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Joint API and joint motors improvements

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This commit is contained in:
Sébastien Crozet
2022-02-20 12:55:00 +01:00
committed by Sébastien Crozet
parent e740493b98
commit fb20d72ee2
108 changed files with 2650 additions and 1854 deletions
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38
src_testbed/harness/mod.rs
View File

@@ -16,32 +16,58 @@ pub mod plugin;
pub struct RunState {
#[cfg(feature = "parallel")]
pub thread_pool: rapier::rayon::ThreadPool,
pub num_threads: usize,
#[cfg(feature = "parallel")]
num_threads: usize,
pub timestep_id: usize,
pub time: f32,
}
impl RunState {
#[cfg(feature = "parallel")]
pub fn new() -> Self {
#[cfg(feature = "parallel")]
let num_threads = num_cpus::get_physical();
#[cfg(not(feature = "parallel"))]
let num_threads = 1;
#[cfg(feature = "parallel")]
let thread_pool = rapier::rayon::ThreadPoolBuilder::new()
.num_threads(num_threads)
.build()
.unwrap();
Self {
#[cfg(feature = "parallel")]
thread_pool: thread_pool,
num_threads,
timestep_id: 0,
time: 0.0,
}
}
#[cfg(not(feature = "parallel"))]
pub fn new() -> Self {
Self {
timestep_id: 0,
time: 0.0,
}
}
#[cfg(feature = "parallel")]
pub fn num_threads(&self) -> usize {
self.num_threads
}
#[cfg(not(feature = "parallel"))]
pub fn num_threads(&self) -> usize {
1
}
#[cfg(feature = "parallel")]
pub fn set_num_threads(&mut self, num_threads: usize) {
if self.num_threads != num_threads {
self.thread_pool = rapier::rayon::ThreadPoolBuilder::new()
.num_threads(num_threads)
.build()
.unwrap();
self.num_threads = num_threads;
}
}
}
pub struct Harness {

2
src_testbed/testbed.rs
View File

@@ -535,7 +535,7 @@ impl<'a, 'b, 'c, 'd, 'e, 'f> Testbed<'a, 'b, 'c, 'd, 'e, 'f> {
&self.harness.physics.impulse_joints,
&self.harness.physics.multibody_joints,
self.state.selected_backend == PHYSX_BACKEND_TWO_FRICTION_DIR,
self.harness.state.num_threads,
self.harness.state.num_threads(),
));
}
}

15
src_testbed/ui.rs
View File

@@ -101,32 +101,32 @@ pub fn update_ui(ui_context: &EguiContext, state: &mut TestbedState, harness: &m
|| state.selected_backend == PHYSX_BACKEND_TWO_FRICTION_DIR
{
ui.add(
Slider::new(&mut integration_parameters.max_velocity_iterations, 0..=200)
Slider::new(&mut integration_parameters.max_velocity_iterations, 1..=200)
.text("pos. iters."),
);
ui.add(
Slider::new(
&mut integration_parameters.max_stabilization_iterations,
0..=200,
1..=200,
)
.text("vel. iters."),
);
} else {
ui.add(
Slider::new(&mut integration_parameters.max_velocity_iterations, 0..=200)
Slider::new(&mut integration_parameters.max_velocity_iterations, 1..=200)
.text("vel. rest. iters."),
);
ui.add(
Slider::new(
&mut integration_parameters.max_velocity_friction_iterations,
0..=200,
1..=200,
)
.text("vel. frict. iters."),
);
ui.add(
Slider::new(
&mut integration_parameters.max_stabilization_iterations,
0..=200,
1..=200,
)
.text("vel. stab. iters."),
);
@@ -134,10 +134,11 @@ pub fn update_ui(ui_context: &EguiContext, state: &mut TestbedState, harness: &m
#[cfg(feature = "parallel")]
{
let mut num_threads = harness.state.num_threads();
ui.add(
Slider::new(&mut harness.state.num_threads, 1..=num_cpus::get_physical())
.text("num. threads"),
Slider::new(&mut num_threads, 1..=num_cpus::get_physical()).text("num. threads"),
);
harness.state.set_num_threads(num_threads);
}
ui.add(
Slider::new(&mut integration_parameters.max_ccd_substeps, 0..=10).text("CCD substeps"),