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add plugins

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cargo fmt
This commit is contained in:
rezural
2020-12-20 04:27:20 +11:00
parent 5634c51fe6
commit 315b84a85e
3 changed files with 63 additions and 53 deletions
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107
src_testbed/harness/mod.rs
View File

@@ -1,12 +1,9 @@
use crate::physics::{PhysicsEvents, PhysicsState};
use crate::HarnessPlugin;
use rapier::dynamics::{IntegrationParameters, JointSet, RigidBodySet};
use rapier::geometry::{BroadPhase, ColliderSet, NarrowPhase};
use rapier::math::Vector;
use rapier::pipeline::{ChannelEventCollector, PhysicsPipeline, QueryPipeline};
use rapier::dynamics::{
IntegrationParameters, JointSet, RigidBodySet,
};
use rapier::geometry::{
BroadPhase, ColliderSet, NarrowPhase,
};
// #[derive(PartialEq)]
// pub enum RunState {
@@ -24,33 +21,34 @@ pub struct HarnessState {
// pub run_state: RunState,
}
pub struct Harness {
physics: PhysicsState,
max_steps: usize,
callbacks: Callbacks,
// plugins: Vec<Box<dyn HarnessPlugin>>,
plugins: Vec<Box<dyn HarnessPlugin>>,
time: f32,
events: PhysicsEvents,
event_handler: ChannelEventCollector,
pub state: HarnessState,
}
type Callbacks =
Vec<Box<dyn FnMut(&mut PhysicsState, &PhysicsEvents, f32)>>;
type Callbacks = Vec<Box<dyn FnMut(&mut PhysicsState, &PhysicsEvents, f32)>>;
#[allow(dead_code)]
impl Harness {
pub fn new_empty() -> Self {
#[cfg(feature = "parallel")]
let num_threads = num_cpus::get_physical();
let num_threads = num_cpus::get_physical();
#[cfg(feature = "parallel")]
let thread_pool = rapier::rayon::ThreadPoolBuilder::new()
let thread_pool = rapier::rayon::ThreadPoolBuilder::new()
.num_threads(num_threads)
.build()
.unwrap();
// #[cfg(feature = "parallel")]
// println!("Rapier Harness Parallel, num_threads: {}", num_threads);
let contact_channel = crossbeam::channel::unbounded();
let proximity_channel = crossbeam::channel::unbounded();
let event_handler = ChannelEventCollector::new(proximity_channel.0, contact_channel.0);
@@ -70,6 +68,7 @@ impl Harness {
physics,
max_steps: 1000,
callbacks: Vec::new(),
plugins: Vec::new(),
time: 0.0,
events,
event_handler,
@@ -126,7 +125,6 @@ impl Harness {
self.physics.query_pipeline = QueryPipeline::new();
self.physics.pipeline = PhysicsPipeline::new();
self.physics.pipeline.counters.enable();
}
// fn clear(&mut self) {
@@ -139,13 +137,11 @@ impl Harness {
// self.plugins.clear();
// }
// pub fn add_plugin(&mut self, plugin: impl TestbedPlugin + 'static) {
// self.plugins.push(Box::new(plugin));
// }
pub fn add_plugin(&mut self, plugin: impl HarnessPlugin + 'static) {
self.plugins.push(Box::new(plugin));
}
pub fn add_callback<
F: FnMut(&mut PhysicsState, &PhysicsEvents, f32) + 'static,
>(
pub fn add_callback<F: FnMut(&mut PhysicsState, &PhysicsEvents, f32) + 'static>(
&mut self,
callback: F,
) {
@@ -154,46 +150,51 @@ impl Harness {
pub fn step(&mut self) {
#[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.broad_phase,
&mut physics.narrow_phase,
&mut physics.bodies,
&mut physics.colliders,
&mut physics.joints,
None,
None,
event_handler,
);
});
}
{
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.broad_phase,
&mut physics.narrow_phase,
&mut physics.bodies,
&mut physics.colliders,
&mut physics.joints,
None,
None,
event_handler,
);
});
}
#[cfg(not(feature = "parallel"))]
self.physics.pipeline.step(
&self.physics.gravity,
&self.physics.integration_parameters,
&mut self.physics.broad_phase,
&mut self.physics.narrow_phase,
&mut self.physics.bodies,
&mut self.physics.colliders,
&mut self.physics.joints,
None,
None,
&self.event_handler,
);
self.physics.pipeline.step(
&self.physics.gravity,
&self.physics.integration_parameters,
&mut self.physics.broad_phase,
&mut self.physics.narrow_phase,
&mut self.physics.bodies,
&mut self.physics.colliders,
&mut self.physics.joints,
None,
None,
&self.event_handler,
);
self.physics
.query_pipeline
.update(&self.physics.bodies, &self.physics.colliders);
// for plugin in &mut self.plugins {
// plugin.step(&mut self.physics)
// }
for plugin in &mut self.plugins {
plugin.step(&mut self.physics)
}
//FIXME: not sure if this makes sense here, basically copied from Testbed
for plugin in &mut self.plugins {
plugin.run_callbacks(&mut self.physics, self.time)
}
}
pub fn run(&mut self) {
@@ -202,4 +203,4 @@ impl Harness {
self.state.timestep_id += 1;
}
}
}
}

2
src_testbed/lib.rs
View File

@@ -22,6 +22,8 @@ extern crate bitflags;
extern crate log;
pub use crate::engine::GraphicsManager;
pub use crate::physics::PhysicsState;
pub use crate::plugin::HarnessPlugin;
pub use crate::plugin::TestbedPlugin;
pub use crate::testbed::Testbed;

7
src_testbed/plugin.rs
View File

@@ -10,3 +10,10 @@ pub trait TestbedPlugin {
fn draw(&mut self);
fn profiling_string(&self) -> String;
}
pub trait HarnessPlugin {
//FIXME: is run_callbacks needed?
fn run_callbacks(&mut self, physics: &mut PhysicsState, t: f32);
fn step(&mut self, physics: &mut PhysicsState);
fn profiling_string(&self) -> String;
}