add plugins

cargo fmt

src_testbed/harness/mod.rs

@@ -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 {
@@ -24,20 +21,18 @@ 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 =
+type Callbacks = Vec<Box<dyn FnMut(&mut PhysicsState, &PhysicsEvents, f32)>>;
-Vec<Box<dyn FnMut(&mut PhysicsState, &PhysicsEvents, f32)>>;
 
 #[allow(dead_code)]
 impl Harness {
@@ -51,6 +46,9 @@ impl Harness {
             .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) {
+    pub fn add_plugin(&mut self, plugin: impl HarnessPlugin + 'static) {
-    //     self.plugins.push(Box::new(plugin));
+        self.plugins.push(Box::new(plugin));
-    // }
+    }
 
-    pub fn add_callback<
+    pub fn add_callback<F: FnMut(&mut PhysicsState, &PhysicsEvents, f32) + 'static>(
-        F: FnMut(&mut PhysicsState, &PhysicsEvents, f32) + 'static,
-    >(
         &mut self,
         callback: F,
     ) {
@@ -191,9 +187,14 @@ impl Harness {
             .query_pipeline
             .update(&self.physics.bodies, &self.physics.colliders);
 
-        // for plugin in &mut self.plugins {
+        for plugin in &mut self.plugins {
-        //     plugin.step(&mut self.physics)
+            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) {

src_testbed/lib.rs

@@ -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;
 

src_testbed/plugin.rs

@@ -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;
+}