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Fix testbed compilation with other backends.

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This commit is contained in:
Crozet Sébastien
2020-10-26 15:12:10 +01:00
parent e028f45040
commit 3da333f11c
4 changed files with 81 additions and 79 deletions
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4
.github/workflows/rapier-ci-bench.yml vendored
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@@ -18,15 +18,17 @@ jobs:
BENCHBOT_TARGET_COMMIT: ${{ github.event.pull_request.head.sha }}
BENCHBOT_SHA: ${{ github.sha }}
BENCHBOT_HEAD_REF: ${{github.head_ref}}
BENCHBOT_OTHER_BACKENDS: 'true'
runs-on: ubuntu-latest
steps:
- name: Find commit SHA
if: github.ref == 'refs/heads/master'
run: |
echo "::set-env name=BENCHBOT_TARGET_COMMIT::$BENCHBOT_SHA"
echo "::set-env name=BENCHBOT_OTHER_BACKENDS::false"
- name: Send 3D bench message
shell: bash
run: curl -u $BENCHBOT_AMQP_USER:$BENCHBOT_AMQP_PASS
-i -H "content-type:application/json" -X POST
https://$BENCHBOT_AMQP_HOST/api/exchanges/$BENCHBOT_AMQP_VHOST//publish
-d'{"properties":{},"routing_key":"benchmark","payload":"{ \"repository\":\"https://github.com/'$BENCHBOT_TARGET_REPO'\", \"branch\":\"'$GITHUB_REF'\", \"commit\":\"'$BENCHBOT_TARGET_COMMIT'\" }","payload_encoding":"string"}'
-d'{"properties":{},"routing_key":"benchmark","payload":"{ \"repository\":\"https://github.com/'$BENCHBOT_TARGET_REPO'\", \"branch\":\"'$GITHUB_REF'\", \"commit\":\"'$BENCHBOT_TARGET_COMMIT'\", \"other_backends\":\"'$BENCHBOT_OTHER_BACKENDS'\" }","payload_encoding":"string"}'

70
src_testbed/box2d_backend.rs
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@@ -167,44 +167,42 @@ impl Box2dWorld {
fixture_def.is_sensor = collider.is_sensor();
fixture_def.filter = b2::Filter::new();
match collider.shape() {
Shape::Ball(b) => {
let mut b2_shape = b2::CircleShape::new();
b2_shape.set_radius(b.radius);
b2_shape.set_position(center);
body.create_fixture(&b2_shape, &mut fixture_def);
}
Shape::Cuboid(c) => {
let b2_shape = b2::PolygonShape::new_box(c.half_extents.x, c.half_extents.y);
body.create_fixture(&b2_shape, &mut fixture_def);
}
Shape::Polygon(poly) => {
let points: Vec<_> = poly
.vertices()
.iter()
.map(|p| collider.position_wrt_parent() * p)
.map(|p| na_vec_to_b2_vec(p.coords))
.collect();
let b2_shape = b2::PolygonShape::new_with(&points);
body.create_fixture(&b2_shape, &mut fixture_def);
}
Shape::HeightField(heightfield) => {
let mut segments = heightfield.segments();
let seg1 = segments.next().unwrap();
let mut vertices = vec![
na_vec_to_b2_vec(seg1.a.coords),
na_vec_to_b2_vec(seg1.b.coords),
];
let shape = collider.shape();
// TODO: this will not handle holes properly.
segments.for_each(|seg| {
vertices.push(na_vec_to_b2_vec(seg.b.coords));
});
if let Some(b) = shape.as_ball() {
let mut b2_shape = b2::CircleShape::new();
b2_shape.set_radius(b.radius);
b2_shape.set_position(center);
body.create_fixture(&b2_shape, &mut fixture_def);
} else if let Some(c) = shape.as_cuboid() {
let b2_shape = b2::PolygonShape::new_box(c.half_extents.x, c.half_extents.y);
body.create_fixture(&b2_shape, &mut fixture_def);
// } else if let Some(polygon) = shape.as_polygon() {
// let points: Vec<_> = poly
// .vertices()
// .iter()
// .map(|p| collider.position_wrt_parent() * p)
// .map(|p| na_vec_to_b2_vec(p.coords))
// .collect();
// let b2_shape = b2::PolygonShape::new_with(&points);
// body.create_fixture(&b2_shape, &mut fixture_def);
} else if let Some(heightfield) = shape.as_heightfield() {
let mut segments = heightfield.segments();
let seg1 = segments.next().unwrap();
let mut vertices = vec![
na_vec_to_b2_vec(seg1.a.coords),
na_vec_to_b2_vec(seg1.b.coords),
];
let b2_shape = b2::ChainShape::new_chain(&vertices);
body.create_fixture(&b2_shape, &mut fixture_def);
}
_ => eprintln!("Creating a shape unknown to the Box2d backend."),
// TODO: this will not handle holes properly.
segments.for_each(|seg| {
vertices.push(na_vec_to_b2_vec(seg.b.coords));
});
let b2_shape = b2::ChainShape::new_chain(&vertices);
body.create_fixture(&b2_shape, &mut fixture_def);
} else {
eprintln!("Creating a shape unknown to the Box2d backend.");
}
}

48
src_testbed/nphysics_backend.rs
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@@ -177,28 +177,36 @@ fn nphysics_collider_from_rapier_collider(
) -> Option<ColliderDesc<f32>> {
let margin = ColliderDesc::<f32>::default_margin();
let mut pos = *collider.position_wrt_parent();
let shape = collider.shape();
let shape = match collider.shape() {
Shape::Cuboid(cuboid) => {
ShapeHandle::new(Cuboid::new(cuboid.half_extents.map(|e| e - margin)))
}
Shape::Ball(ball) => ShapeHandle::new(Ball::new(ball.radius - margin)),
Shape::Capsule(capsule) => {
pos *= capsule.transform_wrt_y();
ShapeHandle::new(Capsule::new(capsule.half_height(), capsule.radius))
}
Shape::HeightField(heightfield) => ShapeHandle::new(heightfield.clone()),
let shape = if let Some(cuboid) = shape.as_cuboid() {
ShapeHandle::new(Cuboid::new(cuboid.half_extents.map(|e| e - margin)))
} else if let Some(ball) = shape.as_ball() {
ShapeHandle::new(Ball::new(ball.radius - margin))
} else if let Some(capsule) = shape.as_capsule() {
ShapeHandle::new(Capsule::new(capsule.half_height, capsule.radius))
} else if let Some(heightfield) = shape.as_heightfield() {
ShapeHandle::new(heightfield.clone())
} else {
#[cfg(feature = "dim3")]
Shape::Trimesh(trimesh) => ShapeHandle::new(TriMesh::new(
trimesh.vertices().to_vec(),
trimesh
.indices()
.iter()
.map(|idx| na::convert(*idx))
.collect(),
None,
)),
_ => return None,
if let Some(trimesh) = shape.as_trimesh() {
ShapeHandle::new(TriMesh::new(
trimesh.vertices().to_vec(),
trimesh
.indices()
.iter()
.map(|idx| na::convert(*idx))
.collect(),
None,
))
} else {
return None;
}
#[cfg(feature = "dim2")]
{
return None;
}
};
let density = if is_dynamic { collider.density() } else { 0.0 };

38
src_testbed/physx_backend.rs
View File

@@ -422,27 +422,22 @@ fn physx_collider_from_rapier_collider(
collider: &Collider,
) -> Option<(ColliderDesc, Isometry3<f32>)> {
let mut local_pose = *collider.position_wrt_parent();
let desc = match collider.shape() {
Shape::Cuboid(cuboid) => ColliderDesc::Box(
let shape = collider.shape();
let desc = if let Some(cuboid) = shape.as_cuboid() {
ColliderDesc::Box(
cuboid.half_extents.x,
cuboid.half_extents.y,
cuboid.half_extents.z,
),
Shape::Ball(ball) => ColliderDesc::Sphere(ball.radius),
Shape::Capsule(capsule) => {
let center = capsule.center();
let mut dir = capsule.b - capsule.a;
if dir.x < 0.0 {
dir = -dir;
}
let rot = UnitQuaternion::rotation_between(&Vector3::x(), &dir);
local_pose *=
Translation3::from(center.coords) * rot.unwrap_or(UnitQuaternion::identity());
ColliderDesc::Capsule(capsule.radius, capsule.height())
}
Shape::Trimesh(trimesh) => ColliderDesc::TriMesh {
)
} else if let Some(ball) = shape.as_ball() {
ColliderDesc::Sphere(ball.radius)
} else if let Some(capsule) = shape.as_capsule() {
let rot = UnitQuaternion::rotation_between(&Vector3::x(), &Vector3::y());
local_pose *= rot.unwrap_or(UnitQuaternion::identity());
ColliderDesc::Capsule(capsule.radius, capsule.height())
} else if let Some(trimesh) = shape.as_trimesh() {
ColliderDesc::TriMesh {
vertices: trimesh
.vertices()
.iter()
@@ -450,11 +445,10 @@ fn physx_collider_from_rapier_collider(
.collect(),
indices: trimesh.flat_indices().to_vec(),
mesh_scale: Vector3::repeat(1.0).into_glam(),
},
_ => {
eprintln!("Creating a shape unknown to the PhysX backend.");
return None;
}
} else {
eprintln!("Creating a shape unknown to the PhysX backend.");
return None;
};
Some((desc, local_pose))