1347 lines
47 KiB
Rust
1347 lines
47 KiB
Rust
use std::env;
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use std::mem;
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use bevy::prelude::*;
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use crate::physics::{PhysicsEvents, PhysicsSnapshot, PhysicsState};
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use crate::plugin::TestbedPlugin;
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use crate::ui;
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use crate::{graphics::GraphicsManager, harness::RunState};
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use na::{self, Point2, Point3, Vector3};
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use rapier::dynamics::{
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ImpulseJointSet, IntegrationParameters, MultibodyJointSet, RigidBodyActivation,
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RigidBodyHandle, RigidBodySet,
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};
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use rapier::geometry::{ColliderHandle, ColliderSet, NarrowPhase};
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#[cfg(feature = "dim3")]
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use rapier::geometry::{InteractionGroups, Ray};
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use rapier::math::{Real, Vector};
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use rapier::pipeline::PhysicsHooks;
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#[cfg(all(feature = "dim2", feature = "other-backends"))]
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use crate::box2d_backend::Box2dWorld;
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use crate::harness::Harness;
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#[cfg(all(feature = "dim3", feature = "other-backends"))]
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use crate::physx_backend::PhysxWorld;
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use bevy::pbr::wireframe::WireframePlugin;
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use bevy::render::camera::Camera;
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use bevy::render::options::{WgpuFeatures, WgpuOptions};
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use bevy_egui::EguiContext;
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#[cfg(feature = "dim2")]
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use crate::camera2d::{OrbitCamera, OrbitCameraPlugin};
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#[cfg(feature = "dim3")]
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use crate::camera3d::{OrbitCamera, OrbitCameraPlugin};
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use crate::graphics::BevyMaterial;
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// use bevy::render::render_resource::RenderPipelineDescriptor;
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const RAPIER_BACKEND: usize = 0;
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#[cfg(all(feature = "dim2", feature = "other-backends"))]
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const BOX2D_BACKEND: usize = 1;
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pub(crate) const PHYSX_BACKEND_PATCH_FRICTION: usize = 1;
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pub(crate) const PHYSX_BACKEND_TWO_FRICTION_DIR: usize = 2;
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#[derive(PartialEq)]
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pub enum RunMode {
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Running,
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Stop,
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Step,
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}
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#[cfg(not(feature = "log"))]
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fn usage(exe_name: &str) {
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println!("Usage: {} [OPTION] ", exe_name);
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println!();
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println!("Options:");
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println!(" --help - prints this help message and exits.");
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println!(" --pause - do not start the simulation right away.");
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}
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#[cfg(feature = "log")]
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fn usage(exe_name: &str) {
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info!("Usage: {} [OPTION] ", exe_name);
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info!("");
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info!("Options:");
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info!(" --help - prints this help message and exits.");
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info!(" --pause - do not start the simulation right away.");
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}
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bitflags! {
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#[derive(Default)]
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pub struct TestbedStateFlags: u32 {
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const NONE = 0;
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const SLEEP = 1 << 0;
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const SUB_STEPPING = 1 << 1;
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const SHAPES = 1 << 2;
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const JOINTS = 1 << 3;
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const AABBS = 1 << 4;
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const CONTACT_POINTS = 1 << 5;
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const CONTACT_NORMALS = 1 << 6;
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const CENTER_OF_MASSES = 1 << 7;
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const WIREFRAME = 1 << 8;
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const STATISTICS = 1 << 9;
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}
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}
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bitflags! {
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pub struct TestbedActionFlags: u32 {
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const RESET_WORLD_GRAPHICS = 1 << 0;
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const EXAMPLE_CHANGED = 1 << 1;
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const RESTART = 1 << 2;
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const BACKEND_CHANGED = 1 << 3;
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const TAKE_SNAPSHOT = 1 << 4;
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const RESTORE_SNAPSHOT = 1 << 5;
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}
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}
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pub struct TestbedState {
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pub running: RunMode,
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pub draw_colls: bool,
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pub highlighted_body: Option<RigidBodyHandle>,
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// pub grabbed_object: Option<DefaultBodyPartHandle>,
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// pub grabbed_object_constraint: Option<DefaultJointConstraintHandle>,
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pub grabbed_object_plane: (Point3<f32>, Vector3<f32>),
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pub can_grab_behind_ground: bool,
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pub drawing_ray: Option<Point2<f32>>,
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pub prev_flags: TestbedStateFlags,
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pub flags: TestbedStateFlags,
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pub action_flags: TestbedActionFlags,
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pub backend_names: Vec<&'static str>,
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pub example_names: Vec<&'static str>,
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pub selected_example: usize,
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pub selected_backend: usize,
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pub physx_use_two_friction_directions: bool,
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pub snapshot: Option<PhysicsSnapshot>,
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nsteps: usize,
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camera_locked: bool, // Used so that the camera can remain the same before and after we change backend or press the restart button.
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}
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struct SceneBuilders(Vec<(&'static str, fn(&mut Testbed))>);
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#[cfg(feature = "other-backends")]
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struct OtherBackends {
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#[cfg(feature = "dim2")]
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box2d: Option<Box2dWorld>,
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#[cfg(feature = "dim3")]
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physx: Option<PhysxWorld>,
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}
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struct Plugins(Vec<Box<dyn TestbedPlugin>>);
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pub struct TestbedGraphics<'a, 'b, 'c, 'd, 'e, 'f> {
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graphics: &'a mut GraphicsManager,
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commands: &'a mut Commands<'d, 'e>,
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meshes: &'a mut Assets<Mesh>,
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materials: &'a mut Assets<BevyMaterial>,
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components: &'a mut Query<'b, 'f, (&'c mut Transform,)>,
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camera: &'a mut OrbitCamera,
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}
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pub struct Testbed<'a, 'b, 'c, 'd, 'e, 'f> {
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graphics: Option<TestbedGraphics<'a, 'b, 'c, 'd, 'e, 'f>>,
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harness: &'a mut Harness,
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state: &'a mut TestbedState,
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#[cfg(feature = "other-backends")]
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other_backends: &'a mut OtherBackends,
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plugins: &'a mut Plugins,
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}
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pub struct TestbedApp {
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builders: SceneBuilders,
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graphics: GraphicsManager,
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state: TestbedState,
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harness: Harness,
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#[cfg(feature = "other-backends")]
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other_backends: OtherBackends,
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plugins: Plugins,
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}
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impl TestbedApp {
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pub fn new_empty() -> Self {
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let graphics = GraphicsManager::new();
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let flags = TestbedStateFlags::SLEEP;
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#[allow(unused_mut)]
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let mut backend_names = vec!["rapier"];
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#[cfg(all(feature = "dim2", feature = "other-backends"))]
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backend_names.push("box2d");
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#[cfg(all(feature = "dim3", feature = "other-backends"))]
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backend_names.push("physx (patch friction)");
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#[cfg(all(feature = "dim3", feature = "other-backends"))]
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backend_names.push("physx (two friction dir)");
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let state = TestbedState {
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running: RunMode::Running,
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draw_colls: false,
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highlighted_body: None,
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// grabbed_object: None,
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// grabbed_object_constraint: None,
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grabbed_object_plane: (Point3::origin(), na::zero()),
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can_grab_behind_ground: false,
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drawing_ray: None,
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snapshot: None,
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prev_flags: flags,
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flags,
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action_flags: TestbedActionFlags::empty(),
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backend_names,
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example_names: Vec::new(),
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selected_example: 0,
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selected_backend: RAPIER_BACKEND,
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physx_use_two_friction_directions: true,
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nsteps: 1,
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camera_locked: false,
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};
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let harness = Harness::new_empty();
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#[cfg(feature = "other-backends")]
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let other_backends = OtherBackends {
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#[cfg(feature = "dim2")]
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box2d: None,
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#[cfg(feature = "dim3")]
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physx: None,
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};
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TestbedApp {
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builders: SceneBuilders(Vec::new()),
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plugins: Plugins(Vec::new()),
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graphics,
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state,
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harness,
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#[cfg(feature = "other-backends")]
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other_backends,
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}
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}
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pub fn from_builders(default: usize, builders: Vec<(&'static str, fn(&mut Testbed))>) -> Self {
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let mut res = TestbedApp::new_empty();
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res.state
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.action_flags
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.set(TestbedActionFlags::EXAMPLE_CHANGED, true);
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res.state.selected_example = default;
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res.set_builders(builders);
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res
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}
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pub fn set_builders(&mut self, builders: Vec<(&'static str, fn(&mut Testbed))>) {
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self.state.example_names = builders.iter().map(|e| e.0).collect();
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self.builders = SceneBuilders(builders)
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}
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pub fn run(self) {
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self.run_with_init(|_| {})
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}
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pub fn run_with_init(mut self, mut init: impl FnMut(&mut App)) {
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let mut args = env::args();
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let mut benchmark_mode = false;
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if args.len() > 1 {
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let exname = args.next().unwrap();
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for arg in args {
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if &arg[..] == "--help" || &arg[..] == "-h" {
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usage(&exname[..]);
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return;
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} else if &arg[..] == "--pause" {
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self.state.running = RunMode::Stop;
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} else if &arg[..] == "--bench" {
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benchmark_mode = true;
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}
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}
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}
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// TODO: move this to dedicated benchmarking code
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if benchmark_mode {
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use std::fs::File;
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use std::io::{BufWriter, Write};
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// Don't enter the main loop. We will just step the simulation here.
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let mut results = Vec::new();
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let builders = mem::replace(&mut self.builders.0, Vec::new());
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let backend_names = self.state.backend_names.clone();
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for builder in builders {
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results.clear();
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println!("Running benchmark for {}", builder.0);
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const NUM_ITERS: usize = 1000;
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for (backend_id, backend) in backend_names.iter().enumerate() {
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println!("|_ using backend {}", backend);
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self.state.selected_backend = backend_id;
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self.harness
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.physics
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.integration_parameters
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.max_velocity_iterations = 4;
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self.harness
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.physics
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.integration_parameters
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.max_stabilization_iterations = 1;
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// Init world.
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let mut testbed = Testbed {
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graphics: None,
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state: &mut self.state,
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harness: &mut self.harness,
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#[cfg(feature = "other-backends")]
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other_backends: &mut self.other_backends,
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plugins: &mut self.plugins,
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};
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(builder.1)(&mut testbed);
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// Run the simulation.
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let mut timings = Vec::new();
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for k in 0..=NUM_ITERS {
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{
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if self.state.selected_backend == RAPIER_BACKEND {
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self.harness.step();
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}
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#[cfg(all(feature = "dim2", feature = "other-backends"))]
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{
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if self.state.selected_backend == BOX2D_BACKEND {
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self.other_backends.box2d.as_mut().unwrap().step(
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&mut self.harness.physics.pipeline.counters,
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&self.harness.physics.integration_parameters,
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);
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self.other_backends.box2d.as_mut().unwrap().sync(
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&mut self.harness.physics.bodies,
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&mut self.harness.physics.colliders,
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);
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}
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}
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#[cfg(all(feature = "dim3", feature = "other-backends"))]
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{
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if self.state.selected_backend == PHYSX_BACKEND_PATCH_FRICTION
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|| self.state.selected_backend == PHYSX_BACKEND_TWO_FRICTION_DIR
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{
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// println!("Step");
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self.other_backends.physx.as_mut().unwrap().step(
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&mut self.harness.physics.pipeline.counters,
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&self.harness.physics.integration_parameters,
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);
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self.other_backends.physx.as_mut().unwrap().sync(
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&mut self.harness.physics.bodies,
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&mut self.harness.physics.colliders,
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);
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}
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}
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}
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// Skip the first update.
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if k > 0 {
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timings.push(self.harness.physics.pipeline.counters.step_time.time());
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}
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}
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results.push(timings);
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}
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// Write the result as a csv file.
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use inflector::Inflector;
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let filename = format!("{}.csv", builder.0.to_camel_case());
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let mut file = BufWriter::new(File::create(filename).unwrap());
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write!(file, "{}", backend_names[0]).unwrap();
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for backend in &backend_names[1..] {
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write!(file, ",{}", backend).unwrap();
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}
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writeln!(file).unwrap();
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for i in 0..results[0].len() {
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write!(file, "{}", results[0][i]).unwrap();
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for result in &results[1..] {
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write!(file, ",{}", result[i]).unwrap();
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}
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writeln!(file).unwrap();
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}
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}
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} else {
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let title = if cfg!(feature = "dim2") {
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"Rapier: 2D demos".to_string()
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} else {
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"Rapier: 3D demos".to_string()
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};
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let mut app = App::new();
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app.insert_resource(WindowDescriptor {
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title,
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vsync: true,
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..Default::default()
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})
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.insert_resource(ClearColor(Color::rgb(0.15, 0.15, 0.15)))
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.insert_resource(Msaa { samples: 4 })
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.insert_resource(WgpuOptions {
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// Required for wireframes.
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features: WgpuFeatures::POLYGON_MODE_LINE,
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..Default::default()
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})
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.insert_resource(AmbientLight {
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brightness: 0.3,
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..Default::default()
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})
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.add_plugins(DefaultPlugins)
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.add_plugin(OrbitCameraPlugin)
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.add_plugin(WireframePlugin)
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.add_plugin(bevy_egui::EguiPlugin);
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#[cfg(target_arch = "wasm32")]
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app.add_plugin(bevy_webgl2::WebGL2Plugin);
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#[cfg(feature = "other-backends")]
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app.insert_non_send_resource(self.other_backends);
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app.add_startup_system(setup_graphics_environment.system())
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.insert_non_send_resource(self.graphics)
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.insert_resource(self.state)
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.insert_non_send_resource(self.harness)
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.insert_resource(self.builders)
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.insert_non_send_resource(self.plugins)
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.add_stage_before(CoreStage::Update, "physics", SystemStage::single_threaded())
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.add_system_to_stage("physics", update_testbed.system())
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.add_system(egui_focus.system());
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init(&mut app);
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app.run();
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}
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}
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}
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impl<'a, 'b, 'c, 'd, 'e, 'f> TestbedGraphics<'a, 'b, 'c, 'd, 'e, 'f> {
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pub fn set_body_color(&mut self, body: RigidBodyHandle, color: [f32; 3]) {
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self.graphics
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.set_body_color(&mut self.materials, body, color);
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}
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pub fn add_body(
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&mut self,
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handle: RigidBodyHandle,
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bodies: &RigidBodySet,
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colliders: &ColliderSet,
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) {
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self.graphics.add_body_colliders(
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&mut *self.commands,
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&mut *self.meshes,
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&mut *self.materials,
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&mut *self.components,
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handle,
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bodies,
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colliders,
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)
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}
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pub fn remove_collider(&mut self, handle: ColliderHandle, colliders: &ColliderSet) {
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if let Some(parent_handle) = colliders.get(handle).map(|c| c.parent()) {
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self.graphics
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.remove_collider_nodes(&mut *self.commands, parent_handle, handle)
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}
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}
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pub fn remove_body(&mut self, handle: RigidBodyHandle) {
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self.graphics.remove_body_nodes(&mut *self.commands, handle)
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}
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pub fn add_collider(&mut self, handle: ColliderHandle, colliders: &ColliderSet) {
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self.graphics.add_collider(
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&mut *self.commands,
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&mut *self.meshes,
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&mut *self.materials,
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handle,
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colliders,
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)
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}
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}
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impl<'a, 'b, 'c, 'd, 'e, 'f> Testbed<'a, 'b, 'c, 'd, 'e, 'f> {
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pub fn set_number_of_steps_per_frame(&mut self, nsteps: usize) {
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self.state.nsteps = nsteps
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}
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pub fn allow_grabbing_behind_ground(&mut self, allow: bool) {
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self.state.can_grab_behind_ground = allow;
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}
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pub fn integration_parameters_mut(&mut self) -> &mut IntegrationParameters {
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&mut self.harness.physics.integration_parameters
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}
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pub fn physics_state_mut(&mut self) -> &mut PhysicsState {
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&mut self.harness.physics
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}
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pub fn harness_mut(&mut self) -> &mut Harness {
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&mut self.harness
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}
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pub fn set_world(
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&mut self,
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bodies: RigidBodySet,
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colliders: ColliderSet,
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impulse_joints: ImpulseJointSet,
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multibody_joints: MultibodyJointSet,
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) {
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self.set_world_with_params(
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bodies,
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colliders,
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impulse_joints,
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multibody_joints,
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Vector::y() * -9.81,
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(),
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)
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}
|
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|
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pub fn set_world_with_params(
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&mut self,
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bodies: RigidBodySet,
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colliders: ColliderSet,
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impulse_joints: ImpulseJointSet,
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multibody_joints: MultibodyJointSet,
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gravity: Vector<Real>,
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hooks: impl PhysicsHooks<RigidBodySet, ColliderSet> + 'static,
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) {
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self.harness.set_world_with_params(
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bodies,
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colliders,
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impulse_joints,
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multibody_joints,
|
|
gravity,
|
|
hooks,
|
|
);
|
|
|
|
self.state
|
|
.action_flags
|
|
.set(TestbedActionFlags::RESET_WORLD_GRAPHICS, true);
|
|
|
|
self.state.highlighted_body = None;
|
|
|
|
#[cfg(all(feature = "dim2", feature = "other-backends"))]
|
|
{
|
|
if self.state.selected_backend == BOX2D_BACKEND {
|
|
self.other_backends.box2d = Some(Box2dWorld::from_rapier(
|
|
self.harness.physics.gravity,
|
|
&self.harness.physics.bodies,
|
|
&self.harness.physics.colliders,
|
|
&self.harness.physics.impulse_joints,
|
|
));
|
|
}
|
|
}
|
|
|
|
#[cfg(all(feature = "dim3", feature = "other-backends"))]
|
|
{
|
|
if self.state.selected_backend == PHYSX_BACKEND_PATCH_FRICTION
|
|
|| self.state.selected_backend == PHYSX_BACKEND_TWO_FRICTION_DIR
|
|
{
|
|
self.other_backends.physx = Some(PhysxWorld::from_rapier(
|
|
self.harness.physics.gravity,
|
|
&self.harness.physics.integration_parameters,
|
|
&self.harness.physics.bodies,
|
|
&self.harness.physics.colliders,
|
|
&self.harness.physics.impulse_joints,
|
|
&self.harness.physics.multibody_joints,
|
|
self.state.selected_backend == PHYSX_BACKEND_TWO_FRICTION_DIR,
|
|
self.harness.state.num_threads(),
|
|
));
|
|
}
|
|
}
|
|
}
|
|
|
|
pub fn set_graphics_shift(&mut self, shift: Vector<Real>) {
|
|
if !self.state.camera_locked {
|
|
if let Some(graphics) = &mut self.graphics {
|
|
graphics.graphics.gfx_shift = shift;
|
|
}
|
|
}
|
|
}
|
|
|
|
#[cfg(feature = "dim2")]
|
|
pub fn look_at(&mut self, at: Point2<f32>, zoom: f32) {
|
|
if !self.state.camera_locked {
|
|
if let Some(graphics) = &mut self.graphics {
|
|
graphics.camera.center.x = at.x;
|
|
graphics.camera.center.y = at.y;
|
|
graphics.camera.zoom = zoom;
|
|
}
|
|
}
|
|
}
|
|
|
|
#[cfg(feature = "dim3")]
|
|
pub fn look_at(&mut self, eye: Point3<f32>, at: Point3<f32>) {
|
|
if !self.state.camera_locked {
|
|
if let Some(graphics) = &mut self.graphics {
|
|
graphics.camera.center.x = at.x;
|
|
graphics.camera.center.y = at.y;
|
|
graphics.camera.center.z = at.z;
|
|
|
|
let view_dir = eye - at;
|
|
graphics.camera.distance = view_dir.norm();
|
|
|
|
if graphics.camera.distance > 0.0 {
|
|
graphics.camera.y = (view_dir.y / graphics.camera.distance).acos();
|
|
graphics.camera.x =
|
|
(-view_dir.z).atan2(view_dir.x) - std::f32::consts::FRAC_PI_2;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
pub fn set_initial_body_color(&mut self, body: RigidBodyHandle, color: [f32; 3]) {
|
|
if let Some(graphics) = &mut self.graphics {
|
|
graphics.graphics.set_initial_body_color(body, color);
|
|
}
|
|
}
|
|
|
|
pub fn set_initial_collider_color(&mut self, collider: ColliderHandle, color: [f32; 3]) {
|
|
if let Some(graphics) = &mut self.graphics {
|
|
graphics
|
|
.graphics
|
|
.set_initial_collider_color(collider, color);
|
|
}
|
|
}
|
|
|
|
pub fn set_body_wireframe(&mut self, body: RigidBodyHandle, wireframe_enabled: bool) {
|
|
if let Some(graphics) = &mut self.graphics {
|
|
graphics
|
|
.graphics
|
|
.set_body_wireframe(body, wireframe_enabled);
|
|
}
|
|
}
|
|
|
|
// pub fn world(&self) -> &Box<WorldOwner> {
|
|
// &self.world
|
|
// }
|
|
|
|
pub fn add_callback<
|
|
F: FnMut(Option<&mut TestbedGraphics>, &mut PhysicsState, &PhysicsEvents, &RunState) + 'static,
|
|
>(
|
|
&mut self,
|
|
callback: F,
|
|
) {
|
|
self.harness.add_callback(callback);
|
|
}
|
|
|
|
pub fn add_plugin(&mut self, mut plugin: impl TestbedPlugin + 'static) {
|
|
plugin.init_plugin();
|
|
self.plugins.0.push(Box::new(plugin));
|
|
}
|
|
|
|
fn handle_common_events(&mut self, events: &Input<KeyCode>) {
|
|
for key in events.get_just_released() {
|
|
match *key {
|
|
KeyCode::T => {
|
|
if self.state.running == RunMode::Stop {
|
|
self.state.running = RunMode::Running;
|
|
} else {
|
|
self.state.running = RunMode::Stop;
|
|
}
|
|
}
|
|
KeyCode::S => self.state.running = RunMode::Step,
|
|
KeyCode::R => self
|
|
.state
|
|
.action_flags
|
|
.set(TestbedActionFlags::EXAMPLE_CHANGED, true),
|
|
KeyCode::C => {
|
|
// Delete 1 collider of 10% of the remaining dynamic bodies.
|
|
let mut colliders: Vec<_> = self
|
|
.harness
|
|
.physics
|
|
.bodies
|
|
.iter()
|
|
.filter(|e| e.1.is_dynamic())
|
|
.filter(|e| !e.1.colliders().is_empty())
|
|
.map(|e| e.1.colliders().to_vec())
|
|
.collect();
|
|
colliders.sort_by_key(|co| -(co.len() as isize));
|
|
|
|
let num_to_delete = (colliders.len() / 10).max(1);
|
|
for to_delete in &colliders[..num_to_delete] {
|
|
if let Some(graphics) = self.graphics.as_mut() {
|
|
graphics.remove_collider(to_delete[0], &self.harness.physics.colliders);
|
|
}
|
|
self.harness.physics.colliders.remove(
|
|
to_delete[0],
|
|
&mut self.harness.physics.islands,
|
|
&mut self.harness.physics.bodies,
|
|
true,
|
|
);
|
|
}
|
|
}
|
|
KeyCode::D => {
|
|
// Delete 10% of the remaining dynamic bodies.
|
|
let dynamic_bodies: Vec<_> = self
|
|
.harness
|
|
.physics
|
|
.bodies
|
|
.iter()
|
|
.filter(|e| !e.1.is_fixed())
|
|
.map(|e| e.0)
|
|
.collect();
|
|
let num_to_delete = (dynamic_bodies.len() / 10).max(1);
|
|
for to_delete in &dynamic_bodies[..num_to_delete] {
|
|
if let Some(graphics) = self.graphics.as_mut() {
|
|
graphics.remove_body(*to_delete);
|
|
}
|
|
self.harness.physics.bodies.remove(
|
|
*to_delete,
|
|
&mut self.harness.physics.islands,
|
|
&mut self.harness.physics.colliders,
|
|
&mut self.harness.physics.impulse_joints,
|
|
&mut self.harness.physics.multibody_joints,
|
|
true,
|
|
);
|
|
}
|
|
}
|
|
KeyCode::J => {
|
|
// Delete 10% of the remaining impulse_joints.
|
|
let impulse_joints: Vec<_> = self
|
|
.harness
|
|
.physics
|
|
.impulse_joints
|
|
.iter()
|
|
.map(|e| e.0)
|
|
.collect();
|
|
let num_to_delete = (impulse_joints.len() / 10).max(1);
|
|
for to_delete in &impulse_joints[..num_to_delete] {
|
|
self.harness.physics.impulse_joints.remove(
|
|
*to_delete,
|
|
&mut self.harness.physics.islands,
|
|
&mut self.harness.physics.bodies,
|
|
true,
|
|
);
|
|
}
|
|
}
|
|
KeyCode::A => {
|
|
// Delete 10% of the remaining multibody_joints.
|
|
let multibody_joints: Vec<_> = self
|
|
.harness
|
|
.physics
|
|
.multibody_joints
|
|
.iter()
|
|
.map(|e| e.0)
|
|
.collect();
|
|
let num_to_delete = (multibody_joints.len() / 10).max(1);
|
|
for to_delete in &multibody_joints[..num_to_delete] {
|
|
self.harness.physics.multibody_joints.remove(
|
|
*to_delete,
|
|
&mut self.harness.physics.islands,
|
|
&mut self.harness.physics.bodies,
|
|
true,
|
|
);
|
|
}
|
|
}
|
|
KeyCode::M => {
|
|
// Delete one remaining multibody.
|
|
let to_delete = self
|
|
.harness
|
|
.physics
|
|
.multibody_joints
|
|
.iter()
|
|
.next()
|
|
.map(|a| a.2.rigid_body_handle());
|
|
if let Some(to_delete) = to_delete {
|
|
self.harness
|
|
.physics
|
|
.multibody_joints
|
|
.remove_multibody_articulations(
|
|
to_delete,
|
|
&mut self.harness.physics.islands,
|
|
&mut self.harness.physics.bodies,
|
|
true,
|
|
);
|
|
}
|
|
}
|
|
_ => {}
|
|
}
|
|
}
|
|
}
|
|
|
|
// #[cfg(feature = "dim2")]
|
|
// fn handle_special_event(&mut self) {}
|
|
//
|
|
// #[cfg(feature = "dim3")]
|
|
// fn handle_special_event(&mut self) {
|
|
// use rapier::dynamics::RigidBodyBuilder;
|
|
// use rapier::geometry::ColliderBuilder;
|
|
//
|
|
// if window.is_conrod_ui_capturing_mouse() {
|
|
// return;
|
|
// }
|
|
//
|
|
// match event.value {
|
|
// WindowEvent::Key(Key::Space, Action::Release, _) => {
|
|
// let cam_pos = self.graphics.camera().view_transform().inverse();
|
|
// let forward = cam_pos * -Vector::z();
|
|
// let vel = forward * 1000.0;
|
|
//
|
|
// let bodies = &mut self.harness.physics.bodies;
|
|
// let colliders = &mut self.harness.physics.colliders;
|
|
//
|
|
// let collider = ColliderBuilder::cuboid(4.0, 2.0, 0.4).density(20.0).build();
|
|
// // let collider = ColliderBuilder::ball(2.0).density(1.0).build();
|
|
// let body = RigidBodyBuilder::dynamic()
|
|
// .position(cam_pos)
|
|
// .linvel(vel.x, vel.y, vel.z)
|
|
// .ccd_enabled(true)
|
|
// .build();
|
|
//
|
|
// let body_handle = bodies.insert(body);
|
|
// colliders.insert(collider, body_handle, bodies);
|
|
// self.graphics.add(window, body_handle, bodies, colliders);
|
|
// }
|
|
// _ => {}
|
|
// }
|
|
// }
|
|
}
|
|
|
|
fn draw_contacts(_nf: &NarrowPhase, _colliders: &ColliderSet) {
|
|
// use rapier::math::Isometry;
|
|
//
|
|
// for pair in nf.contact_pairs() {
|
|
// for manifold in &pair.manifolds {
|
|
// /*
|
|
// for contact in &manifold.data.solver_contacts {
|
|
// let p = contact.point;
|
|
// let n = manifold.data.normal;
|
|
//
|
|
// use crate::engine::GraphicsWindow;
|
|
// window.draw_graphics_line(&p, &(p + n * 0.4), &point![0.5, 1.0, 0.5]);
|
|
// }
|
|
// */
|
|
// for pt in manifold.contacts() {
|
|
// let color = if pt.dist > 0.0 {
|
|
// point![0.0, 0.0, 1.0]
|
|
// } else {
|
|
// point![1.0, 0.0, 0.0]
|
|
// };
|
|
// let pos1 = colliders[pair.pair.collider1].position();
|
|
// let pos2 = colliders[pair.pair.collider2].position();
|
|
// let start =
|
|
// pos1 * manifold.subshape_pos1.unwrap_or(Isometry::identity()) * pt.local_p1;
|
|
// let end =
|
|
// pos2 * manifold.subshape_pos2.unwrap_or(Isometry::identity()) * pt.local_p2;
|
|
// let n = pos1
|
|
// * manifold.subshape_pos1.unwrap_or(Isometry::identity())
|
|
// * manifold.local_n1;
|
|
//
|
|
// // window.draw_graphics_line(&start, &(start + n * 0.4), &point![0.5, 1.0, 0.5]);
|
|
// // window.draw_graphics_line(&start, &end, &color);
|
|
// }
|
|
// }
|
|
// }
|
|
}
|
|
|
|
#[cfg(feature = "dim3")]
|
|
fn setup_graphics_environment(mut commands: Commands) {
|
|
const HALF_SIZE: f32 = 100.0;
|
|
|
|
commands.spawn_bundle(DirectionalLightBundle {
|
|
directional_light: DirectionalLight {
|
|
illuminance: 10000.0,
|
|
// Configure the projection to better fit the scene
|
|
shadow_projection: OrthographicProjection {
|
|
left: -HALF_SIZE,
|
|
right: HALF_SIZE,
|
|
bottom: -HALF_SIZE,
|
|
top: HALF_SIZE,
|
|
near: -10.0 * HALF_SIZE,
|
|
far: 100.0 * HALF_SIZE,
|
|
..Default::default()
|
|
},
|
|
shadows_enabled: true,
|
|
..Default::default()
|
|
},
|
|
transform: Transform {
|
|
translation: Vec3::new(10.0, 2.0, 10.0),
|
|
rotation: Quat::from_rotation_x(-std::f32::consts::FRAC_PI_4),
|
|
..Default::default()
|
|
},
|
|
..Default::default()
|
|
});
|
|
|
|
commands
|
|
.spawn_bundle(PerspectiveCameraBundle {
|
|
transform: Transform::from_matrix(Mat4::face_toward(
|
|
Vec3::new(-30.0, 30.0, 100.0),
|
|
Vec3::new(0.0, 10.0, 0.0),
|
|
Vec3::new(0.0, 1.0, 0.0),
|
|
)),
|
|
..Default::default()
|
|
})
|
|
.insert(OrbitCamera {
|
|
rotate_sensitivity: 0.05,
|
|
..OrbitCamera::default()
|
|
});
|
|
}
|
|
|
|
#[cfg(feature = "dim2")]
|
|
fn setup_graphics_environment(mut commands: Commands) {
|
|
// commands.insert_resource(AmbientLight {
|
|
// brightness: 0.3,
|
|
// ..Default::default()
|
|
// });
|
|
// commands.spawn_bundle(LightBundle {
|
|
// transform: Transform::from_translation(Vec3::new(0.0, 0.0, 2000.0)),
|
|
// light: Light {
|
|
// intensity: 100_000_000.0,
|
|
// range: 6000.0,
|
|
// ..Default::default()
|
|
// },
|
|
// ..Default::default()
|
|
// });
|
|
commands
|
|
.spawn_bundle(OrthographicCameraBundle {
|
|
transform: Transform {
|
|
translation: Vec3::new(0.0, 0.0, 0.0),
|
|
rotation: Quat::IDENTITY,
|
|
scale: Vec3::new(0.01, 0.01, 1.0),
|
|
},
|
|
..OrthographicCameraBundle::new_2d()
|
|
})
|
|
.insert(OrbitCamera {
|
|
zoom: 100.0,
|
|
pan_sensitivity: 0.02,
|
|
..OrbitCamera::default()
|
|
});
|
|
}
|
|
|
|
fn egui_focus(ui_context: Res<EguiContext>, mut cameras: Query<&mut OrbitCamera>) {
|
|
let mut camera_enabled = true;
|
|
if ui_context.ctx().wants_pointer_input() {
|
|
camera_enabled = false;
|
|
}
|
|
for mut camera in cameras.iter_mut() {
|
|
camera.enabled = camera_enabled;
|
|
}
|
|
}
|
|
|
|
fn update_testbed(
|
|
mut commands: Commands,
|
|
windows: Res<Windows>,
|
|
// mut pipelines: ResMut<Assets<RenderPipelineDescriptor>>,
|
|
mut meshes: ResMut<Assets<Mesh>>,
|
|
mut materials: ResMut<Assets<BevyMaterial>>,
|
|
builders: NonSendMut<SceneBuilders>,
|
|
mut graphics: NonSendMut<GraphicsManager>,
|
|
mut state: ResMut<TestbedState>,
|
|
mut harness: NonSendMut<Harness>,
|
|
#[cfg(feature = "other-backends")] mut other_backends: NonSendMut<OtherBackends>,
|
|
mut plugins: NonSendMut<Plugins>,
|
|
ui_context: Res<EguiContext>,
|
|
mut gfx_components: Query<(&mut Transform,)>,
|
|
mut cameras: Query<(&Camera, &GlobalTransform, &mut OrbitCamera)>,
|
|
keys: Res<Input<KeyCode>>,
|
|
) {
|
|
let meshes = &mut *meshes;
|
|
let materials = &mut *materials;
|
|
let prev_example = state.selected_example;
|
|
|
|
// Handle inputs
|
|
{
|
|
let graphics_context = TestbedGraphics {
|
|
graphics: &mut *graphics,
|
|
commands: &mut commands,
|
|
meshes: &mut *meshes,
|
|
materials: &mut *materials,
|
|
components: &mut gfx_components,
|
|
camera: &mut cameras.iter_mut().next().unwrap().2,
|
|
};
|
|
|
|
let mut testbed = Testbed {
|
|
graphics: Some(graphics_context),
|
|
state: &mut *state,
|
|
harness: &mut *harness,
|
|
#[cfg(feature = "other-backends")]
|
|
other_backends: &mut *other_backends,
|
|
plugins: &mut *plugins,
|
|
};
|
|
|
|
testbed.handle_common_events(&*keys);
|
|
}
|
|
|
|
// Update UI
|
|
{
|
|
let harness = &mut *harness;
|
|
ui::update_ui(&ui_context, &mut state, harness);
|
|
|
|
for plugin in &mut plugins.0 {
|
|
plugin.update_ui(
|
|
&ui_context,
|
|
harness,
|
|
&mut graphics,
|
|
&mut commands,
|
|
&mut *meshes,
|
|
&mut *materials,
|
|
&mut gfx_components,
|
|
);
|
|
}
|
|
}
|
|
|
|
// Handle UI actions.
|
|
{
|
|
let backend_changed = state
|
|
.action_flags
|
|
.contains(TestbedActionFlags::BACKEND_CHANGED);
|
|
if backend_changed {
|
|
// Marking the example as changed will make the simulation
|
|
// restart with the selected backend.
|
|
state
|
|
.action_flags
|
|
.set(TestbedActionFlags::BACKEND_CHANGED, false);
|
|
state
|
|
.action_flags
|
|
.set(TestbedActionFlags::EXAMPLE_CHANGED, true);
|
|
state.camera_locked = true;
|
|
}
|
|
|
|
let restarted = state.action_flags.contains(TestbedActionFlags::RESTART);
|
|
if restarted {
|
|
state.action_flags.set(TestbedActionFlags::RESTART, false);
|
|
state.camera_locked = true;
|
|
state
|
|
.action_flags
|
|
.set(TestbedActionFlags::EXAMPLE_CHANGED, true);
|
|
}
|
|
|
|
let example_changed = state
|
|
.action_flags
|
|
.contains(TestbedActionFlags::EXAMPLE_CHANGED);
|
|
if example_changed {
|
|
state
|
|
.action_flags
|
|
.set(TestbedActionFlags::EXAMPLE_CHANGED, false);
|
|
clear(&mut commands, &mut state, &mut graphics, &mut plugins);
|
|
harness.clear_callbacks();
|
|
for plugin in (*plugins).0.iter_mut() {
|
|
plugin.clear_graphics(&mut graphics, &mut commands);
|
|
}
|
|
(*plugins).0.clear();
|
|
|
|
if state.selected_example != prev_example {
|
|
harness.physics.integration_parameters = IntegrationParameters::default();
|
|
}
|
|
|
|
let selected_example = state.selected_example;
|
|
let graphics = &mut *graphics;
|
|
let meshes = &mut *meshes;
|
|
|
|
let graphics_context = TestbedGraphics {
|
|
graphics: &mut *graphics,
|
|
commands: &mut commands,
|
|
meshes: &mut *meshes,
|
|
materials: &mut *materials,
|
|
components: &mut gfx_components,
|
|
camera: &mut cameras.iter_mut().next().unwrap().2,
|
|
};
|
|
|
|
let mut testbed = Testbed {
|
|
graphics: Some(graphics_context),
|
|
state: &mut *state,
|
|
harness: &mut *harness,
|
|
#[cfg(feature = "other-backends")]
|
|
other_backends: &mut *other_backends,
|
|
plugins: &mut *plugins,
|
|
};
|
|
|
|
builders.0[selected_example].1(&mut testbed);
|
|
|
|
state.camera_locked = false;
|
|
}
|
|
|
|
if state
|
|
.action_flags
|
|
.contains(TestbedActionFlags::TAKE_SNAPSHOT)
|
|
{
|
|
state
|
|
.action_flags
|
|
.set(TestbedActionFlags::TAKE_SNAPSHOT, false);
|
|
state.snapshot = PhysicsSnapshot::new(
|
|
harness.state.timestep_id,
|
|
&harness.physics.broad_phase,
|
|
&harness.physics.narrow_phase,
|
|
&harness.physics.bodies,
|
|
&harness.physics.colliders,
|
|
&harness.physics.impulse_joints,
|
|
)
|
|
.ok();
|
|
|
|
if let Some(snap) = &state.snapshot {
|
|
snap.print_snapshot_len();
|
|
}
|
|
}
|
|
|
|
if state
|
|
.action_flags
|
|
.contains(TestbedActionFlags::RESTORE_SNAPSHOT)
|
|
{
|
|
state
|
|
.action_flags
|
|
.set(TestbedActionFlags::RESTORE_SNAPSHOT, false);
|
|
if let Some(snapshot) = &state.snapshot {
|
|
if let Ok(w) = snapshot.restore() {
|
|
clear(&mut commands, &mut state, &mut graphics, &mut plugins);
|
|
|
|
for plugin in &mut plugins.0 {
|
|
plugin.clear_graphics(&mut graphics, &mut commands);
|
|
}
|
|
|
|
// set_world(w.3, w.4, w.5);
|
|
harness.physics.broad_phase = w.1;
|
|
harness.physics.narrow_phase = w.2;
|
|
harness.state.timestep_id = w.0;
|
|
}
|
|
}
|
|
}
|
|
|
|
if state
|
|
.action_flags
|
|
.contains(TestbedActionFlags::RESET_WORLD_GRAPHICS)
|
|
{
|
|
state
|
|
.action_flags
|
|
.set(TestbedActionFlags::RESET_WORLD_GRAPHICS, false);
|
|
for (handle, _) in harness.physics.bodies.iter() {
|
|
graphics.add_body_colliders(
|
|
&mut commands,
|
|
meshes,
|
|
materials,
|
|
&mut gfx_components,
|
|
handle,
|
|
&harness.physics.bodies,
|
|
&harness.physics.colliders,
|
|
);
|
|
}
|
|
|
|
for (handle, _) in harness.physics.colliders.iter() {
|
|
graphics.add_collider(
|
|
&mut commands,
|
|
meshes,
|
|
materials,
|
|
handle,
|
|
&harness.physics.colliders,
|
|
);
|
|
}
|
|
|
|
for plugin in &mut plugins.0 {
|
|
plugin.init_graphics(
|
|
&mut graphics,
|
|
&mut commands,
|
|
meshes,
|
|
materials,
|
|
&mut gfx_components,
|
|
&mut harness,
|
|
);
|
|
}
|
|
}
|
|
|
|
if example_changed
|
|
|| state.prev_flags.contains(TestbedStateFlags::WIREFRAME)
|
|
!= state.flags.contains(TestbedStateFlags::WIREFRAME)
|
|
{
|
|
// graphics.toggle_wireframe_mode(
|
|
// &harness.physics.colliders,
|
|
// state.flags.contains(TestbedStateFlags::WIREFRAME),
|
|
// )
|
|
}
|
|
|
|
if state.prev_flags.contains(TestbedStateFlags::SLEEP)
|
|
!= state.flags.contains(TestbedStateFlags::SLEEP)
|
|
{
|
|
if state.flags.contains(TestbedStateFlags::SLEEP) {
|
|
for (_, body) in harness.physics.bodies.iter_mut() {
|
|
body.activation_mut().linear_threshold =
|
|
RigidBodyActivation::default_linear_threshold();
|
|
body.activation_mut().angular_threshold =
|
|
RigidBodyActivation::default_angular_threshold();
|
|
}
|
|
} else {
|
|
for (_, body) in harness.physics.bodies.iter_mut() {
|
|
body.wake_up(true);
|
|
body.activation_mut().linear_threshold = -1.0;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
state.prev_flags = state.flags;
|
|
|
|
// for event in window.events().iter() {
|
|
// let event = handle_common_event(event);
|
|
// handle_special_event(window, event);
|
|
// }
|
|
|
|
if state.running != RunMode::Stop {
|
|
for _ in 0..state.nsteps {
|
|
if state.selected_backend == RAPIER_BACKEND {
|
|
let graphics = &mut graphics;
|
|
|
|
let mut testbed_graphics = TestbedGraphics {
|
|
graphics: &mut *graphics,
|
|
commands: &mut commands,
|
|
meshes: &mut *meshes,
|
|
materials: &mut *materials,
|
|
components: &mut gfx_components,
|
|
camera: &mut cameras.iter_mut().next().unwrap().2,
|
|
};
|
|
harness.step_with_graphics(Some(&mut testbed_graphics));
|
|
|
|
for plugin in &mut plugins.0 {
|
|
plugin.step(&mut harness.physics)
|
|
}
|
|
}
|
|
|
|
#[cfg(all(feature = "dim2", feature = "other-backends"))]
|
|
{
|
|
if state.selected_backend == BOX2D_BACKEND {
|
|
let harness = &mut *harness;
|
|
other_backends.box2d.as_mut().unwrap().step(
|
|
&mut harness.physics.pipeline.counters,
|
|
&harness.physics.integration_parameters,
|
|
);
|
|
other_backends
|
|
.box2d
|
|
.as_mut()
|
|
.unwrap()
|
|
.sync(&mut harness.physics.bodies, &mut harness.physics.colliders);
|
|
}
|
|
}
|
|
|
|
#[cfg(all(feature = "dim3", feature = "other-backends"))]
|
|
{
|
|
if state.selected_backend == PHYSX_BACKEND_PATCH_FRICTION
|
|
|| state.selected_backend == PHYSX_BACKEND_TWO_FRICTION_DIR
|
|
{
|
|
// println!("Step");
|
|
let harness = &mut *harness;
|
|
other_backends.physx.as_mut().unwrap().step(
|
|
&mut harness.physics.pipeline.counters,
|
|
&harness.physics.integration_parameters,
|
|
);
|
|
other_backends
|
|
.physx
|
|
.as_mut()
|
|
.unwrap()
|
|
.sync(&mut harness.physics.bodies, &mut harness.physics.colliders);
|
|
}
|
|
}
|
|
|
|
for plugin in &mut plugins.0 {
|
|
plugin.run_callbacks(&mut harness);
|
|
}
|
|
}
|
|
}
|
|
|
|
if let Some(window) = windows.get_primary() {
|
|
for (camera, camera_pos, _) in cameras.iter_mut() {
|
|
highlight_hovered_body(
|
|
&mut *materials,
|
|
&mut *graphics,
|
|
&mut *state,
|
|
&harness.physics,
|
|
window,
|
|
camera,
|
|
camera_pos,
|
|
);
|
|
}
|
|
}
|
|
|
|
graphics.draw(
|
|
&harness.physics.bodies,
|
|
&harness.physics.colliders,
|
|
&mut gfx_components,
|
|
&mut *materials,
|
|
);
|
|
|
|
for plugin in &mut plugins.0 {
|
|
plugin.draw(
|
|
&mut graphics,
|
|
&mut commands,
|
|
meshes,
|
|
materials,
|
|
&mut gfx_components,
|
|
&mut harness,
|
|
);
|
|
}
|
|
|
|
if state.flags.contains(TestbedStateFlags::CONTACT_POINTS) {
|
|
draw_contacts(&harness.physics.narrow_phase, &harness.physics.colliders);
|
|
}
|
|
|
|
if state.running == RunMode::Step {
|
|
state.running = RunMode::Stop;
|
|
}
|
|
}
|
|
|
|
fn clear(
|
|
commands: &mut Commands,
|
|
state: &mut TestbedState,
|
|
graphics: &mut GraphicsManager,
|
|
plugins: &mut Plugins,
|
|
) {
|
|
state.can_grab_behind_ground = false;
|
|
graphics.clear(commands);
|
|
|
|
for mut plugin in plugins.0.drain(..) {
|
|
plugin.clear_graphics(graphics, commands);
|
|
}
|
|
}
|
|
|
|
#[cfg(feature = "dim2")]
|
|
fn highlight_hovered_body(
|
|
_materials: &mut Assets<BevyMaterial>,
|
|
_graphics_manager: &mut GraphicsManager,
|
|
_testbed_state: &mut TestbedState,
|
|
_physics: &PhysicsState,
|
|
_window: &Window,
|
|
_camera: &Camera,
|
|
_camera_transform: &GlobalTransform,
|
|
) {
|
|
// Do nothing for now.
|
|
}
|
|
|
|
#[cfg(feature = "dim3")]
|
|
fn highlight_hovered_body(
|
|
materials: &mut Assets<BevyMaterial>,
|
|
graphics_manager: &mut GraphicsManager,
|
|
testbed_state: &mut TestbedState,
|
|
physics: &PhysicsState,
|
|
window: &Window,
|
|
camera: &Camera,
|
|
camera_transform: &GlobalTransform,
|
|
) {
|
|
if let Some(highlighted_body) = testbed_state.highlighted_body {
|
|
if let Some(nodes) = graphics_manager.body_nodes_mut(highlighted_body) {
|
|
for node in nodes {
|
|
node.unselect(materials)
|
|
}
|
|
}
|
|
}
|
|
|
|
if let Some(cursor) = window.cursor_position() {
|
|
let ndc_cursor = (cursor / Vec2::new(window.width(), window.height()) * 2.0) - Vec2::ONE;
|
|
let ndc_to_world = camera_transform.compute_matrix() * camera.projection_matrix.inverse();
|
|
let ray_pt1 = ndc_to_world.project_point3(Vec3::new(ndc_cursor.x, ndc_cursor.y, -1.0));
|
|
let ray_pt2 = ndc_to_world.project_point3(Vec3::new(ndc_cursor.x, ndc_cursor.y, 1.0));
|
|
let ray_dir = ray_pt2 - ray_pt1;
|
|
let ray_origin = Point3::new(ray_pt1.x as Real, ray_pt1.y as Real, ray_pt1.z as Real);
|
|
let ray_dir = Vector3::new(ray_dir.x as Real, ray_dir.y as Real, ray_dir.z as Real);
|
|
|
|
let ray = Ray::new(ray_origin, ray_dir);
|
|
let hit = physics.query_pipeline.cast_ray(
|
|
&physics.colliders,
|
|
&ray,
|
|
Real::MAX,
|
|
true,
|
|
InteractionGroups::all(),
|
|
None,
|
|
);
|
|
|
|
if let Some((handle, _)) = hit {
|
|
let collider = &physics.colliders[handle];
|
|
|
|
if let Some(parent_handle) = collider.parent() {
|
|
if physics.bodies[parent_handle].is_dynamic() {
|
|
testbed_state.highlighted_body = Some(parent_handle);
|
|
for node in graphics_manager.body_nodes_mut(parent_handle).unwrap() {
|
|
node.select(materials)
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|