Move 2D benchmarks into their own directory/crate.

Cargo.toml

@@ -1,5 +1,5 @@
 [workspace]
-members = [ "build/rapier2d", "build/rapier_testbed2d", "examples2d",
+members = [ "build/rapier2d", "build/rapier_testbed2d", "examples2d", "benchmarks2d",
             "build/rapier3d", "build/rapier_testbed3d", "examples3d", "benchmarks3d" ]
 
 [patch.crates-io]

benchmarks2d/Cargo.toml

@@ -0,0 +1,27 @@
+[package]
+name    = "rapier-benchmarks-2d"
+version = "0.1.0"
+authors = [ "Sébastien Crozet <developer@crozet.re>" ]
+edition = "2018"
+
+[features]
+parallel = [ "rapier2d/parallel", "rapier_testbed2d/parallel" ]
+simd-stable = [ "rapier2d/simd-stable" ]
+simd-nightly = [ "rapier2d/simd-nightly" ]
+other-backends = [ "rapier_testbed2d/other-backends" ]
+enhanced-determinism = [ "rapier2d/enhanced-determinism" ]
+
+[dependencies]
+rand       = "0.7"
+Inflector  = "0.11"
+nalgebra = "0.22"
+
+[dependencies.rapier_testbed2d]
+path = "../build/rapier_testbed2d"
+
+[dependencies.rapier2d]
+path = "../build/rapier2d"
+
+[[bin]]
+name = "all_benchmarks2"
+path = "./all_benchmarks2.rs"

benchmarks2d/all_benchmarks2.rs

@@ -0,0 +1,82 @@
+#![allow(dead_code)]
+
+extern crate nalgebra as na;
+
+#[cfg(target_arch = "wasm32")]
+use wasm_bindgen::prelude::*;
+
+use inflector::Inflector;
+
+use rapier_testbed2d::Testbed;
+use std::cmp::Ordering;
+
+mod balls2;
+mod boxes2;
+mod capsules2;
+mod heightfield2;
+mod joint_ball2;
+mod joint_fixed2;
+mod joint_prismatic2;
+mod pyramid2;
+
+fn demo_name_from_command_line() -> Option<String> {
+    let mut args = std::env::args();
+
+    while let Some(arg) = args.next() {
+        if &arg[..] == "--example" {
+            return args.next();
+        }
+    }
+
+    None
+}
+
+#[cfg(any(target_arch = "wasm32", target_arch = "asmjs"))]
+fn demo_name_from_url() -> Option<String> {
+    None
+    //    let window = stdweb::web::window();
+    //    let hash = window.location()?.search().ok()?;
+    //    Some(hash[1..].to_string())
+}
+
+#[cfg(not(any(target_arch = "wasm32", target_arch = "asmjs")))]
+fn demo_name_from_url() -> Option<String> {
+    None
+}
+
+#[cfg_attr(target_arch = "wasm32", wasm_bindgen(start))]
+pub fn main() {
+    let demo = demo_name_from_command_line()
+        .or_else(|| demo_name_from_url())
+        .unwrap_or(String::new())
+        .to_camel_case();
+
+    let mut builders: Vec<(_, fn(&mut Testbed))> = vec![
+        ("Balls", balls2::init_world),
+        ("Boxes", boxes2::init_world),
+        ("Capsules", capsules2::init_world),
+        ("Heightfield", heightfield2::init_world),
+        ("Pyramid", pyramid2::init_world),
+        ("(Stress test) joint ball", joint_ball2::init_world),
+        ("(Stress test) joint fixed", joint_fixed2::init_world),
+        (
+            "(Stress test) joint prismatic",
+            joint_prismatic2::init_world,
+        ),
+    ];
+
+    // Lexicographic sort, with stress tests moved at the end of the list.
+    builders.sort_by(|a, b| match (a.0.starts_with("("), b.0.starts_with("(")) {
+        (true, true) | (false, false) => a.0.cmp(b.0),
+        (true, false) => Ordering::Greater,
+        (false, true) => Ordering::Less,
+    });
+
+    let i = builders
+        .iter()
+        .position(|builder| builder.0.to_camel_case().as_str() == demo.as_str())
+        .unwrap_or(0);
+    let testbed = Testbed::from_builders(i, builders);
+
+    testbed.run()
+}

benchmarks2d/heightfield2.rs

@@ -0,0 +1,72 @@
+use na::{DVector, Point2, Vector2};
+use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
+use rapier2d::geometry::{ColliderBuilder, ColliderSet};
+use rapier_testbed2d::Testbed;
+
+pub fn init_world(testbed: &mut Testbed) {
+    /*
+     * World
+     */
+    let mut bodies = RigidBodySet::new();
+    let mut colliders = ColliderSet::new();
+    let joints = JointSet::new();
+
+    /*
+     * Ground
+     */
+    let ground_size = Vector2::new(50.0, 1.0);
+    let nsubdivs = 2000;
+
+    let heights = DVector::from_fn(nsubdivs + 1, |i, _| {
+        if i == 0 || i == nsubdivs {
+            80.0
+        } else {
+            (i as f32 * ground_size.x / (nsubdivs as f32)).cos() * 2.0
+        }
+    });
+
+    let rigid_body = RigidBodyBuilder::new_static().build();
+    let handle = bodies.insert(rigid_body);
+    let collider = ColliderBuilder::heightfield(heights, ground_size).build();
+    colliders.insert(collider, handle, &mut bodies);
+
+    /*
+     * Create the cubes
+     */
+    let num = 26;
+    let rad = 0.5;
+
+    let shift = rad * 2.0;
+    let centerx = shift * (num / 2) as f32;
+    let centery = shift / 2.0;
+
+    for i in 0..num {
+        for j in 0usize..num * 5 {
+            let x = i as f32 * shift - centerx;
+            let y = j as f32 * shift + centery + 3.0;
+
+            // Build the rigid body.
+            let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y).build();
+            let handle = bodies.insert(rigid_body);
+
+            if j % 2 == 0 {
+                let collider = ColliderBuilder::cuboid(rad, rad).build();
+                colliders.insert(collider, handle, &mut bodies);
+            } else {
+                let collider = ColliderBuilder::ball(rad).build();
+                colliders.insert(collider, handle, &mut bodies);
+            }
+        }
+    }
+
+    /*
+     * Set up the testbed.
+     */
+    testbed.set_world(bodies, colliders, joints);
+    testbed.look_at(Point2::new(0.0, 50.0), 10.0);
+}
+
+fn main() {
+    let testbed = Testbed::from_builders(0, vec![("Heightfield", init_world)]);
+    testbed.run()
+}

benchmarks2d/pyramid2.rs

@@ -0,0 +1,60 @@
+use na::Point2;
+use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
+use rapier2d::geometry::{ColliderBuilder, ColliderSet};
+use rapier_testbed2d::Testbed;
+
+pub fn init_world(testbed: &mut Testbed) {
+    /*
+     * World
+     */
+    let mut bodies = RigidBodySet::new();
+    let mut colliders = ColliderSet::new();
+    let joints = JointSet::new();
+
+    /*
+     * Ground
+     */
+    let ground_size = 100.0;
+    let ground_thickness = 1.0;
+
+    let rigid_body = RigidBodyBuilder::new_static().build();
+    let ground_handle = bodies.insert(rigid_body);
+    let collider = ColliderBuilder::cuboid(ground_size, ground_thickness).build();
+    colliders.insert(collider, ground_handle, &mut bodies);
+
+    /*
+     * Create the cubes
+     */
+    let num = 100;
+    let rad = 0.5;
+
+    let shift = rad * 2.0;
+    let centerx = shift * (num as f32) / 2.0;
+    let centery = shift / 2.0 + ground_thickness + rad * 1.5;
+
+    for i in 0usize..num {
+        for j in i..num {
+            let fj = j as f32;
+            let fi = i as f32;
+            let x = (fi * shift / 2.0) + (fj - fi) * shift - centerx;
+            let y = fi * shift + centery;
+
+            // Build the rigid body.
+            let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y).build();
+            let handle = bodies.insert(rigid_body);
+            let collider = ColliderBuilder::cuboid(rad, rad).build();
+            colliders.insert(collider, handle, &mut bodies);
+        }
+    }
+
+    /*
+     * Set up the testbed.
+     */
+    testbed.set_world(bodies, colliders, joints);
+    testbed.look_at(Point2::new(0.0, 2.5), 5.0);
+}
+
+fn main() {
+    let testbed = Testbed::from_builders(0, vec![("Balls", init_world)]);
+    testbed.run()
+}

examples2d/all_examples2.rs

@@ -11,18 +11,12 @@ use rapier_testbed2d::Testbed;
 use std::cmp::Ordering;
 
 mod add_remove2;
-mod balls2;
-mod boxes2;
-mod capsules2;
 mod debug_box_ball2;
 mod heightfield2;
 mod joints2;
-mod kinematic2;
+mod platform2;
 mod pyramid2;
 mod sensor2;
-mod stress_joint_ball2;
-mod stress_joint_fixed2;
-mod stress_joint_prismatic2;
 
 fn demo_name_from_command_line() -> Option<String> {
     let mut args = std::env::args();
@@ -58,21 +52,12 @@ pub fn main() {
 
     let mut builders: Vec<(_, fn(&mut Testbed))> = vec![
         ("Add remove", add_remove2::init_world),
-        ("Balls", balls2::init_world),
-        ("Boxes", boxes2::init_world),
-        ("Capsules", capsules2::init_world),
         ("Heightfield", heightfield2::init_world),
         ("Joints", joints2::init_world),
-        ("Kinematic", kinematic2::init_world),
+        ("Platform", platform2::init_world),
         ("Pyramid", pyramid2::init_world),
         ("Sensor", sensor2::init_world),
         ("(Debug) box ball", debug_box_ball2::init_world),
-        ("(Stress test) joint ball", stress_joint_ball2::init_world),
-        ("(Stress test) joint fixed", stress_joint_fixed2::init_world),
-        (
-            "(Stress test) joint prismatic",
-            stress_joint_prismatic2::init_world,
-        ),
     ];
 
     // Lexicographic sort, with stress tests moved at the end of the list.

examples2d/heightfield2.rs

@@ -19,7 +19,7 @@ pub fn init_world(testbed: &mut Testbed) {
 
     let heights = DVector::from_fn(nsubdivs + 1, |i, _| {
         if i == 0 || i == nsubdivs {
-            80.0
+            8.0
         } else {
             (i as f32 * ground_size.x / (nsubdivs as f32)).cos() * 2.0
         }
@@ -33,7 +33,7 @@ pub fn init_world(testbed: &mut Testbed) {
     /*
      * Create the cubes
      */
-    let num = 26;
+    let num = 20;
     let rad = 0.5;
 
     let shift = rad * 2.0;
@@ -41,7 +41,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let centery = shift / 2.0;
 
     for i in 0..num {
-        for j in 0usize..num * 5 {
+        for j in 0usize..num {
             let x = i as f32 * shift - centerx;
             let y = j as f32 * shift + centery + 3.0;
 
@@ -63,7 +63,7 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point2::new(0.0, 50.0), 10.0);
+    testbed.look_at(Point2::new(0.0, 0.0), 10.0);
 }
 
 fn main() {

examples2d/joints2.rs

@@ -19,8 +19,8 @@ pub fn init_world(testbed: &mut Testbed) {
     // in order to be able to compare rapier with Box2D,
     // we set it to 0.4.
     let rad = 0.4;
-    let numi = 100; // Num vertical nodes.
+    let numi = 10; // Num vertical nodes.
-    let numk = 100; // Num horizontal nodes.
+    let numk = 10; // Num horizontal nodes.
     let shift = 1.0;
 
     let mut body_handles = Vec::new();
@@ -30,7 +30,7 @@ pub fn init_world(testbed: &mut Testbed) {
             let fk = k as f32;
             let fi = i as f32;
 
-            let status = if i == 0 && (k % 4 == 0 || k == numk - 1) {
+            let status = if i == 0 && k == 0 {
                 BodyStatus::Static
             } else {
                 BodyStatus::Dynamic
@@ -66,7 +66,7 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point2::new(numk as f32 * rad, numi as f32 * -rad), 5.0);
+    testbed.look_at(Point2::new(numk as f32 * rad, numi as f32 * -rad), 20.0);
 }
 
 fn main() {

examples2d/platform2.rs

@@ -35,7 +35,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let centery = shift / 2.0 + 3.04;
 
     for i in 0usize..num {
-        for j in 0usize..num * 50 {
+        for j in 0usize..num {
             let x = i as f32 * shift - centerx;
             let y = j as f32 * shift + centery;
 

examples2d/pyramid2.rs

@@ -14,7 +14,7 @@ pub fn init_world(testbed: &mut Testbed) {
     /*
      * Ground
      */
-    let ground_size = 100.0;
+    let ground_size = 10.0;
     let ground_thickness = 1.0;
 
     let rigid_body = RigidBodyBuilder::new_static().build();
@@ -25,7 +25,7 @@ pub fn init_world(testbed: &mut Testbed) {
     /*
      * Create the cubes
      */
-    let num = 100;
+    let num = 10;
     let rad = 0.5;
 
     let shift = rad * 2.0;
@@ -51,7 +51,7 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point2::new(0.0, 2.5), 5.0);
+    testbed.look_at(Point2::new(0.0, 2.5), 20.0);
 }
 
 fn main() {