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

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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
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268
src_testbed/testbed.rs
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@@ -4,8 +4,7 @@ use std::path::Path;
use std::rc::Rc;
use crate::engine::GraphicsManager;
#[cfg(feature = "fluids")]
use crate::objects::FluidRenderingMode;
use crate::plugin::TestbedPlugin;
use crate::ui::TestbedUi;
use crossbeam::channel::Receiver;
use kiss3d::camera::Camera;
@@ -29,8 +28,6 @@ use rapier::geometry::{
};
use rapier::math::Vector;
use rapier::pipeline::{ChannelEventCollector, PhysicsPipeline, QueryPipeline};
#[cfg(feature = "fluids")]
use salva::{coupling::ColliderCouplingSet, object::FluidHandle, LiquidWorld};
#[cfg(all(feature = "dim2", feature = "other-backends"))]
use crate::box2d_backend::Box2dWorld;
@@ -185,6 +182,8 @@ pub struct PhysicsState {
pub joints: JointSet,
pub pipeline: PhysicsPipeline,
pub query_pipeline: QueryPipeline,
pub integration_parameters: IntegrationParameters,
pub gravity: Vector<f32>,
}
impl PhysicsState {
@@ -197,6 +196,8 @@ impl PhysicsState {
joints: JointSet::new(),
pipeline: PhysicsPipeline::new(),
query_pipeline: QueryPipeline::new(),
integration_parameters: IntegrationParameters::default(),
gravity: Vector::y() * -9.81,
}
}
}
@@ -225,25 +226,14 @@ pub struct TestbedState {
pub timestep_id: usize,
}
#[cfg(feature = "fluids")]
struct FluidsState {
world: LiquidWorld<f32>,
coupling: ColliderCouplingSet<f32, RigidBodyHandle>,
}
pub struct Testbed {
builders: Vec<(&'static str, fn(&mut Testbed))>,
#[cfg(feature = "fluids")]
fluids: Option<FluidsState>,
gravity: Vector<f32>,
integration_parameters: IntegrationParameters,
physics: PhysicsState,
graphics: GraphicsManager,
nsteps: usize,
camera_locked: bool, // Used so that the camera can remain the same before and after we change backend or press the restart button.
callbacks: Callbacks,
#[cfg(feature = "fluids")]
callbacks_fluids: CallbacksFluids,
plugins: Vec<Box<dyn TestbedPlugin>>,
time: f32,
hide_counters: bool,
// persistant_contacts: HashMap<ContactId, bool>,
@@ -264,20 +254,6 @@ pub struct Testbed {
type Callbacks =
Vec<Box<dyn FnMut(&mut Window, &mut PhysicsState, &PhysicsEvents, &mut GraphicsManager, f32)>>;
#[cfg(feature = "fluids")]
type CallbacksFluids = Vec<
Box<
dyn FnMut(
&mut Window,
&mut LiquidWorld<f32>,
&mut ColliderCouplingSet<f32, RigidBodyHandle>,
&mut PhysicsState,
&mut GraphicsManager,
f32,
),
>,
>;
impl Testbed {
pub fn new_empty() -> Testbed {
let graphics = GraphicsManager::new();
@@ -330,8 +306,6 @@ impl Testbed {
thread_pool,
};
let gravity = Vector::y() * -9.81;
let integration_parameters = IntegrationParameters::default();
let contact_channel = crossbeam::channel::unbounded();
let proximity_channel = crossbeam::channel::unbounded();
let event_handler = ChannelEventCollector::new(proximity_channel.0, contact_channel.0);
@@ -343,14 +317,9 @@ impl Testbed {
Testbed {
builders: Vec::new(),
#[cfg(feature = "fluids")]
fluids: None,
gravity,
integration_parameters,
physics,
callbacks: Vec::new(),
#[cfg(feature = "fluids")]
callbacks_fluids: Vec::new(),
plugins: Vec::new(),
graphics,
nsteps: 1,
camera_locked: false,
@@ -404,6 +373,14 @@ impl Testbed {
self.hide_counters = false;
}
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)
}
@@ -451,8 +428,8 @@ impl Testbed {
|| self.state.selected_backend == PHYSX_BACKEND_TWO_FRICTION_DIR
{
self.physx = Some(PhysxWorld::from_rapier(
self.gravity,
&self.integration_parameters,
self.physics.gravity,
&self.physics.integration_parameters,
&self.physics.bodies,
&self.physics.colliders,
&self.physics.joints,
@@ -466,7 +443,7 @@ impl Testbed {
{
if self.state.selected_backend == NPHYSICS_BACKEND {
self.nphysics = Some(NPhysicsWorld::from_rapier(
self.gravity,
self.physics.gravity,
&self.physics.bodies,
&self.physics.colliders,
&self.physics.joints,
@@ -475,19 +452,6 @@ impl Testbed {
}
}
#[cfg(feature = "fluids")]
pub fn set_liquid_world(
&mut self,
mut liquid_world: LiquidWorld<f32>,
coupling: ColliderCouplingSet<f32, RigidBodyHandle>,
) {
liquid_world.counters.enable();
self.fluids = Some(FluidsState {
world: liquid_world,
coupling,
});
}
pub fn set_builders(&mut self, builders: Vec<(&'static str, fn(&mut Self))>) {
self.state.example_names = builders.iter().map(|e| e.0).collect();
self.builders = builders
@@ -515,25 +479,10 @@ impl Testbed {
self.graphics.set_collider_initial_color(collider, color);
}
#[cfg(feature = "fluids")]
pub fn set_fluid_color(&mut self, fluid: FluidHandle, color: Point3<f32>) {
self.graphics.set_fluid_color(fluid, color);
}
pub fn set_body_wireframe(&mut self, body: RigidBodyHandle, wireframe_enabled: bool) {
self.graphics.set_body_wireframe(body, wireframe_enabled);
}
#[cfg(feature = "fluids")]
pub fn set_fluid_rendering_mode(&mut self, mode: FluidRenderingMode) {
self.graphics.set_fluid_rendering_mode(mode)
}
#[cfg(feature = "fluids")]
pub fn enable_boundary_particles_rendering(&mut self, enabled: bool) {
self.graphics.enable_boundary_particles_rendering(enabled)
}
// pub fn world(&self) -> &Box<WorldOwner> {
// &self.world
// }
@@ -576,13 +525,21 @@ impl Testbed {
fn clear(&mut self, window: &mut Window) {
self.callbacks.clear();
#[cfg(feature = "fluids")]
self.callbacks_fluids.clear();
// self.persistant_contacts.clear();
// self.state.grabbed_object = None;
// self.state.grabbed_object_constraint = None;
self.state.can_grab_behind_ground = false;
self.graphics.clear(window);
for plugin in &mut self.plugins {
plugin.clear_graphics(window);
}
self.plugins.clear();
}
pub fn add_plugin(&mut self, plugin: impl TestbedPlugin + 'static) {
self.plugins.push(Box::new(plugin));
}
pub fn add_callback<
@@ -594,23 +551,6 @@ impl Testbed {
self.callbacks.push(Box::new(callback));
}
#[cfg(feature = "fluids")]
pub fn add_callback_with_fluids<
F: FnMut(
&mut Window,
&mut LiquidWorld<f32>,
&mut ColliderCouplingSet<f32, RigidBodyHandle>,
&mut PhysicsState,
&mut GraphicsManager,
f32,
) + 'static,
>(
&mut self,
callback: F,
) {
self.callbacks_fluids.push(Box::new(callback));
}
pub fn run(mut self) {
let mut args = env::args();
let mut benchmark_mode = false;
@@ -649,11 +589,11 @@ impl Testbed {
&& (backend_id == PHYSX_BACKEND_PATCH_FRICTION
|| backend_id == PHYSX_BACKEND_TWO_FRICTION_DIR)
{
self.integration_parameters.max_velocity_iterations = 1;
self.integration_parameters.max_position_iterations = 4;
self.physics.integration_parameters.max_velocity_iterations = 1;
self.physics.integration_parameters.max_position_iterations = 4;
} else {
self.integration_parameters.max_velocity_iterations = 4;
self.integration_parameters.max_position_iterations = 1;
self.physics.integration_parameters.max_velocity_iterations = 4;
self.physics.integration_parameters.max_position_iterations = 1;
}
// Init world.
(builder.1)(&mut self);
@@ -665,14 +605,12 @@ impl Testbed {
if self.state.selected_backend == RAPIER_BACKEND {
#[cfg(feature = "parallel")]
{
let gravity = &self.gravity;
let params = &self.integration_parameters;
let physics = &mut self.physics;
let event_handler = &self.event_handler;
self.state.thread_pool.install(|| {
physics.pipeline.step(
gravity,
params,
&physics.gravity,
&physics.integration_parameters,
&mut physics.broad_phase,
&mut physics.narrow_phase,
&mut physics.bodies,
@@ -685,8 +623,8 @@ impl Testbed {
#[cfg(not(feature = "parallel"))]
self.physics.pipeline.step(
&self.gravity,
&self.integration_parameters,
&self.physics.gravity,
&self.physics.integration_parameters,
&mut self.physics.broad_phase,
&mut self.physics.narrow_phase,
&mut self.physics.bodies,
@@ -700,25 +638,6 @@ impl Testbed {
self.physics
.query_pipeline
.update(&self.physics.bodies, &self.physics.colliders);
#[cfg(feature = "fluids")]
{
fluids_time = instant::now();
if let Some(fluids) = &mut self.fluids {
let dt = self.world.timestep();
let gravity = &self.world.gravity;
fluids.world.step_with_coupling(
dt,
gravity,
&mut fluids.coupling.as_manager_mut(
&self.physics.colliders,
&mut self.physics.bodies,
),
);
}
fluids_time = instant::now() - fluids_time;
}
}
#[cfg(all(feature = "dim2", feature = "other-backends"))]
@@ -743,7 +662,7 @@ impl Testbed {
// println!("Step");
self.physx.as_mut().unwrap().step(
&mut self.physics.pipeline.counters,
&self.integration_parameters,
&self.physics.integration_parameters,
);
self.physx.as_mut().unwrap().sync(
&mut self.physics.bodies,
@@ -757,7 +676,7 @@ impl Testbed {
if self.state.selected_backend == NPHYSICS_BACKEND {
self.nphysics.as_mut().unwrap().step(
&mut self.physics.pipeline.counters,
&self.integration_parameters,
&self.physics.integration_parameters,
);
self.nphysics.as_mut().unwrap().sync(
&mut self.physics.bodies,
@@ -1254,8 +1173,14 @@ impl State for Testbed {
}
fn step(&mut self, window: &mut Window) {
let prev_example = self.state.selected_example;
if let Some(ui) = &mut self.ui {
ui.update(window, &mut self.integration_parameters, &mut self.state);
ui.update(
window,
&mut self.physics.integration_parameters,
&mut self.state,
);
}
// Handle UI actions.
@@ -1299,7 +1224,13 @@ impl State for Testbed {
.action_flags
.set(TestbedActionFlags::EXAMPLE_CHANGED, false);
self.clear(window);
if self.state.selected_example != prev_example {
self.physics.integration_parameters = IntegrationParameters::default();
}
self.builders[self.state.selected_example].1(self);
self.camera_locked = false;
}
@@ -1338,6 +1269,11 @@ impl State for Testbed {
if let Ok(w) = snapshot.restore() {
self.clear(window);
self.graphics.clear(window);
for plugin in &mut self.plugins {
plugin.clear_graphics(window);
}
self.set_world(w.3, w.4, w.5);
self.physics.broad_phase = w.1;
self.physics.narrow_phase = w.2;
@@ -1363,19 +1299,9 @@ impl State for Testbed {
);
}
#[cfg(feature = "fluids")]
{
if let Some(fluids) = &self.fluids {
let radius = fluids.world.particle_radius();
for (handle, fluid) in fluids.world.fluids().iter() {
self.graphics.add_fluid(window, handle, fluid, radius);
}
for (handle, boundary) in fluids.world.boundaries().iter() {
self.graphics.add_boundary(window, handle, boundary, radius);
}
}
for plugin in &mut self.plugins {
let graphics = &mut self.graphics;
plugin.init_graphics(window, &mut || graphics.next_color());
}
}
@@ -1410,7 +1336,7 @@ impl State for Testbed {
.contains(TestbedStateFlags::SUB_STEPPING)
!= self.state.flags.contains(TestbedStateFlags::SUB_STEPPING)
{
self.integration_parameters.return_after_ccd_substep =
self.physics.integration_parameters.return_after_ccd_substep =
self.state.flags.contains(TestbedStateFlags::SUB_STEPPING);
}
@@ -1458,23 +1384,18 @@ impl State for Testbed {
self.handle_special_event(window, event);
}
#[cfg(feature = "fluids")]
let mut fluids_time = 0.0;
if self.state.running != RunMode::Stop {
for _ in 0..self.nsteps {
self.state.timestep_id += 1;
if self.state.selected_backend == RAPIER_BACKEND {
#[cfg(feature = "parallel")]
{
let gravity = &self.gravity;
let params = &self.integration_parameters;
let physics = &mut self.physics;
let event_handler = &self.event_handler;
self.state.thread_pool.install(|| {
physics.pipeline.step(
gravity,
params,
&physics.gravity,
&physics.integration_parameters,
&mut physics.broad_phase,
&mut physics.narrow_phase,
&mut physics.bodies,
@@ -1489,8 +1410,8 @@ impl State for Testbed {
#[cfg(not(feature = "parallel"))]
self.physics.pipeline.step(
&self.gravity,
&self.integration_parameters,
&self.physics.gravity,
&self.physics.integration_parameters,
&mut self.physics.broad_phase,
&mut self.physics.narrow_phase,
&mut self.physics.bodies,
@@ -1505,23 +1426,8 @@ impl State for Testbed {
.query_pipeline
.update(&self.physics.bodies, &self.physics.colliders);
#[cfg(feature = "fluids")]
{
fluids_time = instant::now();
if let Some(fluids) = &mut self.fluids {
let dt = self.world.timestep();
let gravity = &self.world.gravity;
fluids.world.step_with_coupling(
dt,
gravity,
&mut fluids.coupling.as_manager_mut(
&self.physics.colliders,
&mut self.physics.bodies,
),
);
}
fluids_time = instant::now() - fluids_time;
for plugin in &mut self.plugins {
plugin.step(&mut self.physics)
}
}
@@ -1530,7 +1436,7 @@ impl State for Testbed {
if self.state.selected_backend == BOX2D_BACKEND {
self.box2d.as_mut().unwrap().step(
&mut self.physics.pipeline.counters,
&self.integration_parameters,
&self.physics.integration_parameters,
);
self.box2d
.as_mut()
@@ -1547,7 +1453,7 @@ impl State for Testbed {
// println!("Step");
self.physx.as_mut().unwrap().step(
&mut self.physics.pipeline.counters,
&self.integration_parameters,
&self.physics.integration_parameters,
);
self.physx
.as_mut()
@@ -1561,7 +1467,7 @@ impl State for Testbed {
if self.state.selected_backend == NPHYSICS_BACKEND {
self.nphysics.as_mut().unwrap().step(
&mut self.physics.pipeline.counters,
&self.integration_parameters,
&self.physics.integration_parameters,
);
self.nphysics
.as_mut()
@@ -1580,20 +1486,8 @@ impl State for Testbed {
)
}
#[cfg(feature = "fluids")]
{
if let Some(fluid_state) = &mut self.fluids {
for f in &mut self.callbacks_fluids {
f(
window,
&mut fluid_state.world,
&mut fluid_state.coupling,
&mut self.physics,
&mut self.graphics,
self.time,
)
}
}
for plugin in &mut self.plugins {
plugin.run_callbacks(window, &mut self.physics, self.time)
}
self.events.poll_all();
@@ -1605,7 +1499,7 @@ impl State for Testbed {
// #[cfg(feature = "log")]
// debug!("{}", self.world.counters);
// }
self.time += self.integration_parameters.dt();
self.time += self.physics.integration_parameters.dt();
}
}
@@ -1613,11 +1507,8 @@ impl State for Testbed {
self.graphics
.draw(&self.physics.bodies, &self.physics.colliders, window);
#[cfg(feature = "fluids")]
{
if let Some(fluids) = &self.fluids {
self.graphics.draw_fluids(&fluids.world)
}
for plugin in &mut self.plugins {
plugin.draw();
}
if self.state.flags.contains(TestbedStateFlags::CONTACT_POINTS) {
@@ -1676,14 +1567,9 @@ CCD: {:.2}ms
counters.ccd.solver_time.time(),
);
#[cfg(feature = "fluids")]
{
profile = format!(
r#"{}
Fluids: {:.2}ms
"#,
profile, fluids_time,
)
for plugin in &self.plugins {
let plugin_profile = plugin.profiling_string();
profile = format!("{}\n{}", profile, plugin_profile,)
}
}