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feat: solver improvements + release v0.29.0 (#876)

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* feat: solver improvements

* feat: add function to get/set whether gyroscopic forces are enabled on a rigid-body

* chore: switch to released versions of parry and wide instead of local patches

* fix cargo doc

* chore: typo fixes

* chore: clippy fix

* Release v0.29.0

* chore: more clippy fixes
This commit is contained in:
Sébastien Crozet
2025-09-05 19:31:58 +02:00
committed by GitHub
parent 317322b31b
commit 134f433903
94 changed files with 5066 additions and 8136 deletions
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67
src_testbed/testbed.rs
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@@ -4,7 +4,6 @@
use bevy::prelude::*;
use std::env;
use std::mem;
use std::num::NonZeroUsize;
use crate::debug_render::{DebugRenderPipelineResource, RapierDebugRenderPlugin};
use crate::graphics::BevyMaterialComponent;
@@ -30,8 +29,6 @@ use rapier::pipeline::PhysicsHooks;
#[cfg(feature = "dim3")]
use rapier::{control::DynamicRayCastVehicleController, prelude::QueryFilter};
#[cfg(all(feature = "dim2", feature = "other-backends"))]
use crate::box2d_backend::Box2dWorld;
use crate::harness::{Harness, RapierBroadPhaseType};
#[cfg(all(feature = "dim3", feature = "other-backends"))]
use crate::physx_backend::PhysxWorld;
@@ -48,8 +45,6 @@ use crate::graphics::BevyMaterial;
// use bevy::render::render_resource::RenderPipelineDescriptor;
const RAPIER_BACKEND: usize = 0;
#[cfg(all(feature = "dim2", feature = "other-backends"))]
const BOX2D_BACKEND: usize = 1;
pub(crate) const PHYSX_BACKEND_PATCH_FRICTION: usize = 1;
pub(crate) const PHYSX_BACKEND_TWO_FRICTION_DIR: usize = 2;
@@ -101,14 +96,6 @@ bitflags::bitflags! {
}
}
#[derive(Copy, Clone, Debug, PartialEq, Eq, Default, serde::Serialize, serde::Deserialize)]
pub enum RapierSolverType {
#[default]
TgsSoft,
TgsSoftNoWarmstart,
PgsLegacy,
}
pub type SimulationBuilders = Vec<(&'static str, fn(&mut Testbed))>;
#[derive(Resource)]
@@ -131,7 +118,6 @@ pub struct TestbedState {
pub selected_example: usize,
pub selected_backend: usize,
pub example_settings: ExampleSettings,
pub solver_type: RapierSolverType,
pub broad_phase_type: RapierBroadPhaseType,
pub physx_use_two_friction_directions: bool,
pub snapshot: Option<PhysicsSnapshot>,
@@ -148,7 +134,6 @@ impl TestbedState {
selected_example: self.selected_example,
selected_backend: self.selected_backend,
example_settings: self.example_settings.clone(),
solver_type: self.solver_type,
physx_use_two_friction_directions: self.physx_use_two_friction_directions,
camera,
}
@@ -161,7 +146,6 @@ impl TestbedState {
self.selected_example = state.selected_example;
self.selected_backend = state.selected_backend;
self.example_settings = state.example_settings;
self.solver_type = state.solver_type;
self.physx_use_two_friction_directions = state.physx_use_two_friction_directions;
*camera = state.camera;
}
@@ -172,8 +156,6 @@ struct SceneBuilders(SimulationBuilders);
#[cfg(feature = "other-backends")]
struct OtherBackends {
#[cfg(feature = "dim2")]
box2d: Option<Box2dWorld>,
#[cfg(feature = "dim3")]
physx: Option<PhysxWorld>,
}
@@ -222,8 +204,6 @@ impl TestbedApp {
#[allow(unused_mut)]
let mut backend_names = vec!["rapier"];
#[cfg(all(feature = "dim2", feature = "other-backends"))]
backend_names.push("box2d");
#[cfg(all(feature = "dim3", feature = "other-backends"))]
backend_names.push("physx (patch friction)");
#[cfg(all(feature = "dim3", feature = "other-backends"))]
@@ -249,7 +229,6 @@ impl TestbedApp {
example_settings: ExampleSettings::default(),
selected_example: 0,
selected_backend: RAPIER_BACKEND,
solver_type: RapierSolverType::default(),
broad_phase_type: RapierBroadPhaseType::default(),
physx_use_two_friction_directions: true,
nsteps: 1,
@@ -260,8 +239,6 @@ impl TestbedApp {
let harness = Harness::new_empty();
#[cfg(feature = "other-backends")]
let other_backends = OtherBackends {
#[cfg(feature = "dim2")]
box2d: None,
#[cfg(feature = "dim3")]
physx: None,
};
@@ -383,7 +360,7 @@ impl TestbedApp {
self.harness
.physics
.integration_parameters
.num_solver_iterations = NonZeroUsize::new(4).unwrap();
.num_solver_iterations = 4;
// Init world.
let mut testbed = Testbed {
@@ -403,20 +380,6 @@ impl TestbedApp {
self.harness.step();
}
#[cfg(all(feature = "dim2", feature = "other-backends"))]
{
if self.state.selected_backend == BOX2D_BACKEND {
self.other_backends.box2d.as_mut().unwrap().step(
&mut self.harness.physics.pipeline.counters,
&self.harness.physics.integration_parameters,
);
self.other_backends.box2d.as_mut().unwrap().sync(
&mut self.harness.physics.bodies,
&mut self.harness.physics.colliders,
);
}
}
#[cfg(all(feature = "dim3", feature = "other-backends"))]
{
if self.state.selected_backend == PHYSX_BACKEND_PATCH_FRICTION
@@ -671,18 +634,6 @@ impl Testbed<'_, '_, '_, '_, '_, '_, '_, '_, '_, '_, '_, '_, '_> {
self.state.vehicle_controller = None;
}
#[cfg(all(feature = "dim2", feature = "other-backends"))]
{
if self.state.selected_backend == BOX2D_BACKEND {
self.other_backends.box2d = Some(Box2dWorld::from_rapier(
self.harness.physics.gravity,
&self.harness.physics.bodies,
&self.harness.physics.colliders,
&self.harness.physics.impulse_joints,
));
}
}
#[cfg(all(feature = "dim3", feature = "other-backends"))]
{
if self.state.selected_backend == PHYSX_BACKEND_PATCH_FRICTION
@@ -1462,22 +1413,6 @@ fn update_testbed(
}
}
#[cfg(all(feature = "dim2", feature = "other-backends"))]
{
if state.selected_backend == BOX2D_BACKEND {
let harness = &mut *harness;
other_backends.box2d.as_mut().unwrap().step(
&mut harness.physics.pipeline.counters,
&harness.physics.integration_parameters,
);
other_backends
.box2d
.as_mut()
.unwrap()
.sync(&mut harness.physics.bodies, &mut harness.physics.colliders);
}
}
#[cfg(all(feature = "dim3", feature = "other-backends"))]
{
if state.selected_backend == PHYSX_BACKEND_PATCH_FRICTION