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Make kinematic bodies properly wake up dynamic bodies.

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This commit is contained in:
Crozet Sébastien
2020-09-21 10:43:20 +02:00
parent e16b7722be
commit 7b8e322446
9 changed files with 168 additions and 54 deletions
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16
src_testbed/engine.rs
View File

@@ -609,7 +609,7 @@ impl GraphicsManager {
}
}
pub fn draw(&mut self, colliders: &ColliderSet, window: &mut Window) {
pub fn draw(&mut self, bodies: &RigidBodySet, colliders: &ColliderSet, window: &mut Window) {
// use kiss3d::camera::Camera;
// println!(
// "camera eye {:?}, at: {:?}",
@@ -618,6 +618,20 @@ impl GraphicsManager {
// );
for (_, ns) in self.b2sn.iter_mut() {
for n in ns.iter_mut() {
/*
if let Some(co) = colliders.get(n.collider()) {
let bo = &bodies[co.parent()];
if bo.is_dynamic() {
if bo.is_sleeping() {
n.set_color(Point3::new(1.0, 0.0, 0.0));
} else {
n.set_color(Point3::new(0.0, 1.0, 0.0));
}
}
}
*/
n.update(colliders);
n.draw(window);
}

38
src_testbed/testbed.rs
View File

@@ -824,7 +824,7 @@ impl Testbed {
.physics
.bodies
.iter()
.filter(|e| e.1.is_dynamic())
.filter(|e| !e.1.is_static())
.map(|e| e.0)
.collect();
let num_to_delete = (dynamic_bodies.len() / 10).max(1);
@@ -1367,7 +1367,7 @@ impl State for Testbed {
}
} else {
for (_, mut body) in self.physics.bodies.iter_mut() {
body.wake_up();
body.wake_up(true);
body.activation.threshold = -1.0;
}
}
@@ -1571,7 +1571,8 @@ impl State for Testbed {
}
self.highlight_hovered_body(window);
self.graphics.draw(&self.physics.colliders, window);
self.graphics
.draw(&self.physics.bodies, &self.physics.colliders, window);
#[cfg(feature = "fluids")]
{
@@ -1648,26 +1649,35 @@ Fluids: {:.2}ms
}
if self.state.flags.contains(TestbedStateFlags::DEBUG) {
let hash_bf = md5::compute(&bincode::serialize(&self.physics.broad_phase).unwrap());
let hash_nf = md5::compute(&bincode::serialize(&self.physics.narrow_phase).unwrap());
let hash_bodies = md5::compute(&bincode::serialize(&self.physics.bodies).unwrap());
let hash_colliders =
md5::compute(&bincode::serialize(&self.physics.colliders).unwrap());
let hash_joints = md5::compute(&bincode::serialize(&self.physics.joints).unwrap());
let bf = bincode::serialize(&self.physics.broad_phase).unwrap();
let nf = bincode::serialize(&self.physics.narrow_phase).unwrap();
let bs = bincode::serialize(&self.physics.bodies).unwrap();
let cs = bincode::serialize(&self.physics.colliders).unwrap();
let js = bincode::serialize(&self.physics.joints).unwrap();
let hash_bf = md5::compute(&bf);
let hash_nf = md5::compute(&nf);
let hash_bodies = md5::compute(&bs);
let hash_colliders = md5::compute(&cs);
let hash_joints = md5::compute(&js);
profile = format!(
r#"{}
Hashes at frame: {}
|_ Broad phase: {:?}
|_ Narrow phase: {:?}
|_ Bodies: {:?}
|_ Colliders: {:?}
|_ Joints: {:?}"#,
|_ Broad phase [{:.1}KB]: {:?}
|_ Narrow phase [{:.1}KB]: {:?}
|_ Bodies [{:.1}KB]: {:?}
|_ Colliders [{:.1}KB]: {:?}
|_ Joints [{:.1}KB]: {:?}"#,
profile,
self.state.timestep_id,
bf.len() as f32 / 1000.0,
hash_bf,
nf.len() as f32 / 1000.0,
hash_nf,
bs.len() as f32 / 1000.0,
hash_bodies,
cs.len() as f32 / 1000.0,
hash_colliders,
js.len() as f32 / 1000.0,
hash_joints
);
}