Merge pull request #81 from rezural/harness

Introduce a run harness, to make running salva with rapier easier with headless.

benchmarks3d/Cargo.toml

@@ -25,3 +25,7 @@ path = "../build/rapier3d"
 [[bin]]
 name = "all_benchmarks3"
 path = "all_benchmarks3.rs"
+
+[[bin]]
+name = "harness_capsules3"
+path = "harness_capsules3.rs"

benchmarks3d/harness_capsules3.rs

@@ -0,0 +1,72 @@
+extern crate nalgebra as na;
+
+use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
+use rapier3d::geometry::{ColliderBuilder, ColliderSet};
+use rapier_testbed3d::harness::Harness;
+
+pub fn init_world(harness: &mut Harness) {
+    /*
+     * World
+     */
+    let mut bodies = RigidBodySet::new();
+    let mut colliders = ColliderSet::new();
+    let joints = JointSet::new();
+
+    /*
+     * Ground
+     */
+    let ground_size = 200.1;
+    let ground_height = 0.1;
+
+    let rigid_body = RigidBodyBuilder::new_static()
+        .translation(0.0, -ground_height, 0.0)
+        .build();
+    let handle = bodies.insert(rigid_body);
+    let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
+    colliders.insert(collider, handle, &mut bodies);
+
+    /*
+     * Create the cubes
+     */
+    let num = 8;
+    let rad = 1.0;
+
+    let shift = rad * 2.0 + rad;
+    let shifty = rad * 4.0;
+    let centerx = shift * (num / 2) as f32;
+    let centery = shift / 2.0;
+    let centerz = shift * (num / 2) as f32;
+
+    let mut offset = -(num as f32) * (rad * 2.0 + rad) * 0.5;
+
+    for j in 0usize..47 {
+        for i in 0..num {
+            for k in 0usize..num {
+                let x = i as f32 * shift - centerx + offset;
+                let y = j as f32 * shifty + centery + 3.0;
+                let z = k as f32 * shift - centerz + offset;
+
+                // Build the rigid body.
+                let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
+                let handle = bodies.insert(rigid_body);
+                let collider = ColliderBuilder::capsule_y(rad, rad).build();
+                colliders.insert(collider, handle, &mut bodies);
+            }
+        }
+
+        offset -= 0.05 * rad * (num as f32 - 1.0);
+    }
+
+    /*
+     * Set up the harness.
+     */
+    harness.set_world(bodies, colliders, joints);
+}
+
+fn main() {
+    let harness = &mut Harness::new_empty();
+    init_world(harness);
+    harness.set_max_steps(10000);
+    harness.run();
+    println!("{}", harness.state.timestep_id);
+}

src_testbed/harness/mod.rs

@@ -0,0 +1,186 @@
+use crate::physics::{PhysicsEvents, PhysicsState};
+use plugin::HarnessPlugin;
+use rapier::dynamics::{IntegrationParameters, JointSet, RigidBodySet};
+use rapier::geometry::{BroadPhase, ColliderSet, NarrowPhase};
+use rapier::math::Vector;
+use rapier::pipeline::{ChannelEventCollector, PhysicsPipeline, QueryPipeline};
+
+pub mod plugin;
+
+pub struct HarnessState {
+    #[cfg(feature = "parallel")]
+    pub thread_pool: rapier::rayon::ThreadPool,
+    pub timestep_id: usize,
+}
+
+pub struct Harness {
+    physics: PhysicsState,
+    max_steps: usize,
+    callbacks: Callbacks,
+    plugins: Vec<Box<dyn HarnessPlugin>>,
+    time: f32,
+    events: PhysicsEvents,
+    event_handler: ChannelEventCollector,
+    pub state: HarnessState,
+}
+
+type Callbacks = Vec<Box<dyn FnMut(&mut PhysicsState, &PhysicsEvents, &HarnessState, f32)>>;
+
+#[allow(dead_code)]
+impl Harness {
+    pub fn new_empty() -> Self {
+        #[cfg(feature = "parallel")]
+        let num_threads = num_cpus::get_physical();
+
+        #[cfg(feature = "parallel")]
+        let thread_pool = rapier::rayon::ThreadPoolBuilder::new()
+            .num_threads(num_threads)
+            .build()
+            .unwrap();
+
+        let contact_channel = crossbeam::channel::unbounded();
+        let proximity_channel = crossbeam::channel::unbounded();
+        let event_handler = ChannelEventCollector::new(proximity_channel.0, contact_channel.0);
+        let events = PhysicsEvents {
+            contact_events: contact_channel.1,
+            proximity_events: proximity_channel.1,
+        };
+        let physics = PhysicsState::new();
+        let state = HarnessState {
+            #[cfg(feature = "parallel")]
+            thread_pool,
+            timestep_id: 0,
+        };
+
+        Self {
+            physics,
+            max_steps: 1000,
+            callbacks: Vec::new(),
+            plugins: Vec::new(),
+            time: 0.0,
+            events,
+            event_handler,
+            state,
+        }
+    }
+
+    pub fn new(bodies: RigidBodySet, colliders: ColliderSet, joints: JointSet) -> Self {
+        let mut res = Self::new_empty();
+        res.set_world(bodies, colliders, joints);
+        res
+    }
+
+    pub fn set_max_steps(&mut self, max_steps: usize) {
+        self.max_steps = max_steps
+    }
+
+    pub fn integration_parameters_mut(&mut self) -> &mut IntegrationParameters {
+        &mut self.physics.integration_parameters
+    }
+
+    pub fn physics_state_mut(&mut self) -> &mut PhysicsState {
+        &mut self.physics
+    }
+
+    pub fn set_world(&mut self, bodies: RigidBodySet, colliders: ColliderSet, joints: JointSet) {
+        self.set_world_with_gravity(bodies, colliders, joints, Vector::y() * -9.81)
+    }
+
+    pub fn set_world_with_gravity(
+        &mut self,
+        bodies: RigidBodySet,
+        colliders: ColliderSet,
+        joints: JointSet,
+        gravity: Vector<f32>,
+    ) {
+        // println!("Num bodies: {}", bodies.len());
+        // println!("Num joints: {}", joints.len());
+        self.physics.gravity = gravity;
+        self.physics.bodies = bodies;
+        self.physics.colliders = colliders;
+        self.physics.joints = joints;
+        self.physics.broad_phase = BroadPhase::new();
+        self.physics.narrow_phase = NarrowPhase::new();
+        self.time = 0.0;
+        self.state.timestep_id = 0;
+        self.physics.query_pipeline = QueryPipeline::new();
+        self.physics.pipeline = PhysicsPipeline::new();
+        self.physics.pipeline.counters.enable();
+    }
+
+    pub fn add_plugin(&mut self, plugin: impl HarnessPlugin + 'static) {
+        self.plugins.push(Box::new(plugin));
+    }
+
+    pub fn add_callback<
+        F: FnMut(&mut PhysicsState, &PhysicsEvents, &HarnessState, f32) + 'static,
+    >(
+        &mut self,
+        callback: F,
+    ) {
+        self.callbacks.push(Box::new(callback));
+    }
+
+    pub fn step(&mut self) {
+        #[cfg(feature = "parallel")]
+        {
+            let physics = &mut self.physics;
+            let event_handler = &self.event_handler;
+            self.state.thread_pool.install(|| {
+                physics.pipeline.step(
+                    &physics.gravity,
+                    &physics.integration_parameters,
+                    &mut physics.broad_phase,
+                    &mut physics.narrow_phase,
+                    &mut physics.bodies,
+                    &mut physics.colliders,
+                    &mut physics.joints,
+                    None,
+                    None,
+                    event_handler,
+                );
+            });
+        }
+
+        #[cfg(not(feature = "parallel"))]
+        self.physics.pipeline.step(
+            &self.physics.gravity,
+            &self.physics.integration_parameters,
+            &mut self.physics.broad_phase,
+            &mut self.physics.narrow_phase,
+            &mut self.physics.bodies,
+            &mut self.physics.colliders,
+            &mut self.physics.joints,
+            None,
+            None,
+            &self.event_handler,
+        );
+
+        self.physics
+            .query_pipeline
+            .update(&self.physics.bodies, &self.physics.colliders);
+
+        for plugin in &mut self.plugins {
+            plugin.step(&mut self.physics)
+        }
+
+        for f in &mut self.callbacks {
+            f(&mut self.physics, &self.events, &self.state, self.time)
+        }
+
+        for plugin in &mut self.plugins {
+            plugin.run_callbacks(&mut self.physics, &self.events, &self.state, self.time)
+        }
+
+        self.events.poll_all();
+
+        self.time += self.physics.integration_parameters.dt();
+    }
+
+    pub fn run(&mut self) {
+        for _ in 0..self.max_steps {
+            self.step();
+            self.state.timestep_id += 1;
+        }
+    }
+}

src_testbed/harness/plugin.rs

@@ -0,0 +1,15 @@
+use crate::harness::HarnessState;
+use crate::physics::PhysicsEvents;
+use crate::PhysicsState;
+
+pub trait HarnessPlugin {
+    fn run_callbacks(
+        &mut self,
+        physics: &mut PhysicsState,
+        events: &PhysicsEvents,
+        harness_state: &HarnessState,
+        t: f32,
+    );
+    fn step(&mut self, physics: &mut PhysicsState);
+    fn profiling_string(&self) -> String;
+}

src_testbed/lib.rs

@@ -22,16 +22,19 @@ extern crate bitflags;
 extern crate log;
 
 pub use crate::engine::GraphicsManager;
+pub use crate::harness::plugin::HarnessPlugin;
+pub use crate::physics::PhysicsState;
 pub use crate::plugin::TestbedPlugin;
 pub use crate::testbed::Testbed;
 
 #[cfg(all(feature = "dim2", feature = "other-backends"))]
 mod box2d_backend;
 mod engine;
+pub mod harness;
 #[cfg(feature = "other-backends")]
 mod nphysics_backend;
 pub mod objects;
-mod physics;
+pub mod physics;
 #[cfg(all(feature = "dim3", feature = "other-backends"))]
 mod physx_backend;
 mod plugin;