debug_two_cubes3::init_world),
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("(Debug) pop", debug_pop3::init_world),
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(
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"(Debug) dyn. coll. add",
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Example::new(DEBUG, "Big colliders", debug_big_colliders3::init_world),
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Example::new(DEBUG, "Boxes", debug_boxes3::init_world),
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Example::new(DEBUG, "Balls", debug_balls3::init_world),
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Example::new(DEBUG, "Disabled", debug_disabled3::init_world),
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Example::new(DEBUG, "Two cubes", debug_two_cubes3::init_world),
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Example::new(DEBUG, "Pop", debug_pop3::init_world),
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Example::new(
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DEBUG,
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"Dyn. collider add",
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debug_dynamic_collider_add3::init_world,
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),
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("(Debug) friction", debug_friction3::init_world),
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("(Debug) internal edges", debug_internal_edges3::init_world),
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("(Debug) long chain", debug_long_chain3::init_world),
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(
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"(Debug) high mass ratio: chain",
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Example::new(DEBUG, "Friction", debug_friction3::init_world),
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Example::new(DEBUG, "Internal edges", debug_internal_edges3::init_world),
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Example::new(DEBUG, "Long chain", debug_long_chain3::init_world),
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Example::new(
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DEBUG,
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"High mass ratio: chain",
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debug_chain_high_mass_ratio3::init_world,
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),
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(
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"(Debug) high mass ratio: cube",
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Example::new(
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DEBUG,
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"High mass ratio: cube",
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debug_cube_high_mass_ratio3::init_world,
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),
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("(Debug) triangle", debug_triangle3::init_world),
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("(Debug) trimesh", debug_trimesh3::init_world),
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("(Debug) thin cube", debug_thin_cube_on_mesh3::init_world),
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("(Debug) cylinder", debug_cylinder3::init_world),
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("(Debug) infinite fall", debug_infinite_fall3::init_world),
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("(Debug) prismatic", debug_prismatic3::init_world),
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("(Debug) rollback", debug_rollback3::init_world),
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(
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"(Debug) shape modification",
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Example::new(DEBUG, "Triangle", debug_triangle3::init_world),
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Example::new(DEBUG, "Trimesh", debug_trimesh3::init_world),
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Example::new(DEBUG, "Thin cube", debug_thin_cube_on_mesh3::init_world),
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Example::new(DEBUG, "Cylinder", debug_cylinder3::init_world),
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Example::new(DEBUG, "Infinite fall", debug_infinite_fall3::init_world),
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Example::new(DEBUG, "Prismatic", debug_prismatic3::init_world),
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Example::new(DEBUG, "Rollback", debug_rollback3::init_world),
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Example::new(
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DEBUG,
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"Shape modification",
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debug_shape_modification3::init_world,
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),
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(
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"(Debug) sleeping kinematics",
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Example::new(
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DEBUG,
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"Sleeping kinematics",
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debug_sleeping_kinematic3::init_world,
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),
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("(Debug) deserialize", debug_deserialize3::init_world),
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(
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"(Debug) multibody ang. motor pos.",
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#[cfg(not(target_arch = "wasm32"))]
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Example::new(DEBUG, "Deserialize", debug_deserialize3::init_world),
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Example::new(
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DEBUG,
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"Multibody ang. motor pos.",
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debug_multibody_ang_motor_pos3::init_world,
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),
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];
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// Lexicographic sort, with stress tests moved at the end of the list.
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builders.sort_by(|a, b| match (a.0.starts_with('('), b.0.starts_with('(')) {
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(true, true) | (false, false) => a.0.cmp(b.0),
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(true, false) => Ordering::Greater,
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(false, true) => Ordering::Less,
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});
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let mut benches = stress_tests::builders();
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builders.append(&mut benches);
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let testbed = TestbedApp::from_builders(builders);
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testbed.run()
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testbed.run().await
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}
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