Fix testbed compilation with other backends.

.github/workflows/rapier-ci-bench.yml

@@ -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"}'

src_testbed/box2d_backend.rs

@@ -167,44 +167,42 @@ impl Box2dWorld {
         fixture_def.is_sensor = collider.is_sensor();
         fixture_def.filter = b2::Filter::new();
 
-        match collider.shape() {
+        let shape = 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),
-                ];
 
-                // TODO: this will not handle holes properly.
+        if let Some(b) = shape.as_ball() {
-                segments.for_each(|seg| {
+            let mut b2_shape = b2::CircleShape::new();
-                    vertices.push(na_vec_to_b2_vec(seg.b.coords));
+            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);
+            // TODO: this will not handle holes properly.
-                body.create_fixture(&b2_shape, &mut fixture_def);
+            segments.for_each(|seg| {
-            }
+                vertices.push(na_vec_to_b2_vec(seg.b.coords));
-            _ => eprintln!("Creating a shape unknown to the Box2d backend."),
+            });
+
+            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.");
         }
     }
 

src_testbed/nphysics_backend.rs

@@ -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() {
+    let shape = if let Some(cuboid) = shape.as_cuboid() {
-        Shape::Cuboid(cuboid) => {
+        ShapeHandle::new(Cuboid::new(cuboid.half_extents.map(|e| e - margin)))
-            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))
-        Shape::Ball(ball) => ShapeHandle::new(Ball::new(ball.radius - margin)),
+    } else if let Some(capsule) = shape.as_capsule() {
-        Shape::Capsule(capsule) => {
+        ShapeHandle::new(Capsule::new(capsule.half_height, capsule.radius))
-            pos *= capsule.transform_wrt_y();
+    } else if let Some(heightfield) = shape.as_heightfield() {
-            ShapeHandle::new(Capsule::new(capsule.half_height(), capsule.radius))
+        ShapeHandle::new(heightfield.clone())
-        }
+    } else {
-        Shape::HeightField(heightfield) => ShapeHandle::new(heightfield.clone()),
         #[cfg(feature = "dim3")]
-        Shape::Trimesh(trimesh) => ShapeHandle::new(TriMesh::new(
+        if let Some(trimesh) = shape.as_trimesh() {
-            trimesh.vertices().to_vec(),
+            ShapeHandle::new(TriMesh::new(
-            trimesh
+                trimesh.vertices().to_vec(),
-                .indices()
+                trimesh
-                .iter()
+                    .indices()
-                .map(|idx| na::convert(*idx))
+                    .iter()
-                .collect(),
+                    .map(|idx| na::convert(*idx))
-            None,
+                    .collect(),
-        )),
+                None,
-        _ => return None,
+            ))
+        } else {
+            return None;
+        }
+
+        #[cfg(feature = "dim2")]
+        {
+            return None;
+        }
     };
 
     let density = if is_dynamic { collider.density() } else { 0.0 };

src_testbed/physx_backend.rs

@@ -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() {
+    let shape = collider.shape();
-        Shape::Cuboid(cuboid) => ColliderDesc::Box(
+
+    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),
+    } else if let Some(ball) = shape.as_ball() {
-        Shape::Capsule(capsule) => {
+        ColliderDesc::Sphere(ball.radius)
-            let center = capsule.center();
+    } else if let Some(capsule) = shape.as_capsule() {
-            let mut dir = capsule.b - capsule.a;
+        let rot = UnitQuaternion::rotation_between(&Vector3::x(), &Vector3::y());
-
+        local_pose *= rot.unwrap_or(UnitQuaternion::identity());
-            if dir.x < 0.0 {
+        ColliderDesc::Capsule(capsule.radius, capsule.height())
-                dir = -dir;
+    } else if let Some(trimesh) = shape.as_trimesh() {
-            }
+        ColliderDesc::TriMesh {
-
-            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 {
             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))