nichkara/rapier
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Remove the Salva integration code from rapier + add a plugin system to the testbed.

Browse Source
This commit is contained in:
Crozet Sébastien
2020-10-31 14:42:14 +01:00
parent c26c3af508
commit 154bc70037
14 changed files with 102 additions and 619 deletions
Download Patch File Download Diff File Expand all files Collapse all files

121
src_testbed/engine.rs
View File

@@ -15,15 +15,11 @@ use rapier::dynamics::{RigidBodyHandle, RigidBodySet};
use rapier::geometry::{Collider, ColliderHandle, ColliderSet};
//use crate::objects::capsule::Capsule;
//use crate::objects::convex::Convex;
//#[cfg(feature = "fluids")]
//use crate::objects::fluid::Fluid as FluidNode;
//#[cfg(feature = "dim3")]
//use crate::objects::mesh::Mesh;
//use crate::objects::plane::Plane;
//#[cfg(feature = "dim2")]
//use crate::objects::polyline::Polyline;
//#[cfg(feature = "fluids")]
//use crate::objects::FluidRenderingMode;
use crate::objects::capsule::Capsule;
#[cfg(feature = "dim3")]
use crate::objects::cone::Cone;
@@ -58,22 +54,12 @@ impl GraphicsWindow for Window {
pub struct GraphicsManager {
rand: Pcg32,
b2sn: HashMap<RigidBodyHandle, Vec<Node>>,
#[cfg(feature = "fluids")]
f2sn: HashMap<FluidHandle, FluidNode>,
#[cfg(feature = "fluids")]
boundary2sn: HashMap<BoundaryHandle, FluidNode>,
b2color: HashMap<RigidBodyHandle, Point3<f32>>,
c2color: HashMap<ColliderHandle, Point3<f32>>,
b2wireframe: HashMap<RigidBodyHandle, bool>,
#[cfg(feature = "fluids")]
f2color: HashMap<FluidHandle, Point3<f32>>,
ground_color: Point3<f32>,
camera: Camera,
ground_handle: Option<RigidBodyHandle>,
#[cfg(feature = "fluids")]
fluid_rendering_mode: FluidRenderingMode,
#[cfg(feature = "fluids")]
render_boundary_particles: bool,
}
impl GraphicsManager {
@@ -96,21 +82,11 @@ impl GraphicsManager {
camera,
rand: Pcg32::seed_from_u64(0),
b2sn: HashMap::new(),
#[cfg(feature = "fluids")]
f2sn: HashMap::new(),
#[cfg(feature = "fluids")]
boundary2sn: HashMap::new(),
b2color: HashMap::new(),
c2color: HashMap::new(),
#[cfg(feature = "fluids")]
f2color: HashMap::new(),
ground_color: Point3::new(0.5, 0.5, 0.5),
b2wireframe: HashMap::new(),
ground_handle: None,
#[cfg(feature = "fluids")]
fluid_rendering_mode: FluidRenderingMode::StaticColor,
#[cfg(feature = "fluids")]
render_boundary_particles: false,
}
}
@@ -118,20 +94,6 @@ impl GraphicsManager {
self.ground_handle = handle
}
#[cfg(feature = "fluids")]
pub fn set_fluid_rendering_mode(&mut self, mode: FluidRenderingMode) {
self.fluid_rendering_mode = mode;
}
#[cfg(feature = "fluids")]
pub fn enable_boundary_particles_rendering(&mut self, enabled: bool) {
self.render_boundary_particles = enabled;
for sn in self.boundary2sn.values_mut() {
sn.scene_node_mut().set_visible(enabled);
}
}
pub fn clear(&mut self, window: &mut Window) {
for sns in self.b2sn.values_mut() {
for sn in sns.iter_mut() {
@@ -141,17 +103,7 @@ impl GraphicsManager {
}
}
#[cfg(feature = "fluids")]
for sn in self.f2sn.values_mut().chain(self.boundary2sn.values_mut()) {
let node = sn.scene_node_mut();
window.remove_graphics_node(node);
}
self.b2sn.clear();
#[cfg(feature = "fluids")]
self.f2sn.clear();
#[cfg(feature = "fluids")]
self.boundary2sn.clear();
self.c2color.clear();
self.b2color.clear();
self.b2wireframe.clear();
@@ -170,15 +122,6 @@ impl GraphicsManager {
self.b2sn.remove(&body);
}
#[cfg(feature = "fluids")]
pub fn set_fluid_color(&mut self, f: FluidHandle, color: Point3<f32>) {
self.f2color.insert(f, color);
if let Some(n) = self.f2sn.get_mut(&f) {
n.set_color(color)
}
}
pub fn set_body_color(&mut self, b: RigidBodyHandle, color: Point3<f32>) {
self.b2color.insert(b, color);
@@ -234,6 +177,10 @@ impl GraphicsManager {
}
}
pub fn next_color(&mut self) -> Point3<f32> {
Self::gen_color(&mut self.rand)
}
fn gen_color(rng: &mut Pcg32) -> Point3<f32> {
let mut color: Point3<f32> = rng.gen();
color *= 1.5;
@@ -258,49 +205,6 @@ impl GraphicsManager {
color
}
#[cfg(feature = "fluids")]
pub fn add_fluid(
&mut self,
window: &mut Window,
handle: FluidHandle,
fluid: &Fluid<f32>,
particle_radius: f32,
) {
let rand = &mut self.rand;
let color = *self
.f2color
.entry(handle)
.or_insert_with(|| Self::gen_color(rand));
self.add_fluid_with_color(window, handle, fluid, particle_radius, color);
}
#[cfg(feature = "fluids")]
pub fn add_boundary(
&mut self,
window: &mut Window,
handle: BoundaryHandle,
boundary: &Boundary<f32>,
particle_radius: f32,
) {
let color = self.ground_color;
let node = FluidNode::new(particle_radius, &boundary.positions, color, window);
self.boundary2sn.insert(handle, node);
}
#[cfg(feature = "fluids")]
pub fn add_fluid_with_color(
&mut self,
window: &mut Window,
handle: FluidHandle,
fluid: &Fluid<f32>,
particle_radius: f32,
color: Point3<f32>,
) {
let node = FluidNode::new(particle_radius, &fluid.positions, color, window);
self.f2sn.insert(handle, node);
}
pub fn add(
&mut self,
window: &mut Window,
@@ -642,23 +546,6 @@ impl GraphicsManager {
}
*/
#[cfg(feature = "fluids")]
pub fn draw_fluids(&mut self, liquid_world: &LiquidWorld<f32>) {
for (i, fluid) in liquid_world.fluids().iter() {
if let Some(node) = self.f2sn.get_mut(&i) {
node.update_with_fluid(fluid, self.fluid_rendering_mode)
}
}
if self.render_boundary_particles {
for (i, boundary) in liquid_world.boundaries().iter() {
if let Some(node) = self.boundary2sn.get_mut(&i) {
node.update_with_boundary(boundary)
}
}
}
}
pub fn draw(&mut self, _bodies: &RigidBodySet, colliders: &ColliderSet, window: &mut Window) {
// use kiss3d::camera::Camera;
// println!(