Replace Kiss3d by Bevy for the testbed renderer.

Cargo.toml

@@ -1,6 +1,7 @@
 [workspace]
 members = [ "build/rapier2d", "build/rapier2d-f64", "build/rapier_testbed2d", "examples2d", "benchmarks2d",
             "build/rapier3d", "build/rapier3d-f64", "build/rapier_testbed3d", "examples3d", "benchmarks3d" ]
+resolver = "2"
 
 [patch.crates-io]
 #wrapped2d = { git = "https://github.com/Bastacyclop/rust_box2d.git" }

benchmarks3d/all_benchmarks3.rs

@@ -7,7 +7,7 @@ use wasm_bindgen::prelude::*;
 
 use inflector::Inflector;
 
-use rapier_testbed3d::Testbed;
+use rapier_testbed3d::{Testbed, TestbedApp};
 use std::cmp::Ordering;
 
 mod balls3;
@@ -80,12 +80,12 @@ pub fn main() {
                 .iter()
                 .position(|builder| builder.0.to_camel_case().as_str() == demo.as_str())
             {
-                Testbed::from_builders(0, vec![builders[i]]).run()
+                TestbedApp::from_builders(0, vec![builders[i]]).run()
             } else {
                 eprintln!("Invalid example to run provided: '{}'", demo);
             }
         }
-        Command::RunAll => Testbed::from_builders(0, builders).run(),
+        Command::RunAll => TestbedApp::from_builders(0, builders).run(),
         Command::List => {
             for builder in &builders {
                 println!("{}", builder.0.to_camel_case())

benchmarks3d/balls3.rs

@@ -51,8 +51,3 @@ pub fn init_world(testbed: &mut Testbed) {
     testbed.set_world(bodies, colliders, joints);
     testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
 }
-
-fn main() {
-    let testbed = Testbed::from_builders(0, vec![("Balls", init_world)]);
-    testbed.run()
-}

benchmarks3d/boxes3.rs

@@ -61,8 +61,3 @@ pub fn init_world(testbed: &mut Testbed) {
     testbed.set_world(bodies, colliders, joints);
     testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
 }
-
-fn main() {
-    let testbed = Testbed::from_builders(0, vec![("Boxes", init_world)]);
-    testbed.run()
-}

benchmarks3d/capsules3.rs

@@ -62,8 +62,3 @@ pub fn init_world(testbed: &mut Testbed) {
     testbed.set_world(bodies, colliders, joints);
     testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
 }
-
-fn main() {
-    let testbed = Testbed::from_builders(0, vec![("Boxes", init_world)]);
-    testbed.run()
-}

benchmarks3d/ccd3.rs

@@ -78,8 +78,3 @@ pub fn init_world(testbed: &mut Testbed) {
     testbed.set_world(bodies, colliders, joints);
     testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
 }
-
-fn main() {
-    let testbed = Testbed::from_builders(0, vec![("Boxes", init_world)]);
-    testbed.run()
-}

benchmarks3d/compound3.rs

@@ -69,8 +69,3 @@ pub fn init_world(testbed: &mut Testbed) {
     testbed.set_world(bodies, colliders, joints);
     testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
 }
-
-fn main() {
-    let testbed = Testbed::from_builders(0, vec![("Boxes", init_world)]);
-    testbed.run()
-}

benchmarks3d/convex_polyhedron3.rs

@@ -76,8 +76,3 @@ pub fn init_world(testbed: &mut Testbed) {
     testbed.set_world(bodies, colliders, joints);
     testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
 }
-
-fn main() {
-    let testbed = Testbed::from_builders(0, vec![("Boxes", init_world)]);
-    testbed.run()
-}

benchmarks3d/heightfield3.rs

@@ -75,8 +75,3 @@ pub fn init_world(testbed: &mut Testbed) {
     testbed.set_world(bodies, colliders, joints);
     testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
 }
-
-fn main() {
-    let testbed = Testbed::from_builders(0, vec![("Boxes", init_world)]);
-    testbed.run()
-}

benchmarks3d/joint_ball3.rs

@@ -63,8 +63,3 @@ pub fn init_world(testbed: &mut Testbed) {
         Point3::new(54.0, -38.0, 29.0),
     );
 }
-
-fn main() {
-    let testbed = Testbed::from_builders(0, vec![("Joints", init_world)]);
-    testbed.run()
-}

benchmarks3d/joint_fixed3.rs

@@ -85,8 +85,3 @@ pub fn init_world(testbed: &mut Testbed) {
         Point3::new(46.0, 12.0, 23.0),
     );
 }
-
-fn main() {
-    let testbed = Testbed::from_builders(0, vec![("Joints", init_world)]);
-    testbed.run()
-}

benchmarks3d/joint_prismatic3.rs

@@ -74,8 +74,3 @@ pub fn init_world(testbed: &mut Testbed) {
         Point3::new(101.0, 4.0, -3.0),
     );
 }
-
-fn main() {
-    let testbed = Testbed::from_builders(0, vec![("Joints", init_world)]);
-    testbed.run()
-}

benchmarks3d/joint_revolute3.rs

@@ -82,8 +82,3 @@ pub fn init_world(testbed: &mut Testbed) {
         Point3::new(134.0, 83.0, -116.0),
     );
 }
-
-fn main() {
-    let testbed = Testbed::from_builders(0, vec![("Joints", init_world)]);
-    testbed.run()
-}

benchmarks3d/keva3.rs

@@ -51,7 +51,7 @@ pub fn build_block(
                 let collider = ColliderBuilder::cuboid(dim.x, dim.y, dim.z).build();
                 colliders.insert(collider, handle, bodies);
 
-                testbed.set_body_color(handle, color0);
+                testbed.set_initial_body_color(handle, color0);
                 std::mem::swap(&mut color0, &mut color1);
             }
         }
@@ -73,7 +73,7 @@ pub fn build_block(
             let handle = bodies.insert(rigid_body);
             let collider = ColliderBuilder::cuboid(dim.x, dim.y, dim.z).build();
             colliders.insert(collider, handle, bodies);
-            testbed.set_body_color(handle, color0);
+            testbed.set_initial_body_color(handle, color0);
             std::mem::swap(&mut color0, &mut color1);
         }
     }
@@ -137,8 +137,3 @@ pub fn init_world(testbed: &mut Testbed) {
     testbed.set_world(bodies, colliders, joints);
     testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
 }
-
-fn main() {
-    let testbed = Testbed::from_builders(0, vec![("Boxes", init_world)]);
-    testbed.run()
-}

benchmarks3d/pyramid3.rs

@@ -76,8 +76,3 @@ pub fn init_world(testbed: &mut Testbed) {
     testbed.set_world(bodies, colliders, joints);
     testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
 }
-
-fn main() {
-    let testbed = Testbed::from_builders(0, vec![("Boxes", init_world)]);
-    testbed.run()
-}

benchmarks3d/stacks3.rs

@@ -184,8 +184,3 @@ pub fn init_world(testbed: &mut Testbed) {
     testbed.set_world(bodies, colliders, joints);
     testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
 }
-
-fn main() {
-    let testbed = Testbed::from_builders(0, vec![("Boxes", init_world)]);
-    testbed.run()
-}

benchmarks3d/trimesh3.rs

@@ -80,8 +80,3 @@ pub fn init_world(testbed: &mut Testbed) {
     testbed.set_world(bodies, colliders, joints);
     testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
 }
-
-fn main() {
-    let testbed = Testbed::from_builders(0, vec![("Boxes", init_world)]);
-    testbed.run()
-}

build/rapier_testbed2d/Cargo.toml

@@ -27,7 +27,6 @@ other-backends = [ "wrapped2d", "nphysics2d" ]
 
 [dependencies]
 nalgebra   = { version = "0.26", features = [ "rand" ] }
-kiss3d     = { version = "0.31", features = [ "conrod" ] }
 rand       = "0.8"
 rand_pcg   = "0.3"
 instant    = { version = "0.1", features = [ "web-sys", "now" ]}
@@ -42,6 +41,18 @@ bincode = "1"
 Inflector  = "0.11"
 md5 = "0.7"
 
+bevy_egui = "0.4"
+bevy-orbit-controls = "2"
+
+# Dependencies for native only.
+[target.'cfg(not(target_arch = "wasm32"))'.dependencies]
+bevy = {version = "0.5", default-features = false, features = ["bevy_wgpu", "bevy_winit", "render", "x11"]}
+
+# Dependencies for WASM only.
+[target.'cfg(target_arch = "wasm32")'.dependencies]
+bevy = {version = "0.5", default-features = false, features = ["bevy_winit", "render"]}
+bevy_webgl2 = "0.5"
+
 [dependencies.rapier2d]
 path = "../rapier2d"
 version = "0.8"

build/rapier_testbed3d/Cargo.toml

@@ -26,7 +26,6 @@ other-backends = [ "physx", "physx-sys", "glam", "nphysics3d" ]
 
 [dependencies]
 nalgebra   = { version = "0.26", features = [ "rand" ] }
-kiss3d     = { version = "0.31", features = [ "conrod" ] }
 rand       = "0.8"
 rand_pcg   = "0.3"
 instant    = { version = "0.1", features = [ "web-sys", "now" ]}
@@ -44,6 +43,18 @@ md5 = "0.7"
 Inflector  = "0.11"
 serde = { version = "1", features = [ "derive" ] }
 
+bevy_egui = "0.4"
+bevy-orbit-controls = "2"
+
+# Dependencies for native only.
+[target.'cfg(not(target_arch = "wasm32"))'.dependencies]
+bevy = {version = "0.5", default-features = false, features = ["bevy_wgpu", "bevy_winit", "render", "x11"]}
+
+# Dependencies for WASM only.
+[target.'cfg(target_arch = "wasm32")'.dependencies]
+bevy = {version = "0.5", default-features = false, features = ["bevy_winit", "render"]}
+bevy_webgl2 = "0.5"
+
 [dependencies.rapier3d]
 path = "../rapier3d"
 version = "0.8"

examples2d/add_remove2.rs

@@ -10,7 +10,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let rad = 0.5;
 
     // Callback that will be executed on the main loop to handle proximities.
-    testbed.add_callback(move |mut window, mut graphics, physics, _, _| {
+    testbed.add_callback(move |mut graphics, physics, _, _| {
         let rigid_body = RigidBodyBuilder::new_dynamic()
             .translation(0.0, 10.0)
             .build();
@@ -20,8 +20,8 @@ pub fn init_world(testbed: &mut Testbed) {
             .colliders
             .insert(collider, handle, &mut physics.bodies);
 
-        if let (Some(graphics), Some(window)) = (&mut graphics, &mut window) {
+        if let Some(graphics) = &mut graphics {
-            graphics.add(*window, handle, &physics.bodies, &physics.colliders);
+            graphics.add_body(handle, &physics.bodies, &physics.colliders);
         }
 
         let to_remove: Vec<_> = physics
@@ -38,8 +38,8 @@ pub fn init_world(testbed: &mut Testbed) {
                 &mut physics.joints,
             );
 
-            if let (Some(graphics), Some(window)) = (&mut graphics, &mut window) {
+            if let Some(graphics) = &mut graphics {
-                graphics.remove_body_nodes(*window, handle);
+                graphics.remove_body(handle);
             }
         }
     });
@@ -50,8 +50,3 @@ pub fn init_world(testbed: &mut Testbed) {
     testbed.set_world(bodies, colliders, joints);
     testbed.look_at(Point2::new(0.0, 0.0), 20.0);
 }
-
-fn main() {
-    let testbed = Testbed::from_builders(0, vec![("Add-remove", init_world)]);
-    testbed.run()
-}

examples2d/all_examples2.rs

@@ -7,7 +7,7 @@ use wasm_bindgen::prelude::*;
 
 use inflector::Inflector;
 
-use rapier_testbed2d::Testbed;
+use rapier_testbed2d::{Testbed, TestbedApp};
 use std::cmp::Ordering;
 
 mod add_remove2;
@@ -89,7 +89,7 @@ pub fn main() {
         .iter()
         .position(|builder| builder.0.to_camel_case().as_str() == demo.as_str())
         .unwrap_or(0);
-    let testbed = Testbed::from_builders(i, builders);
+    let testbed = TestbedApp::from_builders(i, builders);
 
     testbed.run()
 }

examples2d/ccd2.rs

@@ -90,7 +90,7 @@ pub fn init_world(testbed: &mut Testbed) {
     }
 
     // Callback that will be executed on the main loop to handle proximities.
-    testbed.add_callback(move |_, mut graphics, physics, events, _| {
+    testbed.add_callback(move |mut graphics, physics, events, _| {
         while let Ok(prox) = events.intersection_events.try_recv() {
             let color = if prox.intersecting {
                 Point3::new(1.0, 1.0, 0.0)
@@ -117,8 +117,3 @@ pub fn init_world(testbed: &mut Testbed) {
     testbed.set_world(bodies, colliders, joints);
     testbed.look_at(Point2::new(0.0, 2.5), 20.0);
 }
-
-fn main() {
-    let testbed = Testbed::from_builders(0, vec![("Balls", init_world)]);
-    testbed.run()
-}

examples2d/collision_groups2.rs

@@ -39,7 +39,7 @@ pub fn init_world(testbed: &mut Testbed) {
         .build();
     let green_collider_handle = colliders.insert(green_floor, floor_handle, &mut bodies);
 
-    testbed.set_collider_initial_color(green_collider_handle, Point3::new(0.0, 1.0, 0.0));
+    testbed.set_initial_collider_color(green_collider_handle, Point3::new(0.0, 1.0, 0.0));
 
     /*
      * A blue floor that will collide with the BLUE group only.
@@ -50,7 +50,7 @@ pub fn init_world(testbed: &mut Testbed) {
         .build();
     let blue_collider_handle = colliders.insert(blue_floor, floor_handle, &mut bodies);
 
-    testbed.set_collider_initial_color(blue_collider_handle, Point3::new(0.0, 0.0, 1.0));
+    testbed.set_initial_collider_color(blue_collider_handle, Point3::new(0.0, 0.0, 1.0));
 
     /*
      * Create the cubes
@@ -81,7 +81,7 @@ pub fn init_world(testbed: &mut Testbed) {
                 .build();
             colliders.insert(collider, handle, &mut bodies);
 
-            testbed.set_body_color(handle, color);
+            testbed.set_initial_body_color(handle, color);
         }
     }
 
@@ -91,8 +91,3 @@ pub fn init_world(testbed: &mut Testbed) {
     testbed.set_world(bodies, colliders, joints);
     testbed.look_at(Point2::new(0.0, 1.0), 100.0);
 }
-
-fn main() {
-    let testbed = Testbed::from_builders(0, vec![("Boxes", init_world)]);
-    testbed.run()
-}

examples2d/convex_polygons2.rs

@@ -79,8 +79,3 @@ pub fn init_world(testbed: &mut Testbed) {
     testbed.set_world(bodies, colliders, joints);
     testbed.look_at(Point2::new(0.0, 50.0), 10.0);
 }
-
-fn main() {
-    let testbed = Testbed::from_builders(0, vec![("Balls", init_world)]);
-    testbed.run()
-}

examples2d/debug_box_ball2.rs

@@ -1,3 +1,4 @@
+use na::Point2;
 use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
 use rapier2d::geometry::{ColliderBuilder, ColliderSet};
 use rapier_testbed2d::Testbed;
@@ -35,10 +36,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    //    testbed.look_at(Point2::new(10.0, 10.0, 10.0), Point2::origin());
+    testbed.look_at(Point2::new(0.0, 0.0), 50.0);
-}
-
-fn main() {
-    let testbed = Testbed::from_builders(0, vec![("Boxes", init_world)]);
-    testbed.run()
 }

examples2d/heightfield2.rs

@@ -65,8 +65,3 @@ pub fn init_world(testbed: &mut Testbed) {
     testbed.set_world(bodies, colliders, joints);
     testbed.look_at(Point2::new(0.0, 0.0), 10.0);
 }
-
-fn main() {
-    let testbed = Testbed::from_builders(0, vec![("Heightfield", init_world)]);
-    testbed.run()
-}

examples2d/joints2.rs

@@ -68,8 +68,3 @@ pub fn init_world(testbed: &mut Testbed) {
     testbed.set_world(bodies, colliders, joints);
     testbed.look_at(Point2::new(numk as f32 * rad, numi as f32 * -rad), 20.0);
 }
-
-fn main() {
-    let testbed = Testbed::from_builders(0, vec![("Joints", init_world)]);
-    testbed.run()
-}

examples2d/locked_rotations2.rs

@@ -56,8 +56,3 @@ pub fn init_world(testbed: &mut Testbed) {
     testbed.set_world(bodies, colliders, joints);
     testbed.look_at(Point2::new(0.0, 0.0), 40.0);
 }
-
-fn main() {
-    let testbed = Testbed::from_builders(0, vec![("Boxes", init_world)]);
-    testbed.run()
-}

examples2d/one_way_platforms2.rs

@@ -100,7 +100,7 @@ pub fn init_world(testbed: &mut Testbed) {
      * Spawn cubes at regular intervals and apply a custom gravity
      * depending on their position.
      */
-    testbed.add_callback(move |mut window, mut graphics, physics, _, run_state| {
+    testbed.add_callback(move |graphics, physics, _, run_state| {
         if run_state.timestep_id % 50 == 0 && physics.bodies.len() <= 7 {
             // Spawn a new cube.
             let collider = ColliderBuilder::cuboid(1.5, 2.0).build();
@@ -112,8 +112,8 @@ pub fn init_world(testbed: &mut Testbed) {
                 .colliders
                 .insert(collider, handle, &mut physics.bodies);
 
-            if let (Some(graphics), Some(window)) = (&mut graphics, &mut window) {
+            if let Some(graphics) = graphics {
-                graphics.add(window, handle, &physics.bodies, &physics.colliders);
+                graphics.add_body(handle, &physics.bodies, &physics.colliders);
             }
         }
 
@@ -139,8 +139,3 @@ pub fn init_world(testbed: &mut Testbed) {
     );
     testbed.look_at(Point2::new(0.0, 0.0), 20.0);
 }
-
-fn main() {
-    let testbed = Testbed::from_builders(0, vec![("Boxes", init_world)]);
-    testbed.run()
-}

examples2d/platform2.rs

@@ -60,7 +60,7 @@ pub fn init_world(testbed: &mut Testbed) {
     /*
      * Setup a callback to control the platform.
      */
-    testbed.add_callback(move |_, _, physics, _, run_state| {
+    testbed.add_callback(move |_, physics, _, run_state| {
         let platform = physics.bodies.get_mut(platform_handle).unwrap();
         let mut next_pos = *platform.position();
 
@@ -84,8 +84,3 @@ pub fn init_world(testbed: &mut Testbed) {
     testbed.set_world(bodies, colliders, joints);
     testbed.look_at(Point2::new(0.0, 1.0), 40.0);
 }
-
-fn main() {
-    let testbed = Testbed::from_builders(0, vec![("Kinematic body", init_world)]);
-    testbed.run()
-}

examples2d/polyline2.rs

@@ -67,8 +67,3 @@ pub fn init_world(testbed: &mut Testbed) {
     testbed.set_world(bodies, colliders, joints);
     testbed.look_at(Point2::new(0.0, 0.0), 10.0);
 }
-
-fn main() {
-    let testbed = Testbed::from_builders(0, vec![("Heightfield", init_world)]);
-    testbed.run()
-}

examples2d/pyramid2.rs

@@ -53,8 +53,3 @@ pub fn init_world(testbed: &mut Testbed) {
     testbed.set_world(bodies, colliders, joints);
     testbed.look_at(Point2::new(0.0, 2.5), 20.0);
 }
-
-fn main() {
-    let testbed = Testbed::from_builders(0, vec![("Balls", init_world)]);
-    testbed.run()
-}

examples2d/restitution2.rs

@@ -49,8 +49,3 @@ pub fn init_world(testbed: &mut Testbed) {
     testbed.set_world(bodies, colliders, joints);
     testbed.look_at(Point2::new(0.0, 1.0), 25.0);
 }
-
-fn main() {
-    let testbed = Testbed::from_builders(0, vec![("Boxes", init_world)]);
-    testbed.run()
-}

examples2d/sensor2.rs

@@ -43,7 +43,7 @@ pub fn init_world(testbed: &mut Testbed) {
         let collider = ColliderBuilder::cuboid(rad, rad).build();
         colliders.insert(collider, handle, &mut bodies);
 
-        testbed.set_body_color(handle, Point3::new(0.5, 0.5, 1.0));
+        testbed.set_initial_body_color(handle, Point3::new(0.5, 0.5, 1.0));
     }
 
     /*
@@ -66,10 +66,10 @@ pub fn init_world(testbed: &mut Testbed) {
     let sensor_collider = ColliderBuilder::ball(rad * 5.0).sensor(true).build();
     colliders.insert(sensor_collider, sensor_handle, &mut bodies);
 
-    testbed.set_body_color(sensor_handle, Point3::new(0.5, 1.0, 1.0));
+    testbed.set_initial_body_color(sensor_handle, Point3::new(0.5, 1.0, 1.0));
 
     // Callback that will be executed on the main loop to handle proximities.
-    testbed.add_callback(move |_, mut graphics, physics, events, _| {
+    testbed.add_callback(move |mut graphics, physics, events, _| {
         while let Ok(prox) = events.intersection_events.try_recv() {
             let color = if prox.intersecting {
                 Point3::new(1.0, 1.0, 0.0)
@@ -96,8 +96,3 @@ pub fn init_world(testbed: &mut Testbed) {
     testbed.set_world(bodies, colliders, joints);
     testbed.look_at(Point2::new(0.0, 1.0), 100.0);
 }
-
-fn main() {
-    let testbed = Testbed::from_builders(0, vec![("Sensor", init_world)]);
-    testbed.run()
-}

examples2d/trimesh2.rs

@@ -109,11 +109,6 @@ pub fn init_world(testbed: &mut Testbed) {
     testbed.look_at(Point2::new(0.0, 20.0), 17.0);
 }
 
-fn main() {
-    let testbed = Testbed::from_builders(0, vec![("Balls", init_world)]);
-    testbed.run()
-}
-
 const RAPIER_SVG_STR: &'static str = r#"
 <!DOCTYPE svg PUBLIC "-//W3C//DTD SVG 1.1//EN" "http://www.w3.org/Graphics/SVG/1.1/DTD/svg11.dtd">
 <svg width="100%" height="100%" viewBox="0 0 527 131" version="1.1" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" xml:space="preserve" xmlns:serif="http://www.serif.com/" style="fill-rule:evenodd;clip-rule:evenodd;stroke-linecap:round;stroke-linejoin:round;stroke-miterlimit:1.5;">

examples3d/Cargo.toml

@@ -17,7 +17,8 @@ rand = "0.8"
 getrandom = { version = "0.2", features = [ "js" ] } 
 Inflector  = "0.11"
 nalgebra   = "0.26"
-kiss3d     = "0.31"
+wasm-bindgen = "0.2"
+obj-rs = { version =  "0.6", default-features = false }
 
 [dependencies.rapier_testbed3d]
 path = "../build/rapier_testbed3d"
@@ -32,3 +33,8 @@ path = "./all_examples3.rs"
 [[bin]]
 name = "harness_capsules3"
 path = "./harness_capsules3.rs"
+
+#[lib]
+#crate-type = ["cdylib", "rlib"]
+#path = "./all_examples3_wasm.rs"
+

examples3d/all_examples3.rs

@@ -7,7 +7,7 @@ use wasm_bindgen::prelude::*;
 
 use inflector::Inflector;
 
-use rapier_testbed3d::Testbed;
+use rapier_testbed3d::{Testbed, TestbedApp};
 use std::cmp::Ordering;
 
 mod ccd3;
@@ -131,7 +131,6 @@ pub fn main() {
         .position(|builder| builder.0.to_camel_case().as_str() == demo.as_str())
         .unwrap_or(0);
 
-    let testbed = Testbed::from_builders(i, builders);
+    let testbed = TestbedApp::from_builders(i, builders);
-
     testbed.run()
 }

examples3d/all_examples3_wasm.rs

@@ -0,0 +1,136 @@
+#![allow(dead_code)]
+
+extern crate nalgebra as na;
+
+#[cfg(target_arch = "wasm32")]
+use wasm_bindgen::prelude::*;
+
+use inflector::Inflector;
+
+use rapier_testbed3d::{Testbed, TestbedApp};
+use std::cmp::Ordering;
+
+mod ccd3;
+mod collision_groups3;
+mod compound3;
+mod convex_decomposition3;
+mod convex_polyhedron3;
+mod damping3;
+mod debug_add_remove_collider3;
+mod debug_big_colliders3;
+mod debug_boxes3;
+mod debug_cylinder3;
+mod debug_dynamic_collider_add3;
+mod debug_friction3;
+mod debug_infinite_fall3;
+mod debug_prismatic3;
+mod debug_rollback3;
+mod debug_shape_modification3;
+mod debug_triangle3;
+mod debug_trimesh3;
+mod domino3;
+mod fountain3;
+mod heightfield3;
+mod joints3;
+mod keva3;
+mod locked_rotations3;
+mod one_way_platforms3;
+mod platform3;
+mod primitives3;
+mod restitution3;
+mod sensor3;
+mod trimesh3;
+
+fn demo_name_from_command_line() -> Option<String> {
+    let mut args = std::env::args();
+
+    while let Some(arg) = args.next() {
+        if &arg[..] == "--example" {
+            return args.next();
+        }
+    }
+
+    None
+}
+
+#[cfg(any(target_arch = "wasm32", target_arch = "asmjs"))]
+fn demo_name_from_url() -> Option<String> {
+    None
+    //    let window = stdweb::web::window();
+    //    let hash = window.location()?.search().ok()?;
+    //    if hash.len() > 0 {
+    //        Some(hash[1..].to_string())
+    //    } else {
+    //        None
+    //    }
+}
+
+#[cfg(not(any(target_arch = "wasm32", target_arch = "asmjs")))]
+fn demo_name_from_url() -> Option<String> {
+    None
+}
+
+#[cfg_attr(target_arch = "wasm32", wasm_bindgen(start))]
+pub fn main() {
+    let demo = demo_name_from_command_line()
+        .or_else(|| demo_name_from_url())
+        .unwrap_or(String::new())
+        .to_camel_case();
+
+    let mut builders: Vec<(_, fn(&mut Testbed))> = vec![
+        ("Fountain", fountain3::init_world),
+        ("Primitives", primitives3::init_world),
+        ("CCD", ccd3::init_world),
+        ("Collision groups", collision_groups3::init_world),
+        ("Compound", compound3::init_world),
+        ("Convex decomposition", convex_decomposition3::init_world),
+        ("Convex polyhedron", convex_polyhedron3::init_world),
+        ("Damping", damping3::init_world),
+        ("Domino", domino3::init_world),
+        ("Heightfield", heightfield3::init_world),
+        ("Joints", joints3::init_world),
+        ("Locked rotations", locked_rotations3::init_world),
+        ("One-way platforms", one_way_platforms3::init_world),
+        ("Platform", platform3::init_world),
+        ("Restitution", restitution3::init_world),
+        ("Sensor", sensor3::init_world),
+        ("TriMesh", trimesh3::init_world),
+        ("Keva tower", keva3::init_world),
+        (
+            "(Debug) add/rm collider",
+            debug_add_remove_collider3::init_world,
+        ),
+        ("(Debug) big colliders", debug_big_colliders3::init_world),
+        ("(Debug) boxes", debug_boxes3::init_world),
+        (
+            "(Debug) dyn. coll. add",
+            debug_dynamic_collider_add3::init_world,
+        ),
+        ("(Debug) friction", debug_friction3::init_world),
+        ("(Debug) triangle", debug_triangle3::init_world),
+        ("(Debug) trimesh", debug_trimesh3::init_world),
+        ("(Debug) cylinder", debug_cylinder3::init_world),
+        ("(Debug) infinite fall", debug_infinite_fall3::init_world),
+        ("(Debug) prismatic", debug_prismatic3::init_world),
+        ("(Debug) rollback", debug_rollback3::init_world),
+        (
+            "(Debug) shape modification",
+            debug_shape_modification3::init_world,
+        ),
+    ];
+
+    // Lexicographic sort, with stress tests moved at the end of the list.
+    builders.sort_by(|a, b| match (a.0.starts_with("("), b.0.starts_with("(")) {
+        (true, true) | (false, false) => a.0.cmp(b.0),
+        (true, false) => Ordering::Greater,
+        (false, true) => Ordering::Less,
+    });
+
+    let i = builders
+        .iter()
+        .position(|builder| builder.0.to_camel_case().as_str() == demo.as_str())
+        .unwrap_or(0);
+
+    let testbed = TestbedApp::from_builders(i, builders);
+    testbed.run()
+}

examples3d/ccd3.rs

@@ -30,9 +30,15 @@ fn create_wall(
             colliders.insert(collider, handle, bodies);
             k += 1;
             if k % 2 == 0 {
-                testbed.set_body_color(handle, Point3::new(255. / 255., 131. / 255., 244.0 / 255.));
+                testbed.set_initial_body_color(
+                    handle,
+                    Point3::new(255. / 255., 131. / 255., 244.0 / 255.),
+                );
             } else {
-                testbed.set_body_color(handle, Point3::new(131. / 255., 255. / 255., 244.0 / 255.));
+                testbed.set_initial_body_color(
+                    handle,
+                    Point3::new(131. / 255., 255. / 255., 244.0 / 255.),
+                );
             }
         }
     }
@@ -114,10 +120,10 @@ pub fn init_world(testbed: &mut Testbed) {
         .build();
     let handle = bodies.insert(rigid_body);
     colliders.insert(collider.clone(), handle, &mut bodies);
-    testbed.set_body_color(handle, Point3::new(0.2, 0.2, 1.0));
+    testbed.set_initial_body_color(handle, Point3::new(0.2, 0.2, 1.0));
 
     // Callback that will be executed on the main loop to handle proximities.
-    testbed.add_callback(move |_, mut graphics, physics, events, _| {
+    testbed.add_callback(move |mut graphics, physics, events, _| {
         while let Ok(prox) = events.intersection_events.try_recv() {
             let color = if prox.intersecting {
                 Point3::new(1.0, 1.0, 0.0)
@@ -145,8 +151,3 @@ pub fn init_world(testbed: &mut Testbed) {
     testbed.set_world(bodies, colliders, joints);
     testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
 }
-
-fn main() {
-    let testbed = Testbed::from_builders(0, vec![("Boxes", init_world)]);
-    testbed.run()
-}

examples3d/collision_groups3.rs

@@ -39,7 +39,7 @@ pub fn init_world(testbed: &mut Testbed) {
         .build();
     let green_collider_handle = colliders.insert(green_floor, floor_handle, &mut bodies);
 
-    testbed.set_collider_initial_color(green_collider_handle, Point3::new(0.0, 1.0, 0.0));
+    testbed.set_initial_collider_color(green_collider_handle, Point3::new(0.0, 1.0, 0.0));
 
     /*
      * A blue floor that will collide with the BLUE group only.
@@ -50,7 +50,7 @@ pub fn init_world(testbed: &mut Testbed) {
         .build();
     let blue_collider_handle = colliders.insert(blue_floor, floor_handle, &mut bodies);
 
-    testbed.set_collider_initial_color(blue_collider_handle, Point3::new(0.0, 0.0, 1.0));
+    testbed.set_initial_collider_color(blue_collider_handle, Point3::new(0.0, 0.0, 1.0));
 
     /*
      * Create the cubes
@@ -84,7 +84,7 @@ pub fn init_world(testbed: &mut Testbed) {
                     .build();
                 colliders.insert(collider, handle, &mut bodies);
 
-                testbed.set_body_color(handle, color);
+                testbed.set_initial_body_color(handle, color);
             }
         }
     }
@@ -95,8 +95,3 @@ pub fn init_world(testbed: &mut Testbed) {
     testbed.set_world(bodies, colliders, joints);
     testbed.look_at(Point3::new(10.0, 10.0, 10.0), Point3::origin());
 }
-
-fn main() {
-    let testbed = Testbed::from_builders(0, vec![("Boxes", init_world)]);
-    testbed.run()
-}

examples3d/compound3.rs

@@ -93,8 +93,3 @@ pub fn init_world(testbed: &mut Testbed) {
     testbed.set_world(bodies, colliders, joints);
     testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
 }
-
-fn main() {
-    let testbed = Testbed::from_builders(0, vec![("Boxes", init_world)]);
-    testbed.run()
-}

examples3d/convex_decomposition3.rs

@@ -1,10 +1,11 @@
-use kiss3d::loader::obj;
+use na::Point3;
-use na::{Point3, Translation3};
+use obj::raw::object::Polygon;
 use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
 use rapier3d::geometry::{ColliderBuilder, ColliderSet, SharedShape};
-use rapier3d::parry::bounding_volume::{self, BoundingVolume};
+use rapier3d::parry::bounding_volume;
 use rapier_testbed3d::Testbed;
-use std::path::Path;
+use std::fs::File;
+use std::io::BufReader;
 
 /*
  * NOTE: The `r` macro is only here to convert from f64 to the `N` scalar type.
@@ -42,47 +43,45 @@ pub fn init_world(testbed: &mut Testbed) {
 
     for (igeom, obj_path) in geoms.into_iter().enumerate() {
         let deltas = na::one();
-        let mtl_path = Path::new("");
 
         let mut shapes = Vec::new();
         println!("Parsing and decomposing: {}", obj_path);
-        let obj = obj::parse_file(&Path::new(&obj_path), &mtl_path, "");
+        let input = BufReader::new(File::open(obj_path).unwrap());
 
-        if let Ok(model) = obj {
+        if let Ok(model) = obj::raw::parse_obj(input) {
-            let meshes: Vec<_> = model
+            let mut vertices: Vec<_> = model
+                .positions
+                .iter()
+                .map(|v| Point3::new(v.0, v.1, v.2))
+                .collect();
+            use std::iter::FromIterator;
+            let indices: Vec<_> = model
+                .polygons
                 .into_iter()
-                .map(|mesh| mesh.1.to_trimesh().unwrap())
+                .flat_map(|p| match p {
+                    Polygon::P(idx) => idx.into_iter(),
+                    Polygon::PT(idx) => Vec::from_iter(idx.into_iter().map(|i| i.0)).into_iter(),
+                    Polygon::PN(idx) => Vec::from_iter(idx.into_iter().map(|i| i.0)).into_iter(),
+                    Polygon::PTN(idx) => Vec::from_iter(idx.into_iter().map(|i| i.0)).into_iter(),
+                })
                 .collect();
 
             // Compute the size of the model, to scale it and have similar size for everything.
-            let mut aabb =
+            let aabb = bounding_volume::details::point_cloud_aabb(&deltas, &vertices);
-                bounding_volume::details::point_cloud_aabb(&deltas, &meshes[0].coords[..]);
+            let center = aabb.center();
-
-            for mesh in meshes[1..].iter() {
-                aabb.merge(&bounding_volume::details::point_cloud_aabb(
-                    &deltas,
-                    &mesh.coords[..],
-                ));
-            }
-
-            let center = aabb.center().coords;
             let diag = (aabb.maxs - aabb.mins).norm();
 
-            for mut trimesh in meshes.into_iter() {
+            vertices
-                trimesh.translate_by(&Translation3::from(-center));
+                .iter_mut()
-                trimesh.scale_by_scalar(6.0 / diag);
+                .for_each(|p| *p = (*p - center.coords) * 6.0 / diag);
 
-                let vertices = trimesh.coords;
+            let indices: Vec<_> = indices
-                let indices: Vec<_> = trimesh
+                .chunks(3)
-                    .indices
+                .map(|idx| [idx[0] as u32, idx[1] as u32, idx[2] as u32])
-                    .unwrap_unified()
-                    .into_iter()
-                    .map(|idx| [idx.x, idx.y, idx.z])
                 .collect();
 
             let decomposed_shape = SharedShape::convex_decomposition(&vertices, &indices);
             shapes.push(decomposed_shape);
-            }
 
             // let compound = SharedShape::compound(compound_parts);
 
@@ -122,7 +121,7 @@ fn models() -> Vec<String> {
         "media/models/hornbug.obj".to_string(),
         "media/models/octopus_decimated.obj".to_string(),
         "media/models/rabbit_decimated.obj".to_string(),
-        "media/models/rust_logo.obj".to_string(),
+        // "media/models/rust_logo.obj".to_string(),
         "media/models/rust_logo_simplified.obj".to_string(),
         "media/models/screwdriver_decimated.obj".to_string(),
         "media/models/table.obj".to_string(),

examples3d/convex_polyhedron3.rs

@@ -71,8 +71,3 @@ pub fn init_world(testbed: &mut Testbed) {
     testbed.set_world(bodies, colliders, joints);
     testbed.look_at(Point3::new(30.0, 30.0, 30.0), Point3::origin());
 }
-
-fn main() {
-    let testbed = Testbed::from_builders(0, vec![("Boxes", init_world)]);
-    testbed.run()
-}

examples3d/debug_add_remove_collider3.rs

@@ -34,12 +34,13 @@ pub fn init_world(testbed: &mut Testbed) {
     let collider = ColliderBuilder::ball(ball_rad).density(100.0).build();
     colliders.insert(collider, ball_handle, &mut bodies);
 
-    testbed.add_callback(move |mut window, mut graphics, physics, _, _| {
+    testbed.add_callback(move |_, physics, _, _| {
         // Remove then re-add the ground collider.
+        let removed_collider_handle = ground_collider_handle;
         let coll = physics
             .colliders
             .remove(
-                ground_collider_handle,
+                removed_collider_handle,
                 &mut physics.islands,
                 &mut physics.bodies,
                 true,
@@ -48,10 +49,6 @@ pub fn init_world(testbed: &mut Testbed) {
         ground_collider_handle = physics
             .colliders
             .insert(coll, ground_handle, &mut physics.bodies);
-
-        if let (Some(graphics), Some(window)) = (&mut graphics, &mut window) {
-            graphics.add_collider(window, ground_collider_handle, &physics.colliders);
-        }
     });
 
     /*
@@ -60,8 +57,3 @@ pub fn init_world(testbed: &mut Testbed) {
     testbed.set_world(bodies, colliders, joints);
     testbed.look_at(Point3::new(10.0, 10.0, 10.0), Point3::origin());
 }
-
-fn main() {
-    let testbed = Testbed::from_builders(0, vec![("Boxes", init_world)]);
-    testbed.run()
-}

examples3d/debug_big_colliders3.rs

@@ -43,8 +43,3 @@ pub fn init_world(testbed: &mut Testbed) {
     testbed.set_world(bodies, colliders, joints);
     testbed.look_at(Point3::new(10.0, 10.0, 10.0), Point3::origin());
 }
-
-fn main() {
-    let testbed = Testbed::from_builders(0, vec![("Boxes", init_world)]);
-    testbed.run()
-}

examples3d/debug_boxes3.rs

@@ -44,8 +44,3 @@ pub fn init_world(testbed: &mut Testbed) {
     testbed.set_world(bodies, colliders, joints);
     testbed.look_at(Point3::new(10.0, 10.0, 10.0), Point3::origin());
 }
-
-fn main() {
-    let testbed = Testbed::from_builders(0, vec![("Boxes", init_world)]);
-    testbed.run()
-}

examples3d/debug_cylinder3.rs

@@ -58,8 +58,3 @@ pub fn init_world(testbed: &mut Testbed) {
     testbed.set_world(bodies, colliders, joints);
     testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
 }
-
-fn main() {
-    let testbed = Testbed::from_builders(0, vec![("Boxes", init_world)]);
-    testbed.run()
-}

examples3d/debug_dynamic_collider_add3.rs

@@ -45,7 +45,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let mut extra_colliders = Vec::new();
     let snapped_frame = 51;
 
-    testbed.add_callback(move |mut window, mut graphics, physics, _, _| {
+    testbed.add_callback(move |mut graphics, physics, _, _| {
         step += 1;
 
         // Add a bigger ball collider
@@ -57,8 +57,8 @@ pub fn init_world(testbed: &mut Testbed) {
                 .colliders
                 .insert(collider, ball_handle, &mut physics.bodies);
 
-        if let (Some(graphics), Some(window)) = (&mut graphics, &mut window) {
+        if let Some(graphics) = &mut graphics {
-            graphics.add_collider(window, new_ball_collider_handle, &physics.colliders);
+            graphics.add_collider(new_ball_collider_handle, &physics.colliders);
         }
 
         extra_colliders.push(new_ball_collider_handle);
@@ -79,6 +79,10 @@ pub fn init_world(testbed: &mut Testbed) {
             step = snapped_frame;
 
             for handle in &extra_colliders {
+                if let Some(graphics) = &mut graphics {
+                    graphics.remove_collider(*handle, &physics.colliders);
+                }
+
                 physics
                     .colliders
                     .remove(*handle, &mut physics.islands, &mut physics.bodies, true);
@@ -102,8 +106,8 @@ pub fn init_world(testbed: &mut Testbed) {
                 .colliders
                 .insert(coll, ground_handle, &mut physics.bodies);
 
-        if let (Some(graphics), Some(window)) = (&mut graphics, &mut window) {
+        if let Some(graphics) = &mut graphics {
-            graphics.add_collider(window, new_ground_collider_handle, &physics.colliders);
+            graphics.add_collider(new_ground_collider_handle, &physics.colliders);
         }
 
         extra_colliders.push(new_ground_collider_handle);
@@ -115,8 +119,3 @@ pub fn init_world(testbed: &mut Testbed) {
     testbed.set_world(bodies, colliders, joints);
     testbed.look_at(Point3::new(10.0, 10.0, 10.0), Point3::origin());
 }
-
-fn main() {
-    let testbed = Testbed::from_builders(0, vec![("Boxes", init_world)]);
-    testbed.run()
-}

examples3d/debug_friction3.rs

@@ -41,10 +41,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point3::new(10.0, 10.0, 10.0), Point3::origin());
+    testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
-}
-
-fn main() {
-    let testbed = Testbed::from_builders(0, vec![("Boxes", init_world)]);
-    testbed.run()
 }

examples3d/debug_infinite_fall3.rs

@@ -48,8 +48,3 @@ pub fn init_world(testbed: &mut Testbed) {
     testbed.look_at(Point3::new(100.0, -10.0, 100.0), Point3::origin());
     testbed.set_world(bodies, colliders, joints);
 }
-
-fn main() {
-    let testbed = Testbed::from_builders(0, vec![("Boxes", init_world)]);
-    testbed.run()
-}

examples3d/debug_prismatic3.rs

@@ -103,8 +103,3 @@ pub fn init_world(testbed: &mut Testbed) {
     testbed.set_world(bodies, colliders, joints);
     testbed.look_at(Point3::new(10.0, 10.0, 10.0), Point3::origin());
 }
-
-fn main() {
-    let testbed = Testbed::from_builders(0, vec![("Boxes", init_world)]);
-    testbed.run()
-}

examples3d/debug_rollback3.rs

@@ -44,7 +44,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let mut step = 0;
     let snapped_frame = 51;
 
-    testbed.add_callback(move |_, _, physics, _, _| {
+    testbed.add_callback(move |_, physics, _, _| {
         step += 1;
 
         // Snap the ball velocity or restore it.
@@ -70,8 +70,3 @@ pub fn init_world(testbed: &mut Testbed) {
     testbed.set_world(bodies, colliders, joints);
     testbed.look_at(Point3::new(10.0, 10.0, 10.0), Point3::origin());
 }
-
-fn main() {
-    let testbed = Testbed::from_builders(0, vec![("Boxes", init_world)]);
-    testbed.run()
-}

examples3d/debug_shape_modification3.rs

@@ -44,7 +44,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let mut step = 0;
     let snapped_frame = 51;
 
-    testbed.add_callback(move |_, _, physics, _, _| {
+    testbed.add_callback(move |_, physics, _, _| {
         step += 1;
 
         // Snap the ball velocity or restore it.
@@ -116,8 +116,3 @@ pub fn init_world(testbed: &mut Testbed) {
     testbed.set_world(bodies, colliders, joints);
     testbed.look_at(Point3::new(10.0, 10.0, 10.0), Point3::origin());
 }
-
-fn main() {
-    let testbed = Testbed::from_builders(0, vec![("Boxes", init_world)]);
-    testbed.run()
-}

examples3d/debug_triangle3.rs

@@ -41,8 +41,3 @@ pub fn init_world(testbed: &mut Testbed) {
     testbed.set_world(bodies, colliders, joints);
     testbed.look_at(Point3::new(10.0, 10.0, 10.0), Point3::origin());
 }
-
-fn main() {
-    let testbed = Testbed::from_builders(0, vec![("Boxes", init_world)]);
-    testbed.run()
-}

examples3d/debug_trimesh3.rs

@@ -24,16 +24,16 @@ pub fn init_world(testbed: &mut Testbed) {
         Point3::new(-width, -width, width),
     ];
     let idx = vec![
-        [0, 1, 2],
+        [0, 2, 1],
-        [0, 2, 3],
+        [0, 3, 2],
         [4, 5, 6],
         [4, 6, 7],
         [0, 4, 7],
         [0, 7, 3],
-        [1, 5, 6],
+        [1, 6, 5],
-        [1, 6, 2],
+        [1, 2, 6],
-        [3, 2, 7],
+        [3, 7, 2],
-        [2, 6, 7],
+        [2, 7, 6],
         [0, 1, 5],
         [0, 5, 4],
     ];
@@ -54,6 +54,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::trimesh(vtx, idx).build();
     colliders.insert(collider, handle, &mut bodies);
+    testbed.set_initial_body_color(handle, Point3::new(0.3, 0.3, 0.3));
 
     /*
      * Set up the testbed.
@@ -61,8 +62,3 @@ pub fn init_world(testbed: &mut Testbed) {
     testbed.set_world(bodies, colliders, joints);
     testbed.look_at(Point3::new(10.0, 10.0, 10.0), Point3::origin());
 }
-
-fn main() {
-    let testbed = Testbed::from_builders(0, vec![("Boxes", init_world)]);
-    testbed.run()
-}

examples3d/domino3.rs

@@ -60,7 +60,7 @@ pub fn init_world(testbed: &mut Testbed) {
             let handle = bodies.insert(rigid_body);
             let collider = ColliderBuilder::cuboid(thickness, width * 2.0, width).build();
             colliders.insert(collider, handle, &mut bodies);
-            testbed.set_body_color(handle, colors[i % 2]);
+            testbed.set_initial_body_color(handle, colors[i % 2]);
         } else {
             skip -= 1;
         }
@@ -78,8 +78,3 @@ pub fn init_world(testbed: &mut Testbed) {
     testbed.set_world(bodies, colliders, joints);
     testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
 }
-
-fn main() {
-    let testbed = Testbed::from_builders(0, vec![("Boxes", init_world)]);
-    testbed.run()
-}

examples3d/fountain3.rs

@@ -25,7 +25,7 @@ pub fn init_world(testbed: &mut Testbed) {
     colliders.insert(collider, handle, &mut bodies);
 
     // Callback that will be executed on the main loop to handle proximities.
-    testbed.add_callback(move |mut window, mut graphics, physics, _, run_state| {
+    testbed.add_callback(move |mut graphics, physics, _, run_state| {
         let rigid_body = RigidBodyBuilder::new_dynamic()
             .translation(0.0, 10.0, 0.0)
             .build();
@@ -40,8 +40,8 @@ pub fn init_world(testbed: &mut Testbed) {
             .colliders
             .insert(collider, handle, &mut physics.bodies);
 
-        if let (Some(graphics), Some(window)) = (&mut graphics, &mut window) {
+        if let Some(graphics) = &mut graphics {
-            graphics.add(window, handle, &physics.bodies, &physics.colliders);
+            graphics.add_body(handle, &physics.bodies, &physics.colliders);
         }
 
         if physics.bodies.len() > MAX_NUMBER_OF_BODIES {
@@ -68,8 +68,8 @@ pub fn init_world(testbed: &mut Testbed) {
                     &mut physics.joints,
                 );
 
-                if let (Some(graphics), Some(window)) = (&mut graphics, &mut window) {
+                if let Some(graphics) = &mut graphics {
-                    graphics.remove_body_nodes(window, *handle);
+                    graphics.remove_body(*handle);
                 }
             }
         }
@@ -85,8 +85,3 @@ pub fn init_world(testbed: &mut Testbed) {
     //     .velocity_based_erp = 0.2;
     testbed.look_at(Point3::new(-30.0, 4.0, -30.0), Point3::new(0.0, 1.0, 0.0));
 }
-
-fn main() {
-    let testbed = Testbed::from_builders(0, vec![("Add-remove", init_world)]);
-    testbed.run()
-}

examples3d/heightfield3.rs

@@ -97,8 +97,3 @@ pub fn init_world(testbed: &mut Testbed) {
     testbed.set_world(bodies, colliders, joints);
     testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
 }
-
-fn main() {
-    let testbed = Testbed::from_builders(0, vec![("Boxes", init_world)]);
-    testbed.run()
-}

examples3d/joints3.rs

@@ -472,8 +472,3 @@ pub fn init_world(testbed: &mut Testbed) {
     testbed.set_world(bodies, colliders, joints);
     testbed.look_at(Point3::new(15.0, 5.0, 42.0), Point3::new(13.0, 1.0, 1.0));
 }
-
-fn main() {
-    let testbed = Testbed::from_builders(0, vec![("Joints", init_world)]);
-    testbed.run()
-}

examples3d/keva3.rs

@@ -51,7 +51,7 @@ pub fn build_block(
                 let collider = ColliderBuilder::cuboid(dim.x, dim.y, dim.z).build();
                 colliders.insert(collider, handle, bodies);
 
-                testbed.set_body_color(handle, color0);
+                testbed.set_initial_body_color(handle, color0);
                 std::mem::swap(&mut color0, &mut color1);
             }
         }
@@ -73,7 +73,7 @@ pub fn build_block(
             let handle = bodies.insert(rigid_body);
             let collider = ColliderBuilder::cuboid(dim.x, dim.y, dim.z).build();
             colliders.insert(collider, handle, bodies);
-            testbed.set_body_color(handle, color0);
+            testbed.set_initial_body_color(handle, color0);
             std::mem::swap(&mut color0, &mut color1);
         }
     }
@@ -137,8 +137,3 @@ pub fn init_world(testbed: &mut Testbed) {
     testbed.set_world(bodies, colliders, joints);
     testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
 }
-
-fn main() {
-    let testbed = Testbed::from_builders(0, vec![("Boxes", init_world)]);
-    testbed.run()
-}

examples3d/locked_rotations3.rs

@@ -59,8 +59,3 @@ pub fn init_world(testbed: &mut Testbed) {
     testbed.set_world(bodies, colliders, joints);
     testbed.look_at(Point3::new(10.0, 3.0, 0.0), Point3::new(0.0, 3.0, 0.0));
 }
-
-fn main() {
-    let testbed = Testbed::from_builders(0, vec![("Boxes", init_world)]);
-    testbed.run()
-}

examples3d/one_way_platforms3.rs

@@ -100,7 +100,7 @@ pub fn init_world(testbed: &mut Testbed) {
      * Spawn cubes at regular intervals and apply a custom gravity
      * depending on their position.
      */
-    testbed.add_callback(move |mut window, mut graphics, physics, _, run_state| {
+    testbed.add_callback(move |graphics, physics, _, run_state| {
         if run_state.timestep_id % 50 == 0 && physics.bodies.len() <= 7 {
             // Spawn a new cube.
             let collider = ColliderBuilder::cuboid(1.0, 2.0, 1.5).build();
@@ -112,8 +112,8 @@ pub fn init_world(testbed: &mut Testbed) {
                 .colliders
                 .insert(collider, handle, &mut physics.bodies);
 
-            if let (Some(graphics), Some(window)) = (&mut graphics, &mut window) {
+            if let Some(graphics) = graphics {
-                graphics.add(window, handle, &physics.bodies, &physics.colliders);
+                graphics.add_body(handle, &physics.bodies, &physics.colliders);
             }
         }
 
@@ -139,8 +139,3 @@ pub fn init_world(testbed: &mut Testbed) {
     );
     testbed.look_at(Point3::new(-100.0, 0.0, 0.0), Point3::origin());
 }
-
-fn main() {
-    let testbed = Testbed::from_builders(0, vec![("Boxes", init_world)]);
-    testbed.run()
-}

examples3d/platform3.rs

@@ -65,7 +65,7 @@ pub fn init_world(testbed: &mut Testbed) {
      * Setup a callback to control the platform.
      */
     let mut count = 0;
-    testbed.add_callback(move |_, _, physics, _, run_state| {
+    testbed.add_callback(move |_, physics, _, run_state| {
         count += 1;
         if count % 100 > 50 {
             return;
@@ -95,8 +95,3 @@ pub fn init_world(testbed: &mut Testbed) {
     testbed.set_world(bodies, colliders, joints);
     testbed.look_at(Point3::new(-10.0, 5.0, -10.0), Point3::origin());
 }
-
-fn main() {
-    let testbed = Testbed::from_builders(0, vec![("Kinematic body", init_world)]);
-    testbed.run()
-}

examples3d/primitives3.rs

@@ -73,8 +73,3 @@ pub fn init_world(testbed: &mut Testbed) {
     testbed.set_world(bodies, colliders, joints);
     testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
 }
-
-fn main() {
-    let testbed = Testbed::from_builders(0, vec![("Boxes", init_world)]);
-    testbed.run()
-}

examples3d/restitution3.rs

@@ -49,8 +49,3 @@ pub fn init_world(testbed: &mut Testbed) {
     testbed.set_world(bodies, colliders, joints);
     testbed.look_at(Point3::new(0.0, 3.0, 30.0), Point3::new(0.0, 3.0, 0.0));
 }
-
-fn main() {
-    let testbed = Testbed::from_builders(0, vec![("Boxes", init_world)]);
-    testbed.run()
-}

examples3d/sensor3.rs

@@ -46,7 +46,7 @@ pub fn init_world(testbed: &mut Testbed) {
             let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
             colliders.insert(collider, handle, &mut bodies);
 
-            testbed.set_body_color(handle, Point3::new(0.5, 0.5, 1.0));
+            testbed.set_initial_body_color(handle, Point3::new(0.5, 0.5, 1.0));
         }
     }
 
@@ -70,10 +70,10 @@ pub fn init_world(testbed: &mut Testbed) {
     let sensor_collider = ColliderBuilder::ball(rad * 5.0).sensor(true).build();
     colliders.insert(sensor_collider, sensor_handle, &mut bodies);
 
-    testbed.set_body_color(sensor_handle, Point3::new(0.5, 1.0, 1.0));
+    testbed.set_initial_body_color(sensor_handle, Point3::new(0.5, 1.0, 1.0));
 
     // Callback that will be executed on the main loop to handle proximities.
-    testbed.add_callback(move |_, mut graphics, physics, events, _| {
+    testbed.add_callback(move |mut graphics, physics, events, _| {
         while let Ok(prox) = events.intersection_events.try_recv() {
             let color = if prox.intersecting {
                 Point3::new(1.0, 1.0, 0.0)
@@ -101,8 +101,3 @@ pub fn init_world(testbed: &mut Testbed) {
     testbed.set_world(bodies, colliders, joints);
     testbed.look_at(Point3::new(-6.0, 4.0, -6.0), Point3::new(0.0, 1.0, 0.0));
 }
-
-fn main() {
-    let testbed = Testbed::from_builders(0, vec![("Sensor", init_world)]);
-    testbed.run()
-}

examples3d/trimesh3.rs

@@ -102,8 +102,3 @@ pub fn init_world(testbed: &mut Testbed) {
     testbed.set_world(bodies, colliders, joints);
     testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
 }
-
-fn main() {
-    let testbed = Testbed::from_builders(0, vec![("Boxes", init_world)]);
-    testbed.run()
-}

src_testbed/camera.rs

@@ -0,0 +1,94 @@
+// NOTE: this is inspired from the `bevy-orbit-controls` projects but
+//       with some modifications like Panning, and 2D support.
+use bevy::input::mouse::MouseMotion;
+use bevy::input::mouse::MouseScrollUnit::{Line, Pixel};
+use bevy::input::mouse::MouseWheel;
+use bevy::prelude::*;
+use bevy::render::camera::Camera;
+
+const LINE_TO_PIXEL_RATIO: f32 = 0.1;
+
+pub struct OrbitCamera {
+    pub zoom: f32,
+    pub center: Vec3,
+    pub pan_sensitivity: f32,
+    pub zoom_sensitivity: f32,
+    pub pan_button: MouseButton,
+    pub enabled: bool,
+}
+
+impl Default for OrbitCamera {
+    fn default() -> Self {
+        OrbitCamera {
+            zoom: 100.0,
+            center: Vec3::ZERO,
+            pan_sensitivity: 1.0,
+            zoom_sensitivity: 0.8,
+            pan_button: MouseButton::Right,
+            enabled: true,
+        }
+    }
+}
+
+// Adapted from the 3D orbit camera from bevy-orbit-controls
+pub struct OrbitCameraPlugin;
+impl OrbitCameraPlugin {
+    fn update_transform_system(
+        mut query: Query<(&OrbitCamera, &mut Transform), (Changed<OrbitCamera>, With<Camera>)>,
+    ) {
+        for (camera, mut transform) in query.iter_mut() {
+            if camera.enabled {
+                transform.translation = camera.center;
+                transform.scale = Vec3::new(1.0 / camera.zoom, 1.0 / camera.zoom, 1.0);
+            }
+        }
+    }
+
+    fn mouse_motion_system(
+        _time: Res<Time>,
+        mut mouse_motion_events: EventReader<MouseMotion>,
+        mouse_button_input: Res<Input<MouseButton>>,
+        mut query: Query<(&mut OrbitCamera, &mut Transform, &mut Camera)>,
+    ) {
+        let mut delta = Vec2::ZERO;
+        for event in mouse_motion_events.iter() {
+            delta += event.delta;
+        }
+        for (mut camera, _, _) in query.iter_mut() {
+            if !camera.enabled {
+                continue;
+            }
+
+            if mouse_button_input.pressed(camera.pan_button) {
+                let delta = delta * camera.pan_sensitivity;
+                camera.center += Vec3::new(-delta.x, delta.y, 0.0);
+            }
+        }
+    }
+
+    fn zoom_system(
+        mut mouse_wheel_events: EventReader<MouseWheel>,
+        mut query: Query<&mut OrbitCamera, With<Camera>>,
+    ) {
+        let mut total = 0.0;
+        for event in mouse_wheel_events.iter() {
+            total -= event.y
+                * match event.unit {
+                    Line => 1.0,
+                    Pixel => LINE_TO_PIXEL_RATIO,
+                };
+        }
+        for mut camera in query.iter_mut() {
+            if camera.enabled {
+                camera.zoom *= camera.zoom_sensitivity.powf(total);
+            }
+        }
+    }
+}
+impl Plugin for OrbitCameraPlugin {
+    fn build(&self, app: &mut AppBuilder) {
+        app.add_system(Self::mouse_motion_system.system())
+            .add_system(Self::zoom_system.system())
+            .add_system(Self::update_transform_system.system());
+    }
+}

src_testbed/engine.rs

@@ -1,712 +0,0 @@
-#[cfg(feature = "dim3")]
-use kiss3d::camera::ArcBall as Camera;
-#[cfg(feature = "dim2")]
-use kiss3d::planar_camera::Sidescroll as Camera;
-use kiss3d::window::Window;
-
-use na::Point3;
-
-use crate::math::{Isometry, Point};
-use crate::objects::ball::Ball;
-use crate::objects::box_node::Box as BoxNode;
-use crate::objects::heightfield::HeightField;
-use crate::objects::node::{GraphicsNode, Node};
-use rapier::dynamics::{RigidBodyHandle, RigidBodySet};
-use rapier::geometry::{ColliderHandle, ColliderSet, Shape};
-//use crate::objects::capsule::Capsule;
-use crate::objects::convex::Convex;
-//#[cfg(feature = "dim3")]
-//use crate::objects::mesh::Mesh;
-//use crate::objects::plane::Plane;
-//#[cfg(feature = "dim2")]
-//use crate::objects::polyline::Polyline;
-use crate::objects::capsule::Capsule;
-#[cfg(feature = "dim3")]
-use crate::objects::cone::Cone;
-#[cfg(feature = "dim3")]
-use crate::objects::cylinder::Cylinder;
-use crate::objects::mesh::Mesh;
-use crate::objects::polyline::Polyline;
-use rand::{Rng, SeedableRng};
-use rand_pcg::Pcg32;
-use std::collections::HashMap;
-
-pub trait GraphicsWindow {
-    fn remove_graphics_node(&mut self, node: &mut GraphicsNode);
-    fn draw_graphics_line(&mut self, p1: &Point<f32>, p2: &Point<f32>, color: &Point3<f32>);
-}
-
-impl GraphicsWindow for Window {
-    fn remove_graphics_node(&mut self, node: &mut GraphicsNode) {
-        #[cfg(feature = "dim2")]
-        self.remove_planar_node(node);
-        #[cfg(feature = "dim3")]
-        self.remove_node(node);
-    }
-
-    fn draw_graphics_line(&mut self, p1: &Point<f32>, p2: &Point<f32>, color: &Point3<f32>) {
-        #[cfg(feature = "dim2")]
-        self.draw_planar_line(p1, p2, color);
-        #[cfg(feature = "dim3")]
-        self.draw_line(p1, p2, color);
-    }
-}
-
-pub struct GraphicsManager {
-    rand: Pcg32,
-    b2sn: HashMap<RigidBodyHandle, Vec<Node>>,
-    b2color: HashMap<RigidBodyHandle, Point3<f32>>,
-    c2color: HashMap<ColliderHandle, Point3<f32>>,
-    b2wireframe: HashMap<RigidBodyHandle, bool>,
-    ground_color: Point3<f32>,
-    camera: Camera,
-}
-
-impl GraphicsManager {
-    pub fn new() -> GraphicsManager {
-        let mut camera;
-
-        #[cfg(feature = "dim3")]
-        {
-            camera = Camera::new(Point3::new(10.0, 10.0, 10.0), Point3::new(0.0, 0.0, 0.0));
-            camera.set_rotate_modifiers(Some(kiss3d::event::Modifiers::Control));
-        }
-
-        #[cfg(feature = "dim2")]
-        {
-            camera = Camera::new();
-            camera.set_zoom(50.0);
-        }
-
-        GraphicsManager {
-            camera,
-            rand: Pcg32::seed_from_u64(0),
-            b2sn: HashMap::new(),
-            b2color: HashMap::new(),
-            c2color: HashMap::new(),
-            ground_color: Point3::new(0.5, 0.5, 0.5),
-            b2wireframe: HashMap::new(),
-        }
-    }
-
-    pub fn clear(&mut self, window: &mut Window) {
-        for sns in self.b2sn.values_mut() {
-            for sn in sns.iter_mut() {
-                if let Some(node) = sn.scene_node_mut() {
-                    window.remove_graphics_node(node);
-                }
-            }
-        }
-
-        self.b2sn.clear();
-        self.c2color.clear();
-        self.b2color.clear();
-        self.b2wireframe.clear();
-        self.rand = Pcg32::seed_from_u64(0);
-    }
-
-    pub fn remove_body_nodes(&mut self, window: &mut Window, body: RigidBodyHandle) {
-        if let Some(sns) = self.b2sn.get_mut(&body) {
-            for sn in sns.iter_mut() {
-                if let Some(node) = sn.scene_node_mut() {
-                    window.remove_graphics_node(node);
-                }
-            }
-        }
-
-        self.b2sn.remove(&body);
-    }
-
-    pub fn set_body_color(&mut self, b: RigidBodyHandle, color: Point3<f32>) {
-        self.b2color.insert(b, color);
-
-        if let Some(ns) = self.b2sn.get_mut(&b) {
-            for n in ns.iter_mut() {
-                n.set_color(color)
-            }
-        }
-    }
-
-    pub fn set_collider_initial_color(&mut self, c: ColliderHandle, color: Point3<f32>) {
-        self.c2color.insert(c, color);
-    }
-
-    pub fn set_body_wireframe(&mut self, b: RigidBodyHandle, enabled: bool) {
-        self.b2wireframe.insert(b, enabled);
-
-        if let Some(ns) = self.b2sn.get_mut(&b) {
-            for n in ns.iter_mut().filter_map(|n| n.scene_node_mut()) {
-                if enabled {
-                    n.set_surface_rendering_activation(true);
-                    n.set_lines_width(1.0);
-                } else {
-                    n.set_surface_rendering_activation(false);
-                    n.set_lines_width(1.0);
-                }
-            }
-        }
-    }
-
-    pub fn toggle_wireframe_mode(&mut self, colliders: &ColliderSet, enabled: bool) {
-        for n in self.b2sn.values_mut().flat_map(|val| val.iter_mut()) {
-            let force_wireframe = if let Some(collider) = colliders.get(n.collider()) {
-                collider.is_sensor()
-                    || self
-                        .b2wireframe
-                        .get(&collider.parent())
-                        .cloned()
-                        .unwrap_or(false)
-            } else {
-                false
-            };
-
-            if let Some(node) = n.scene_node_mut() {
-                if force_wireframe || enabled {
-                    node.set_lines_width(1.0);
-                    node.set_surface_rendering_activation(false);
-                } else {
-                    node.set_lines_width(0.0);
-                    node.set_surface_rendering_activation(true);
-                }
-            }
-        }
-    }
-
-    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;
-        color.x = color.x.min(1.0);
-        color.y = color.y.min(1.0);
-        color.z = color.z.min(1.0);
-        color
-    }
-
-    fn alloc_color(&mut self, handle: RigidBodyHandle, is_static: bool) -> Point3<f32> {
-        let mut color = self.ground_color;
-
-        if !is_static {
-            match self.b2color.get(&handle).cloned() {
-                Some(c) => color = c,
-                None => color = Self::gen_color(&mut self.rand),
-            }
-        }
-
-        self.set_body_color(handle, color);
-
-        color
-    }
-
-    pub fn add(
-        &mut self,
-        window: &mut Window,
-        handle: RigidBodyHandle,
-        bodies: &RigidBodySet,
-        colliders: &ColliderSet,
-    ) {
-        let body = bodies.get(handle).unwrap();
-
-        let color = self
-            .b2color
-            .get(&handle)
-            .cloned()
-            .unwrap_or_else(|| self.alloc_color(handle, !body.is_dynamic()));
-
-        self.add_with_color(window, handle, bodies, colliders, color)
-    }
-
-    pub fn add_with_color(
-        &mut self,
-        window: &mut Window,
-        handle: RigidBodyHandle,
-        bodies: &RigidBodySet,
-        colliders: &ColliderSet,
-        color: Point3<f32>,
-    ) {
-        //        let body = bodies.get(handle).unwrap();
-        let mut new_nodes = Vec::new();
-
-        for collider_handle in bodies[handle].colliders() {
-            let color = self.c2color.get(collider_handle).copied().unwrap_or(color);
-            let collider = &colliders[*collider_handle];
-            self.do_add_shape(
-                window,
-                *collider_handle,
-                collider.shape(),
-                &Isometry::identity(),
-                color,
-                &mut new_nodes,
-            );
-        }
-
-        new_nodes.iter_mut().for_each(|n| n.update(colliders));
-
-        for node in new_nodes.iter_mut().filter_map(|n| n.scene_node_mut()) {
-            if self.b2wireframe.get(&handle).cloned() == Some(true) {
-                node.set_lines_width(1.0);
-                node.set_surface_rendering_activation(false);
-            } else {
-                node.set_lines_width(0.0);
-                node.set_surface_rendering_activation(true);
-            }
-        }
-
-        let nodes = self.b2sn.entry(handle).or_insert_with(Vec::new);
-        nodes.append(&mut new_nodes);
-    }
-
-    pub fn add_collider(
-        &mut self,
-        window: &mut Window,
-        handle: ColliderHandle,
-        colliders: &ColliderSet,
-    ) {
-        let collider = &colliders[handle];
-        let color = *self.b2color.get(&collider.parent()).unwrap();
-        let color = self.c2color.get(&handle).copied().unwrap_or(color);
-        let mut nodes =
-            std::mem::replace(self.b2sn.get_mut(&collider.parent()).unwrap(), Vec::new());
-        self.do_add_shape(
-            window,
-            handle,
-            collider.shape(),
-            &Isometry::identity(),
-            color,
-            &mut nodes,
-        );
-        self.b2sn.insert(collider.parent(), nodes);
-    }
-
-    fn do_add_shape(
-        &mut self,
-        window: &mut Window,
-        handle: ColliderHandle,
-        shape: &dyn Shape,
-        delta: &Isometry<f32>,
-        color: Point3<f32>,
-        out: &mut Vec<Node>,
-    ) {
-        if let Some(compound) = shape.as_compound() {
-            for (shape_pos, shape) in compound.shapes() {
-                self.do_add_shape(window, handle, &**shape, shape_pos, color, out)
-            }
-        }
-
-        if let Some(ball) = shape.as_ball() {
-            out.push(Node::Ball(Ball::new(
-                handle,
-                *delta,
-                ball.radius,
-                color,
-                window,
-            )))
-        }
-
-        if let Some(cuboid) = shape
-            .as_cuboid()
-            .or(shape.as_round_cuboid().map(|r| &r.base_shape))
-        {
-            out.push(Node::Box(BoxNode::new(
-                handle,
-                *delta,
-                cuboid.half_extents,
-                color,
-                window,
-            )))
-        }
-
-        if let Some(capsule) = shape.as_capsule() {
-            out.push(Node::Capsule(Capsule::new(
-                handle, *delta, capsule, color, window,
-            )))
-        }
-
-        if let Some(triangle) = shape
-            .as_triangle()
-            .or(shape.as_round_triangle().map(|r| &r.base_shape))
-        {
-            out.push(Node::Mesh(Mesh::new(
-                handle,
-                vec![triangle.a, triangle.b, triangle.c],
-                vec![[0, 1, 2]],
-                color,
-                window,
-            )))
-        }
-
-        if let Some(trimesh) = shape.as_trimesh() {
-            out.push(Node::Mesh(Mesh::new(
-                handle,
-                trimesh.vertices().to_vec(),
-                trimesh.indices().to_vec(),
-                color,
-                window,
-            )))
-        }
-
-        if let Some(polyline) = shape.as_polyline() {
-            out.push(Node::Polyline(Polyline::new(
-                handle,
-                polyline.vertices().to_vec(),
-                polyline.indices().to_vec(),
-                color,
-            )))
-        }
-
-        if let Some(heightfield) = shape.as_heightfield() {
-            out.push(Node::HeightField(HeightField::new(
-                handle,
-                heightfield,
-                color,
-                window,
-            )))
-        }
-
-        #[cfg(feature = "dim2")]
-        if let Some(convex_polygon) = shape
-            .as_convex_polygon()
-            .or(shape.as_round_convex_polygon().map(|r| &r.base_shape))
-        {
-            let vertices = convex_polygon.points().to_vec();
-            out.push(Node::Convex(Convex::new(
-                handle, *delta, vertices, color, window,
-            )))
-        }
-
-        #[cfg(feature = "dim3")]
-        if let Some(convex_polyhedron) = shape
-            .as_convex_polyhedron()
-            .or(shape.as_round_convex_polyhedron().map(|r| &r.base_shape))
-        {
-            let (vertices, indices) = convex_polyhedron.to_trimesh();
-            out.push(Node::Convex(Convex::new(
-                handle, *delta, vertices, indices, color, window,
-            )))
-        }
-
-        #[cfg(feature = "dim3")]
-        if let Some(cylinder) = shape
-            .as_cylinder()
-            .or(shape.as_round_cylinder().map(|r| &r.base_shape))
-        {
-            out.push(Node::Cylinder(Cylinder::new(
-                handle,
-                *delta,
-                cylinder.half_height,
-                cylinder.radius,
-                color,
-                window,
-            )))
-        }
-
-        #[cfg(feature = "dim3")]
-        if let Some(cone) = shape
-            .as_cone()
-            .or(shape.as_round_cone().map(|r| &r.base_shape))
-        {
-            out.push(Node::Cone(Cone::new(
-                handle,
-                *delta,
-                cone.half_height,
-                cone.radius,
-                color,
-                window,
-            )))
-        }
-    }
-
-    /*
-    fn add_plane(
-        &mut self,
-        window: &mut Window,
-        object: DefaultColliderHandle,
-        colliders: &DefaultColliderSet<f32>,
-        shape: &shape::Plane<f32>,
-        color: Point3<f32>,
-        out: &mut Vec<Node>,
-    ) {
-        let pos = colliders.get(object).unwrap().position();
-        let position = Point::from(pos.translation.vector);
-        let normal = pos * shape.normal();
-
-        out.push(Node::Plane(Plane::new(
-            object, colliders, &position, &normal, color, window,
-        )))
-    }
-
-    #[cfg(feature = "dim2")]
-    fn add_polyline(
-        &mut self,
-        window: &mut Window,
-        object: DefaultColliderHandle,
-        colliders: &DefaultColliderSet<f32>,
-        delta: Isometry<f32>,
-        shape: &shape::Polyline<f32>,
-        color: Point3<f32>,
-        out: &mut Vec<Node>,
-    ) {
-        let vertices = shape.points().to_vec();
-        let indices = shape.edges().iter().map(|e| e.indices).collect();
-
-        out.push(Node::Polyline(Polyline::new(
-            object, colliders, delta, vertices, indices, color, window,
-        )))
-    }
-
-    #[cfg(feature = "dim3")]
-    fn add_mesh(
-        &mut self,
-        window: &mut Window,
-        object: DefaultColliderHandle,
-        colliders: &DefaultColliderSet<f32>,
-        delta: Isometry<f32>,
-        shape: &TriMesh<f32>,
-        color: Point3<f32>,
-        out: &mut Vec<Node>,
-    ) {
-        let points = shape.points();
-        let faces = shape.faces();
-
-        let is = faces
-            .iter()
-            .map(|f| Point3::new(f.indices.x as u32, f.indices.y as u32, f.indices.z as u32))
-            .collect();
-
-        out.push(Node::Mesh(Mesh::new(
-            object,
-            colliders,
-            delta,
-            points.to_vec(),
-            is,
-            color,
-            window,
-        )))
-    }
-
-    fn add_heightfield(
-        &mut self,
-        window: &mut Window,
-        object: DefaultColliderHandle,
-        colliders: &DefaultColliderSet<f32>,
-        delta: Isometry<f32>,
-        heightfield: &shape::HeightField<f32>,
-        color: Point3<f32>,
-        out: &mut Vec<Node>,
-    ) {
-        out.push(Node::HeightField(HeightField::new(
-            object,
-            colliders,
-            delta,
-            heightfield,
-            color,
-            window,
-        )))
-    }
-
-    fn add_capsule(
-        &mut self,
-        window: &mut Window,
-        object: DefaultColliderHandle,
-        colliders: &DefaultColliderSet<f32>,
-        delta: Isometry<f32>,
-        shape: &shape::Capsule<f32>,
-        color: Point3<f32>,
-        out: &mut Vec<Node>,
-    ) {
-        let margin = colliders.get(object).unwrap().margin();
-        out.push(Node::Capsule(Capsule::new(
-            object,
-            colliders,
-            delta,
-            shape.radius() + margin,
-            shape.height(),
-            color,
-            window,
-        )))
-    }
-
-    fn add_ball(
-        &mut self,
-        window: &mut Window,
-        object: DefaultColliderHandle,
-        colliders: &DefaultColliderSet<f32>,
-        delta: Isometry<f32>,
-        shape: &shape::Ball<f32>,
-        color: Point3<f32>,
-        out: &mut Vec<Node>,
-    ) {
-        let margin = colliders.get(object).unwrap().margin();
-        out.push(Node::Ball(Ball::new(
-            object,
-            colliders,
-            delta,
-            shape.radius() + margin,
-            color,
-            window,
-        )))
-    }
-
-    fn add_box(
-        &mut self,
-        window: &mut Window,
-        object: DefaultColliderHandle,
-        colliders: &DefaultColliderSet<f32>,
-        delta: Isometry<f32>,
-        shape: &Cuboid,
-        color: Point3<f32>,
-        out: &mut Vec<Node>,
-    ) {
-        let margin = colliders.get(object).unwrap().margin();
-
-        out.push(Node::Box(Box::new(
-            object,
-            colliders,
-            delta,
-            shape.half_extents() + Vector::repeat(margin),
-            color,
-            window,
-        )))
-    }
-
-    #[cfg(feature = "dim2")]
-    fn add_convex(
-        &mut self,
-        window: &mut Window,
-        object: DefaultColliderHandle,
-        colliders: &DefaultColliderSet<f32>,
-        delta: Isometry<f32>,
-        shape: &ConvexPolygon<f32>,
-        color: Point3<f32>,
-        out: &mut Vec<Node>,
-    ) {
-        let points = shape.points();
-
-        out.push(Node::Convex(Convex::new(
-            object,
-            colliders,
-            delta,
-            points.to_vec(),
-            color,
-            window,
-        )))
-    }
-
-    #[cfg(feature = "dim3")]
-    fn add_convex(
-        &mut self,
-        window: &mut Window,
-        object: DefaultColliderHandle,
-        colliders: &DefaultColliderSet<f32>,
-        delta: Isometry<f32>,
-        shape: &ConvexHull<f32>,
-        color: Point3<f32>,
-        out: &mut Vec<Node>,
-    ) {
-        let mut chull = transformation::convex_hull(shape.points());
-        chull.replicate_vertices();
-        chull.recompute_normals();
-
-        out.push(Node::Convex(Convex::new(
-            object, colliders, delta, &chull, color, window,
-        )))
-    }
-    */
-
-    pub fn draw(&mut self, _bodies: &RigidBodySet, colliders: &ColliderSet, window: &mut Window) {
-        // use kiss3d::camera::Camera;
-        // println!(
-        //     "camera eye {:?}, at: {:?}",
-        //     self.camera.eye(),
-        //     self.camera.at()
-        // );
-        for (_, ns) in self.b2sn.iter_mut() {
-            for n in ns.iter_mut() {
-                // if let Some(co) = colliders.get(n.collider()) {
-                //     let bo = &_bodies[co.parent()];
-                //
-                //     if bo.is_dynamic() {
-                //         if bo.is_ccd_active() {
-                //             n.set_color(Point3::new(1.0, 0.0, 0.0));
-                //         } else {
-                //             n.set_color(Point3::new(0.0, 1.0, 0.0));
-                //         }
-                //     }
-                // }
-
-                n.update(colliders);
-                n.draw(window);
-            }
-        }
-    }
-
-    // pub fn draw_positions(&mut self, window: &mut Window, rbs: &RigidBodies<f32>) {
-    //     for (_, ns) in self.b2sn.iter_mut() {
-    //         for n in ns.iter_mut() {
-    //             let object = n.object();
-    //             let rb = rbs.get(object).expect("Rigid body not found.");
-
-    //             // if let WorldObjectBorrowed::RigidBody(rb) = object {
-    //                 let t      = rb.position();
-    //                 let center = rb.center_of_mass();
-
-    //                 let rotmat = t.rotation.to_rotation_matrix().unwrap();
-    //                 let x = rotmat.column(0) * 0.25f32;
-    //                 let y = rotmat.column(1) * 0.25f32;
-    //                 let z = rotmat.column(2) * 0.25f32;
-
-    //                 window.draw_line(center, &(*center + x), &Point3::new(1.0, 0.0, 0.0));
-    //                 window.draw_line(center, &(*center + y), &Point3::new(0.0, 1.0, 0.0));
-    //                 window.draw_line(center, &(*center + z), &Point3::new(0.0, 0.0, 1.0));
-    //             // }
-    //         }
-    //     }
-    // }
-
-    pub fn camera(&self) -> &Camera {
-        &self.camera
-    }
-
-    pub fn camera_mut(&mut self) -> &mut Camera {
-        &mut self.camera
-    }
-
-    #[cfg(feature = "dim3")]
-    pub fn look_at(&mut self, eye: Point<f32>, at: Point<f32>) {
-        self.camera.look_at(eye, at);
-    }
-
-    #[cfg(feature = "dim2")]
-    pub fn look_at(&mut self, at: Point<f32>, zoom: f32) {
-        self.camera.look_at(at, zoom);
-    }
-
-    pub fn body_nodes(&self, handle: RigidBodyHandle) -> Option<&Vec<Node>> {
-        self.b2sn.get(&handle)
-    }
-
-    pub fn body_nodes_mut(&mut self, handle: RigidBodyHandle) -> Option<&mut Vec<Node>> {
-        self.b2sn.get_mut(&handle)
-    }
-
-    pub fn nodes(&self) -> impl Iterator<Item = &Node> {
-        self.b2sn.values().flat_map(|val| val.iter())
-    }
-
-    pub fn nodes_mut(&mut self) -> impl Iterator<Item = &mut Node> {
-        self.b2sn.values_mut().flat_map(|val| val.iter_mut())
-    }
-
-    #[cfg(feature = "dim3")]
-    pub fn set_up_axis(&mut self, up_axis: na::Vector3<f32>) {
-        self.camera.set_up_axis(up_axis);
-    }
-}
-
-impl Default for GraphicsManager {
-    fn default() -> Self {
-        Self::new()
-    }
-}

src_testbed/graphics.rs

@@ -0,0 +1,400 @@
+use bevy::prelude::*;
+
+use na::Point3;
+
+use crate::math::Isometry;
+use crate::objects::node::EntityWithGraphics;
+use rapier::dynamics::{RigidBodyHandle, RigidBodySet};
+use rapier::geometry::{ColliderHandle, ColliderSet, Shape, ShapeType};
+//use crate::objects::capsule::Capsule;
+//#[cfg(feature = "dim3")]
+//use crate::objects::mesh::Mesh;
+//use crate::objects::plane::Plane;
+//#[cfg(feature = "dim2")]
+//use crate::objects::polyline::Polyline;
+// use crate::objects::mesh::Mesh;
+use rand::{Rng, SeedableRng};
+use rand_pcg::Pcg32;
+use std::collections::HashMap;
+
+pub struct GraphicsManager {
+    rand: Pcg32,
+    b2sn: HashMap<RigidBodyHandle, Vec<EntityWithGraphics>>,
+    b2color: HashMap<RigidBodyHandle, Point3<f32>>,
+    c2color: HashMap<ColliderHandle, Point3<f32>>,
+    b2wireframe: HashMap<RigidBodyHandle, bool>,
+    ground_color: Point3<f32>,
+    prefab_meshes: HashMap<ShapeType, Handle<Mesh>>,
+}
+
+impl GraphicsManager {
+    pub fn new() -> GraphicsManager {
+        GraphicsManager {
+            rand: Pcg32::seed_from_u64(0),
+            b2sn: HashMap::new(),
+            b2color: HashMap::new(),
+            c2color: HashMap::new(),
+            ground_color: Point3::new(0.5, 0.5, 0.5),
+            b2wireframe: HashMap::new(),
+            prefab_meshes: HashMap::new(),
+        }
+    }
+
+    pub fn clear(&mut self, commands: &mut Commands) {
+        for sns in self.b2sn.values_mut() {
+            for sn in sns.iter_mut() {
+                commands.entity(sn.entity).despawn()
+            }
+        }
+
+        self.b2sn.clear();
+        self.c2color.clear();
+        self.b2color.clear();
+        self.b2wireframe.clear();
+        self.rand = Pcg32::seed_from_u64(0);
+    }
+
+    pub fn remove_collider_nodes(
+        &mut self,
+        commands: &mut Commands,
+        body: RigidBodyHandle,
+        collider: ColliderHandle,
+    ) {
+        if let Some(sns) = self.b2sn.get_mut(&body) {
+            for sn in sns.iter_mut() {
+                if sn.collider == collider {
+                    commands.entity(sn.entity).despawn();
+                }
+            }
+        }
+    }
+
+    pub fn remove_body_nodes(&mut self, commands: &mut Commands, body: RigidBodyHandle) {
+        if let Some(sns) = self.b2sn.get_mut(&body) {
+            for sn in sns.iter_mut() {
+                commands.entity(sn.entity).despawn();
+            }
+        }
+
+        self.b2sn.remove(&body);
+    }
+
+    pub fn set_body_color(
+        &mut self,
+        materials: &mut Assets<StandardMaterial>,
+        b: RigidBodyHandle,
+        color: Point3<f32>,
+    ) {
+        self.b2color.insert(b, color);
+
+        if let Some(ns) = self.b2sn.get_mut(&b) {
+            for n in ns.iter_mut() {
+                n.set_color(materials, color)
+            }
+        }
+    }
+
+    pub fn set_initial_body_color(&mut self, b: RigidBodyHandle, color: Point3<f32>) {
+        self.b2color.insert(b, color);
+    }
+
+    pub fn set_initial_collider_color(&mut self, c: ColliderHandle, color: Point3<f32>) {
+        self.c2color.insert(c, color);
+    }
+
+    pub fn set_body_wireframe(&mut self, b: RigidBodyHandle, enabled: bool) {
+        self.b2wireframe.insert(b, enabled);
+
+        if let Some(_ns) = self.b2sn.get_mut(&b) {
+            // for n in ns.iter_mut().filter_map(|n| n.scene_node_mut()) {
+            //     if enabled {
+            //         n.set_surface_rendering_activation(true);
+            //         n.set_lines_width(1.0);
+            //     } else {
+            //         n.set_surface_rendering_activation(false);
+            //         n.set_lines_width(1.0);
+            //     }
+            // }
+        }
+    }
+
+    pub fn toggle_wireframe_mode(&mut self, colliders: &ColliderSet, _enabled: bool) {
+        for n in self.b2sn.values_mut().flat_map(|val| val.iter_mut()) {
+            let _force_wireframe = if let Some(collider) = colliders.get(n.collider) {
+                collider.is_sensor()
+                    || self
+                        .b2wireframe
+                        .get(&collider.parent())
+                        .cloned()
+                        .unwrap_or(false)
+            } else {
+                false
+            };
+
+            // if let Some(node) = n.scene_node_mut() {
+            //     if force_wireframe || enabled {
+            //         node.set_lines_width(1.0);
+            //         node.set_surface_rendering_activation(false);
+            //     } else {
+            //         node.set_lines_width(0.0);
+            //         node.set_surface_rendering_activation(true);
+            //     }
+            // }
+        }
+    }
+
+    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;
+        color.x = color.x.min(1.0);
+        color.y = color.y.min(1.0);
+        color.z = color.z.min(1.0);
+        color
+    }
+
+    fn alloc_color(
+        &mut self,
+        materials: &mut Assets<StandardMaterial>,
+        handle: RigidBodyHandle,
+        is_static: bool,
+    ) -> Point3<f32> {
+        let mut color = self.ground_color;
+
+        if !is_static {
+            match self.b2color.get(&handle).cloned() {
+                Some(c) => color = c,
+                None => color = Self::gen_color(&mut self.rand),
+            }
+        }
+
+        self.set_body_color(materials, handle, color);
+
+        color
+    }
+
+    pub fn add(
+        &mut self,
+        commands: &mut Commands,
+        meshes: &mut Assets<Mesh>,
+        materials: &mut Assets<StandardMaterial>,
+        components: &mut Query<(&mut Transform,)>,
+        handle: RigidBodyHandle,
+        bodies: &RigidBodySet,
+        colliders: &ColliderSet,
+    ) {
+        let body = bodies.get(handle).unwrap();
+
+        let color = self
+            .b2color
+            .get(&handle)
+            .cloned()
+            .unwrap_or_else(|| self.alloc_color(materials, handle, !body.is_dynamic()));
+
+        self.add_with_color(
+            commands, meshes, materials, components, handle, bodies, colliders, color,
+        )
+    }
+
+    pub fn add_with_color(
+        &mut self,
+        commands: &mut Commands,
+        meshes: &mut Assets<Mesh>,
+        materials: &mut Assets<StandardMaterial>,
+        components: &mut Query<(&mut Transform,)>,
+        handle: RigidBodyHandle,
+        bodies: &RigidBodySet,
+        colliders: &ColliderSet,
+        color: Point3<f32>,
+    ) {
+        //        let body = bodies.get(handle).unwrap();
+        let mut new_nodes = Vec::new();
+
+        for collider_handle in bodies[handle].colliders() {
+            let color = self.c2color.get(collider_handle).copied().unwrap_or(color);
+            let collider = &colliders[*collider_handle];
+            self.do_add_shape(
+                commands,
+                meshes,
+                materials,
+                *collider_handle,
+                collider.shape(),
+                collider.is_sensor(),
+                collider.position(),
+                &Isometry::identity(),
+                color,
+                &mut new_nodes,
+            );
+        }
+
+        new_nodes
+            .iter_mut()
+            .for_each(|n| n.update(colliders, components));
+
+        // for node in new_nodes.iter_mut().filter_map(|n| n.scene_node_mut()) {
+        //     if self.b2wireframe.get(&handle).cloned() == Some(true) {
+        //         node.set_lines_width(1.0);
+        //         node.set_surface_rendering_activation(false);
+        //     } else {
+        //         node.set_lines_width(0.0);
+        //         node.set_surface_rendering_activation(true);
+        //     }
+        // }
+
+        let nodes = self.b2sn.entry(handle).or_insert_with(Vec::new);
+        nodes.append(&mut new_nodes);
+    }
+
+    pub fn add_collider(
+        &mut self,
+        commands: &mut Commands,
+        meshes: &mut Assets<Mesh>,
+        materials: &mut Assets<StandardMaterial>,
+        handle: ColliderHandle,
+        colliders: &ColliderSet,
+    ) {
+        let collider = &colliders[handle];
+        let color = *self.b2color.get(&collider.parent()).unwrap();
+        let color = self.c2color.get(&handle).copied().unwrap_or(color);
+        let mut nodes =
+            std::mem::replace(self.b2sn.get_mut(&collider.parent()).unwrap(), Vec::new());
+        self.do_add_shape(
+            commands,
+            meshes,
+            materials,
+            handle,
+            collider.shape(),
+            collider.is_sensor(),
+            collider.position(),
+            &Isometry::identity(),
+            color,
+            &mut nodes,
+        );
+        self.b2sn.insert(collider.parent(), nodes);
+    }
+
+    fn do_add_shape(
+        &mut self,
+        commands: &mut Commands,
+        meshes: &mut Assets<Mesh>,
+        materials: &mut Assets<StandardMaterial>,
+        handle: ColliderHandle,
+        shape: &dyn Shape,
+        sensor: bool,
+        pos: &Isometry<f32>,
+        delta: &Isometry<f32>,
+        color: Point3<f32>,
+        out: &mut Vec<EntityWithGraphics>,
+    ) {
+        if let Some(compound) = shape.as_compound() {
+            for (shape_pos, shape) in compound.shapes() {
+                self.do_add_shape(
+                    commands,
+                    meshes,
+                    materials,
+                    handle,
+                    &**shape,
+                    sensor,
+                    pos,
+                    &(shape_pos * delta),
+                    color,
+                    out,
+                )
+            }
+        } else {
+            if self.prefab_meshes.is_empty() {
+                EntityWithGraphics::gen_prefab_meshes(&mut self.prefab_meshes, meshes);
+            }
+
+            let node = EntityWithGraphics::spawn(
+                commands,
+                meshes,
+                materials,
+                &self.prefab_meshes,
+                shape,
+                handle,
+                *pos,
+                *delta,
+                color,
+                sensor,
+            );
+            out.push(node);
+        }
+    }
+
+    pub fn draw(
+        &mut self,
+        _bodies: &RigidBodySet,
+        colliders: &ColliderSet,
+        components: &mut Query<(&mut Transform,)>,
+    ) {
+        for (_, ns) in self.b2sn.iter_mut() {
+            for n in ns.iter_mut() {
+                // if let Some(co) = colliders.get(n.collider()) {
+                //     let bo = &_bodies[co.parent()];
+                //
+                //     if bo.is_dynamic() {
+                //         if bo.is_ccd_active() {
+                //             n.set_color(Point3::new(1.0, 0.0, 0.0));
+                //         } else {
+                //             n.set_color(Point3::new(0.0, 1.0, 0.0));
+                //         }
+                //     }
+                // }
+
+                n.update(colliders, components);
+            }
+        }
+    }
+
+    // pub fn draw_positions(&mut self, window: &mut Window, rbs: &RigidBodies<f32>) {
+    //     for (_, ns) in self.b2sn.iter_mut() {
+    //         for n in ns.iter_mut() {
+    //             let object = n.object();
+    //             let rb = rbs.get(object).expect("Rigid body not found.");
+
+    //             // if let WorldObjectBorrowed::RigidBody(rb) = object {
+    //                 let t      = rb.position();
+    //                 let center = rb.center_of_mass();
+
+    //                 let rotmat = t.rotation.to_rotation_matrix().unwrap();
+    //                 let x = rotmat.column(0) * 0.25f32;
+    //                 let y = rotmat.column(1) * 0.25f32;
+    //                 let z = rotmat.column(2) * 0.25f32;
+
+    //                 window.draw_line(center, &(*center + x), &Point3::new(1.0, 0.0, 0.0));
+    //                 window.draw_line(center, &(*center + y), &Point3::new(0.0, 1.0, 0.0));
+    //                 window.draw_line(center, &(*center + z), &Point3::new(0.0, 0.0, 1.0));
+    //             // }
+    //         }
+    //     }
+    // }
+
+    pub fn body_nodes(&self, handle: RigidBodyHandle) -> Option<&Vec<EntityWithGraphics>> {
+        self.b2sn.get(&handle)
+    }
+
+    pub fn body_nodes_mut(
+        &mut self,
+        handle: RigidBodyHandle,
+    ) -> Option<&mut Vec<EntityWithGraphics>> {
+        self.b2sn.get_mut(&handle)
+    }
+
+    pub fn nodes(&self) -> impl Iterator<Item = &EntityWithGraphics> {
+        self.b2sn.values().flat_map(|val| val.iter())
+    }
+
+    pub fn nodes_mut(&mut self) -> impl Iterator<Item = &mut EntityWithGraphics> {
+        self.b2sn.values_mut().flat_map(|val| val.iter_mut())
+    }
+}
+
+impl Default for GraphicsManager {
+    fn default() -> Self {
+        Self::new()
+    }
+}

src_testbed/harness/mod.rs

@@ -1,8 +1,7 @@
 use crate::{
     physics::{PhysicsEvents, PhysicsState},
-    GraphicsManager,
+    TestbedGraphics,
 };
-use kiss3d::window::Window;
 use plugin::HarnessPlugin;
 use rapier::dynamics::{CCDSolver, IntegrationParameters, IslandManager, JointSet, RigidBodySet};
 use rapier::geometry::{BroadPhase, ColliderSet, NarrowPhase};
@@ -52,17 +51,8 @@ pub struct Harness {
     pub state: RunState,
 }
 
-type Callbacks = Vec<
+type Callbacks =
-    Box<
+    Vec<Box<dyn FnMut(Option<&mut TestbedGraphics>, &mut PhysicsState, &PhysicsEvents, &RunState)>>;
-        dyn FnMut(
-            Option<&mut Window>,
-            Option<&mut GraphicsManager>,
-            &mut PhysicsState,
-            &PhysicsEvents,
-            &RunState,
-        ),
-    >,
->;
 
 #[allow(dead_code)]
 impl Harness {
@@ -145,13 +135,7 @@ impl Harness {
     }
 
     pub fn add_callback<
-        F: FnMut(
+        F: FnMut(Option<&mut TestbedGraphics>, &mut PhysicsState, &PhysicsEvents, &RunState) + 'static,
-                Option<&mut Window>,
-                Option<&mut GraphicsManager>,
-                &mut PhysicsState,
-                &PhysicsEvents,
-                &RunState,
-            ) + 'static,
     >(
         &mut self,
         callback: F,
@@ -160,14 +144,10 @@ impl Harness {
     }
 
     pub fn step(&mut self) {
-        self.step_with_graphics(None, None);
+        self.step_with_graphics(None);
     }
 
-    pub fn step_with_graphics(
+    pub fn step_with_graphics(&mut self, mut graphics: Option<&mut TestbedGraphics>) {
-        &mut self,
-        window: Option<&mut Window>,
-        graphics: Option<&mut GraphicsManager>,
-    ) {
         #[cfg(feature = "parallel")]
         {
             let physics = &mut self.physics;
@@ -214,27 +194,14 @@ impl Harness {
             plugin.step(&mut self.physics, &self.state)
         }
 
-        // FIXME: This assumes either window & graphics are Some, or they are all None
-        // this is required as we cannot pass Option<&mut Window> & Option<&mut GraphicsManager directly in a loop
-        // there must be a better way of doing this?
-        match (window, graphics) {
-            (Some(window), Some(graphics)) => {
         for f in &mut self.callbacks {
             f(
-                        Some(window),
+                graphics.as_deref_mut(),
-                        Some(graphics),
                 &mut self.physics,
                 &self.events,
                 &self.state,
             );
         }
-            }
-            _ => {
-                for f in &mut self.callbacks {
-                    f(None, None, &mut self.physics, &self.events, &self.state);
-                }
-            }
-        }
 
         for plugin in &mut self.plugins {
             plugin.run_callbacks(&mut self.physics, &self.events, &self.state)

src_testbed/lib.rs

@@ -1,5 +1,3 @@
-#[macro_use]
-extern crate kiss3d;
 extern crate nalgebra as na;
 #[cfg(feature = "dim2")]
 extern crate ncollide2d as ncollide;
@@ -25,15 +23,16 @@ extern crate bitflags;
 #[macro_use]
 extern crate log;
 
-pub use crate::engine::GraphicsManager;
+pub use crate::graphics::GraphicsManager;
 pub use crate::harness::plugin::HarnessPlugin;
 pub use crate::physics::PhysicsState;
 pub use crate::plugin::TestbedPlugin;
-pub use crate::testbed::Testbed;
+pub use crate::testbed::{Testbed, TestbedApp, TestbedGraphics};
 
 #[cfg(all(feature = "dim2", feature = "other-backends"))]
 mod box2d_backend;
-mod engine;
+mod camera;
+mod graphics;
 pub mod harness;
 #[cfg(feature = "other-backends")]
 mod nphysics_backend;

src_testbed/objects/ball.rs

@@ -1,76 +0,0 @@
-use crate::objects::node::{self, GraphicsNode};
-use kiss3d::window::Window;
-use na::Point3;
-use rapier::geometry::{ColliderHandle, ColliderSet};
-use rapier::math::Isometry;
-
-pub struct Ball {
-    color: Point3<f32>,
-    base_color: Point3<f32>,
-    gfx: GraphicsNode,
-    collider: ColliderHandle,
-    delta: Isometry<f32>,
-}
-
-impl Ball {
-    pub fn new(
-        collider: ColliderHandle,
-        delta: Isometry<f32>,
-        radius: f32,
-        color: Point3<f32>,
-        window: &mut Window,
-    ) -> Ball {
-        #[cfg(feature = "dim2")]
-        let node = window.add_circle(radius);
-        #[cfg(feature = "dim3")]
-        let node = window.add_sphere(radius);
-
-        let mut res = Ball {
-            color,
-            base_color: color,
-            gfx: node,
-            collider,
-            delta,
-        };
-
-        // res.gfx.set_texture_from_file(&Path::new("media/kitten.png"), "kitten");
-        res.gfx.set_color(color.x, color.y, color.z);
-        res
-    }
-
-    pub fn select(&mut self) {
-        self.color = Point3::new(1.0, 0.0, 0.0);
-    }
-
-    pub fn unselect(&mut self) {
-        self.color = self.base_color;
-    }
-
-    pub fn set_color(&mut self, color: Point3<f32>) {
-        self.gfx.set_color(color.x, color.y, color.z);
-        self.color = color;
-        self.base_color = color;
-    }
-
-    pub fn update(&mut self, colliders: &ColliderSet) {
-        node::update_scene_node(
-            &mut self.gfx,
-            colliders,
-            self.collider,
-            &self.color,
-            &self.delta,
-        );
-    }
-
-    pub fn scene_node(&self) -> &GraphicsNode {
-        &self.gfx
-    }
-
-    pub fn scene_node_mut(&mut self) -> &mut GraphicsNode {
-        &mut self.gfx
-    }
-
-    pub fn object(&self) -> ColliderHandle {
-        self.collider
-    }
-}

src_testbed/objects/box_node.rs

@@ -1,76 +0,0 @@
-use crate::objects::node::{self, GraphicsNode};
-use kiss3d::window;
-use na::Point3;
-use rapier::geometry::{ColliderHandle, ColliderSet};
-use rapier::math::{Isometry, Vector};
-
-pub struct Box {
-    color: Point3<f32>,
-    base_color: Point3<f32>,
-    gfx: GraphicsNode,
-    collider: ColliderHandle,
-    delta: Isometry<f32>,
-}
-
-impl Box {
-    pub fn new(
-        collider: ColliderHandle,
-        delta: Isometry<f32>,
-        half_extents: Vector<f32>,
-        color: Point3<f32>,
-        window: &mut window::Window,
-    ) -> Box {
-        let extents = half_extents * 2.0;
-        #[cfg(feature = "dim2")]
-        let node = window.add_rectangle(extents.x, extents.y);
-        #[cfg(feature = "dim3")]
-        let node = window.add_cube(extents.x, extents.y, extents.z);
-
-        let mut res = Box {
-            color,
-            base_color: color,
-            gfx: node,
-            collider,
-            delta,
-        };
-
-        res.gfx.set_color(color.x, color.y, color.z);
-        res
-    }
-
-    pub fn select(&mut self) {
-        self.color = Point3::new(1.0, 0.0, 0.0);
-    }
-
-    pub fn unselect(&mut self) {
-        self.color = self.base_color;
-    }
-
-    pub fn set_color(&mut self, color: Point3<f32>) {
-        self.gfx.set_color(color.x, color.y, color.z);
-        self.color = color;
-        self.base_color = color;
-    }
-
-    pub fn update(&mut self, colliders: &ColliderSet) {
-        node::update_scene_node(
-            &mut self.gfx,
-            colliders,
-            self.collider,
-            &self.color,
-            &self.delta,
-        );
-    }
-
-    pub fn scene_node(&self) -> &GraphicsNode {
-        &self.gfx
-    }
-
-    pub fn scene_node_mut(&mut self) -> &mut GraphicsNode {
-        &mut self.gfx
-    }
-
-    pub fn object(&self) -> ColliderHandle {
-        self.collider
-    }
-}

src_testbed/objects/capsule.rs

@@ -1,77 +0,0 @@
-use crate::objects::node::{self, GraphicsNode};
-use kiss3d::window;
-use na::Point3;
-use rapier::geometry::{self, ColliderHandle, ColliderSet};
-use rapier::math::Isometry;
-
-pub struct Capsule {
-    color: Point3<f32>,
-    base_color: Point3<f32>,
-    gfx: GraphicsNode,
-    collider: ColliderHandle,
-    delta: Isometry<f32>,
-}
-
-impl Capsule {
-    pub fn new(
-        collider: ColliderHandle,
-        delta: Isometry<f32>,
-        capsule: &geometry::Capsule,
-        color: Point3<f32>,
-        window: &mut window::Window,
-    ) -> Capsule {
-        let r = capsule.radius;
-        let h = capsule.half_height() * 2.0;
-        #[cfg(feature = "dim2")]
-        let node = window.add_planar_capsule(r, h);
-        #[cfg(feature = "dim3")]
-        let node = window.add_capsule(r, h);
-
-        let mut res = Capsule {
-            color,
-            base_color: color,
-            gfx: node,
-            collider,
-            delta: delta * capsule.transform_wrt_y(),
-        };
-
-        res.gfx.set_color(color.x, color.y, color.z);
-        res
-    }
-
-    pub fn select(&mut self) {
-        self.color = Point3::new(1.0, 0.0, 0.0);
-    }
-
-    pub fn unselect(&mut self) {
-        self.color = self.base_color;
-    }
-
-    pub fn update(&mut self, colliders: &ColliderSet) {
-        node::update_scene_node(
-            &mut self.gfx,
-            colliders,
-            self.collider,
-            &self.color,
-            &self.delta,
-        );
-    }
-
-    pub fn set_color(&mut self, color: Point3<f32>) {
-        self.gfx.set_color(color.x, color.y, color.z);
-        self.color = color;
-        self.base_color = color;
-    }
-
-    pub fn scene_node(&self) -> &GraphicsNode {
-        &self.gfx
-    }
-
-    pub fn scene_node_mut(&mut self) -> &mut GraphicsNode {
-        &mut self.gfx
-    }
-
-    pub fn object(&self) -> ColliderHandle {
-        self.collider
-    }
-}

src_testbed/objects/cone.rs

@@ -1,77 +0,0 @@
-use crate::objects::node::{self, GraphicsNode};
-use kiss3d::window::Window;
-use na::Point3;
-use rapier::geometry::{ColliderHandle, ColliderSet};
-use rapier::math::Isometry;
-
-pub struct Cone {
-    color: Point3<f32>,
-    base_color: Point3<f32>,
-    gfx: GraphicsNode,
-    collider: ColliderHandle,
-    delta: Isometry<f32>,
-}
-
-impl Cone {
-    pub fn new(
-        collider: ColliderHandle,
-        delta: Isometry<f32>,
-        half_height: f32,
-        radius: f32,
-        color: Point3<f32>,
-        window: &mut Window,
-    ) -> Cone {
-        #[cfg(feature = "dim2")]
-        let node = window.add_rectangle(radius, half_height);
-        #[cfg(feature = "dim3")]
-        let node = window.add_cone(radius, half_height * 2.0);
-
-        let mut res = Cone {
-            color,
-            base_color: color,
-            gfx: node,
-            collider,
-            delta,
-        };
-
-        // res.gfx.set_texture_from_file(&Path::new("media/kitten.png"), "kitten");
-        res.gfx.set_color(color.x, color.y, color.z);
-        res
-    }
-
-    pub fn select(&mut self) {
-        self.color = Point3::new(1.0, 0.0, 0.0);
-    }
-
-    pub fn unselect(&mut self) {
-        self.color = self.base_color;
-    }
-
-    pub fn set_color(&mut self, color: Point3<f32>) {
-        self.gfx.set_color(color.x, color.y, color.z);
-        self.color = color;
-        self.base_color = color;
-    }
-
-    pub fn update(&mut self, colliders: &ColliderSet) {
-        node::update_scene_node(
-            &mut self.gfx,
-            colliders,
-            self.collider,
-            &self.color,
-            &self.delta,
-        );
-    }
-
-    pub fn scene_node(&self) -> &GraphicsNode {
-        &self.gfx
-    }
-
-    pub fn scene_node_mut(&mut self) -> &mut GraphicsNode {
-        &mut self.gfx
-    }
-
-    pub fn object(&self) -> ColliderHandle {
-        self.collider
-    }
-}

src_testbed/objects/convex.rs

@@ -1,96 +0,0 @@
-#![allow(warnings)] // TODO: remove this.
-
-#[cfg(feature = "dim2")]
-use crate::math::Vector;
-use crate::math::{Isometry, Point};
-use crate::objects::node::{self, GraphicsNode};
-use kiss3d::window::Window;
-use na::Point3;
-use rapier::geometry::{ColliderHandle, ColliderSet};
-
-pub struct Convex {
-    color: Point3<f32>,
-    base_color: Point3<f32>,
-    gfx: GraphicsNode,
-    body: ColliderHandle,
-    delta: Isometry<f32>,
-}
-
-impl Convex {
-    pub fn new(
-        body: ColliderHandle,
-        delta: Isometry<f32>,
-        vertices: Vec<Point<f32>>,
-        #[cfg(feature = "dim3")] indices: Vec<[u32; 3]>,
-        color: Point3<f32>,
-        window: &mut Window,
-    ) -> Convex {
-        #[cfg(feature = "dim2")]
-        let node = window.add_convex_polygon(vertices, Vector::from_element(1.0));
-        #[cfg(feature = "dim3")]
-        let node = {
-            use std::cell::RefCell;
-            use std::rc::Rc;
-            let mut mesh_vertices = Vec::new();
-            let mut mesh_indices = Vec::new();
-            for idx in indices {
-                let i = mesh_vertices.len() as u16;
-                mesh_vertices.push(vertices[idx[0] as usize]);
-                mesh_vertices.push(vertices[idx[1] as usize]);
-                mesh_vertices.push(vertices[idx[2] as usize]);
-                mesh_indices.push(Point3::new(i, i + 1, i + 2));
-            }
-
-            let mesh = kiss3d::resource::Mesh::new(mesh_vertices, mesh_indices, None, None, false);
-            window.add_mesh(Rc::new(RefCell::new(mesh)), na::Vector3::from_element(1.0))
-        };
-
-        let mut res = Convex {
-            color,
-            base_color: color,
-            gfx: node,
-            body,
-            delta,
-        };
-
-        // res.gfx.set_texture_from_file(&Path::new("media/kitten.png"), "kitten");
-        res.gfx.set_color(color.x, color.y, color.z);
-        res
-    }
-
-    pub fn select(&mut self) {
-        self.color = Point3::new(1.0, 0.0, 0.0);
-    }
-
-    pub fn unselect(&mut self) {
-        self.color = self.base_color;
-    }
-
-    pub fn set_color(&mut self, color: Point3<f32>) {
-        self.gfx.set_color(color.x, color.y, color.z);
-        self.color = color;
-        self.base_color = color;
-    }
-
-    pub fn update(&mut self, colliders: &ColliderSet) {
-        node::update_scene_node(
-            &mut self.gfx,
-            colliders,
-            self.body,
-            &self.color,
-            &self.delta,
-        );
-    }
-
-    pub fn scene_node(&self) -> &GraphicsNode {
-        &self.gfx
-    }
-
-    pub fn scene_node_mut(&mut self) -> &mut GraphicsNode {
-        &mut self.gfx
-    }
-
-    pub fn object(&self) -> ColliderHandle {
-        self.body
-    }
-}

src_testbed/objects/cylinder.rs

@@ -1,77 +0,0 @@
-use crate::objects::node::{self, GraphicsNode};
-use kiss3d::window::Window;
-use na::Point3;
-use rapier::geometry::{ColliderHandle, ColliderSet};
-use rapier::math::Isometry;
-
-pub struct Cylinder {
-    color: Point3<f32>,
-    base_color: Point3<f32>,
-    gfx: GraphicsNode,
-    collider: ColliderHandle,
-    delta: Isometry<f32>,
-}
-
-impl Cylinder {
-    pub fn new(
-        collider: ColliderHandle,
-        delta: Isometry<f32>,
-        half_height: f32,
-        radius: f32,
-        color: Point3<f32>,
-        window: &mut Window,
-    ) -> Cylinder {
-        #[cfg(feature = "dim2")]
-        let node = window.add_rectangle(radius, half_height);
-        #[cfg(feature = "dim3")]
-        let node = window.add_cylinder(radius, half_height * 2.0);
-
-        let mut res = Cylinder {
-            color,
-            base_color: color,
-            gfx: node,
-            collider,
-            delta,
-        };
-
-        // res.gfx.set_texture_from_file(&Path::new("media/kitten.png"), "kitten");
-        res.gfx.set_color(color.x, color.y, color.z);
-        res
-    }
-
-    pub fn select(&mut self) {
-        self.color = Point3::new(1.0, 0.0, 0.0);
-    }
-
-    pub fn unselect(&mut self) {
-        self.color = self.base_color;
-    }
-
-    pub fn set_color(&mut self, color: Point3<f32>) {
-        self.gfx.set_color(color.x, color.y, color.z);
-        self.color = color;
-        self.base_color = color;
-    }
-
-    pub fn update(&mut self, colliders: &ColliderSet) {
-        node::update_scene_node(
-            &mut self.gfx,
-            colliders,
-            self.collider,
-            &self.color,
-            &self.delta,
-        );
-    }
-
-    pub fn scene_node(&self) -> &GraphicsNode {
-        &self.gfx
-    }
-
-    pub fn scene_node_mut(&mut self) -> &mut GraphicsNode {
-        &mut self.gfx
-    }
-
-    pub fn object(&self) -> ColliderHandle {
-        self.collider
-    }
-}

src_testbed/objects/heightfield.rs

@@ -1,128 +0,0 @@
-use kiss3d::window::Window;
-use na::{self, Point3};
-use parry::shape;
-use rapier::geometry::{ColliderHandle, ColliderSet};
-#[cfg(feature = "dim2")]
-use rapier::math::Point;
-#[cfg(feature = "dim3")]
-use {
-    crate::objects::node::{self, GraphicsNode},
-    kiss3d::resource::Mesh,
-    rapier::math::Vector,
-    std::cell::RefCell,
-};
-
-pub struct HeightField {
-    color: Point3<f32>,
-    base_color: Point3<f32>,
-    #[cfg(feature = "dim2")]
-    vertices: Vec<Point<f32>>,
-    #[cfg(feature = "dim3")]
-    gfx: GraphicsNode,
-    collider: ColliderHandle,
-}
-
-impl HeightField {
-    #[cfg(feature = "dim2")]
-    pub fn new(
-        collider: ColliderHandle,
-        heightfield: &shape::HeightField,
-        color: Point3<f32>,
-        _: &mut Window,
-    ) -> HeightField {
-        let mut vertices = Vec::new();
-
-        for seg in heightfield.segments() {
-            vertices.push(seg.a);
-            vertices.push(seg.b);
-        }
-
-        HeightField {
-            color,
-            base_color: color,
-            vertices,
-            collider,
-        }
-    }
-
-    #[cfg(feature = "dim3")]
-    pub fn new(
-        collider: ColliderHandle,
-        heightfield: &shape::HeightField,
-        color: Point3<f32>,
-        window: &mut Window,
-    ) -> HeightField {
-        use std::rc::Rc;
-
-        let (vertices, indices) = heightfield.to_trimesh();
-        let indices = indices
-            .into_iter()
-            .map(|idx| Point3::new(idx[0] as u16, idx[1] as u16, idx[2] as u16))
-            .collect();
-        let mesh = Mesh::new(vertices, indices, None, None, false);
-
-        let mut res = HeightField {
-            color,
-            base_color: color,
-            gfx: window.add_mesh(Rc::new(RefCell::new(mesh)), Vector::repeat(1.0)),
-            collider: collider,
-        };
-
-        res.gfx.enable_backface_culling(false);
-        res.gfx.set_color(color.x, color.y, color.z);
-
-        res
-    }
-
-    pub fn select(&mut self) {
-        self.color = Point3::new(1.0, 0.0, 0.0);
-    }
-
-    pub fn unselect(&mut self) {
-        self.color = self.base_color;
-    }
-
-    pub fn set_color(&mut self, color: Point3<f32>) {
-        #[cfg(feature = "dim3")]
-        {
-            self.gfx.set_color(color.x, color.y, color.z);
-        }
-        self.color = color;
-        self.base_color = color;
-    }
-
-    #[cfg(feature = "dim3")]
-    pub fn update(&mut self, colliders: &ColliderSet) {
-        node::update_scene_node(
-            &mut self.gfx,
-            colliders,
-            self.collider,
-            &self.color,
-            &na::Isometry::identity(),
-        );
-    }
-
-    #[cfg(feature = "dim2")]
-    pub fn update(&mut self, _colliders: &ColliderSet) {}
-
-    #[cfg(feature = "dim3")]
-    pub fn scene_node(&self) -> &GraphicsNode {
-        &self.gfx
-    }
-
-    #[cfg(feature = "dim3")]
-    pub fn scene_node_mut(&mut self) -> &mut GraphicsNode {
-        &mut self.gfx
-    }
-
-    pub fn object(&self) -> ColliderHandle {
-        self.collider
-    }
-
-    #[cfg(feature = "dim2")]
-    pub fn draw(&mut self, window: &mut Window) {
-        for vtx in self.vertices.chunks(2) {
-            window.draw_planar_line(&vtx[0], &vtx[1], &self.color)
-        }
-    }
-}

src_testbed/objects/mesh.rs

@@ -1,111 +0,0 @@
-use crate::objects::node::{self, GraphicsNode};
-use kiss3d::window;
-use na::Point3;
-use rapier::geometry::{ColliderHandle, ColliderSet};
-use rapier::math::{Isometry, Point};
-use std::cell::RefCell;
-use std::rc::Rc;
-
-pub struct Mesh {
-    color: Point3<f32>,
-    base_color: Point3<f32>,
-    gfx: GraphicsNode,
-    collider: ColliderHandle,
-}
-
-impl Mesh {
-    pub fn new(
-        collider: ColliderHandle,
-        vertices: Vec<Point<f32>>,
-        indices: Vec<[u32; 3]>,
-        color: Point3<f32>,
-        window: &mut window::Window,
-    ) -> Mesh {
-        let vs = vertices;
-        let is = indices
-            .into_iter()
-            .map(|idx| Point3::new(idx[0] as u16, idx[1] as u16, idx[2] as u16))
-            .collect();
-
-        let mesh;
-        let gfx;
-
-        #[cfg(feature = "dim2")]
-        {
-            mesh = kiss3d::resource::PlanarMesh::new(vs, is, None, false);
-            gfx = window.add_planar_mesh(
-                Rc::new(RefCell::new(mesh)),
-                crate::math::Vector::from_element(1.0),
-            );
-        }
-
-        #[cfg(feature = "dim3")]
-        {
-            mesh = kiss3d::resource::Mesh::new(vs, is, None, None, false);
-            gfx = window.add_mesh(Rc::new(RefCell::new(mesh)), na::Vector3::from_element(1.0));
-        }
-
-        let mut res = Mesh {
-            color,
-            base_color: color,
-            gfx,
-            collider,
-        };
-
-        res.gfx.enable_backface_culling(false);
-        res.gfx.set_color(color.x, color.y, color.z);
-        res
-    }
-
-    pub fn select(&mut self) {
-        self.color = Point3::new(1.0, 0.0, 0.0);
-    }
-
-    pub fn unselect(&mut self) {
-        self.color = self.base_color;
-    }
-
-    pub fn set_color(&mut self, color: Point3<f32>) {
-        self.gfx.set_color(color.x, color.y, color.z);
-        self.color = color;
-        self.base_color = color;
-    }
-
-    pub fn update(&mut self, colliders: &ColliderSet) {
-        node::update_scene_node(
-            &mut self.gfx,
-            colliders,
-            self.collider,
-            &self.color,
-            &Isometry::identity(),
-        );
-
-        // // Update if some deformation occurred.
-        // // FIXME: don't update if it did not move.
-        // if let Some(c) = colliders.get(self.collider) {
-        //     if let ColliderAnchor::OnDeformableBody { .. } = c.anchor() {
-        //         let shape = c.shape().as_shape::<TriMesh<f32>>().unwrap();
-        //         let vtx = shape.points();
-        //
-        //         self.gfx.modify_vertices(&mut |vertices| {
-        //             for (v, new_v) in vertices.iter_mut().zip(vtx.iter()) {
-        //                 *v = *new_v
-        //             }
-        //         });
-        //         self.gfx.recompute_normals();
-        //     }
-        // }
-    }
-
-    pub fn scene_node(&self) -> &GraphicsNode {
-        &self.gfx
-    }
-
-    pub fn scene_node_mut(&mut self) -> &mut GraphicsNode {
-        &mut self.gfx
-    }
-
-    pub fn object(&self) -> ColliderHandle {
-        self.collider
-    }
-}

src_testbed/objects/mod.rs

@@ -1,13 +1 @@
-pub mod ball;
-pub mod box_node;
-pub mod capsule;
-pub mod cone;
-pub mod convex;
-pub mod cylinder;
-pub mod heightfield;
-pub mod mesh;
 pub mod node;
-pub mod polyline;
-//pub mod plane;
-//#[cfg(feature = "dim2")]
-//pub mod polyline;

src_testbed/objects/node.rs

@@ -1,177 +1,432 @@
-use crate::objects::ball::Ball;
+use bevy::prelude::*;
-use crate::objects::box_node::Box;
+use bevy::render::mesh::{Indices, VertexAttributeValues};
-use crate::objects::capsule::Capsule;
+
-use crate::objects::convex::Convex;
-use crate::objects::heightfield::HeightField;
-use crate::objects::mesh::Mesh;
 //use crate::objects::plane::Plane;
-use crate::objects::polyline::Polyline;
+use na::{Point3, Vector3};
-use kiss3d::window::Window;
+use std::collections::HashMap;
-use na::Point3;
 
-use crate::objects::cone::Cone;
+use bevy::render::pipeline::PrimitiveTopology;
-use crate::objects::cylinder::Cylinder;
+use bevy::render::wireframe::Wireframe;
-use rapier::geometry::{ColliderHandle, ColliderSet};
+use rapier::geometry::{ColliderHandle, ColliderSet, Shape, ShapeType};
+#[cfg(feature = "dim3")]
+use rapier::geometry::{Cone, Cylinder};
 use rapier::math::Isometry;
-
 #[cfg(feature = "dim2")]
-pub type GraphicsNode = kiss3d::scene::PlanarSceneNode;
+use {
+    na::{Point2, Vector2},
+    rapier::geometry::{Ball, Cuboid},
+};
+
+pub struct EntityWithGraphics {
+    pub entity: Entity,
+    pub color: Point3<f32>,
+    pub base_color: Point3<f32>,
+    pub collider: ColliderHandle,
+    pub delta: Isometry<f32>,
+    material: Handle<StandardMaterial>,
+}
+
+impl EntityWithGraphics {
+    pub fn spawn(
+        commands: &mut Commands,
+        meshes: &mut Assets<Mesh>,
+        materials: &mut Assets<StandardMaterial>,
+        prefab_meshs: &HashMap<ShapeType, Handle<Mesh>>,
+        shape: &dyn Shape,
+        collider: ColliderHandle,
+        collider_pos: Isometry<f32>,
+        delta: Isometry<f32>,
+        color: Point3<f32>,
+        sensor: bool,
+    ) -> Self {
+        let entity = commands.spawn().id();
+
+        let scale = collider_mesh_scale(shape);
+        let mesh = prefab_meshs
+            .get(&shape.shape_type())
+            .cloned()
+            .or_else(|| generate_collider_mesh(shape).map(|m| meshes.add(m)))
+            .expect("Could not build the collider's render mesh");
+
+        let bevy_color = Color::rgb(color.x, color.y, color.z);
+        let shape_pos = collider_pos * delta;
+        let mut transform = Transform::from_scale(scale);
+        transform.translation.x = shape_pos.translation.vector.x;
+        transform.translation.y = shape_pos.translation.vector.y;
         #[cfg(feature = "dim3")]
-pub type GraphicsNode = kiss3d::scene::SceneNode;
+        {
-
+            transform.translation.z = shape_pos.translation.vector.z;
-pub enum Node {
+            transform.rotation = Quat::from_xyzw(
-    //    Plane(Plane),
+                shape_pos.rotation.i,
-    Ball(Ball),
+                shape_pos.rotation.j,
-    Box(Box),
+                shape_pos.rotation.k,
-    HeightField(HeightField),
+                shape_pos.rotation.w,
-    Capsule(Capsule),
+            );
-    Polyline(Polyline),
+        }
-    Mesh(Mesh),
+        #[cfg(feature = "dim2")]
-    Convex(Convex),
+        {
-    Cylinder(Cylinder),
+            if sensor {
-    Cone(Cone),
+                transform.translation.z = -10.0;
+            }
+            transform.rotation = Quat::from_rotation_z(shape_pos.rotation.angle());
         }
 
-impl Node {
+        let material = StandardMaterial {
-    pub fn select(&mut self) {
+            metallic: 0.5,
-        match *self {
+            roughness: 0.5,
-            //            Node::Plane(ref mut n) => n.select(),
+            double_sided: true, // TODO: this doesn't do anything?
-            Node::Ball(ref mut n) => n.select(),
+            ..StandardMaterial::from(bevy_color)
-            Node::Box(ref mut n) => n.select(),
+        };
-            Node::Capsule(ref mut n) => n.select(),
+        let material_handle = materials.add(material);
-            Node::HeightField(ref mut n) => n.select(),
+        let material_weak_handle = material_handle.clone_weak();
-            Node::Polyline(ref mut n) => n.select(),
+        let pbr = PbrBundle {
-            Node::Mesh(ref mut n) => n.select(),
+            mesh,
-            Node::Convex(ref mut n) => n.select(),
+            material: material_handle,
-            Node::Cylinder(ref mut n) => n.select(),
+            transform,
-            Node::Cone(ref mut n) => n.select(),
+            ..Default::default()
+        };
+
+        let mut entity_commands = commands.entity(entity);
+        entity_commands.insert_bundle(pbr);
+
+        if sensor {
+            entity_commands.insert(Wireframe);
+        }
+
+        EntityWithGraphics {
+            entity,
+            color,
+            base_color: color,
+            collider,
+            delta,
+            material: material_weak_handle,
         }
     }
 
-    pub fn unselect(&mut self) {
+    pub fn select(&mut self, materials: &mut Assets<StandardMaterial>) {
-        match *self {
+        // NOTE: we don't just call `self.set_color` because that would
-            //            Node::Plane(ref mut n) => n.unselect(),
+        //       overwrite self.base_color too.
-            Node::Ball(ref mut n) => n.unselect(),
+        self.color = Point3::new(1.0, 0.0, 0.0);
-            Node::Box(ref mut n) => n.unselect(),
+        if let Some(material) = materials.get_mut(&self.material) {
-            Node::Capsule(ref mut n) => n.unselect(),
+            material.base_color = Color::rgb(self.color.x, self.color.y, self.color.z);
-            Node::HeightField(ref mut n) => n.unselect(),
-            Node::Polyline(ref mut n) => n.unselect(),
-            Node::Mesh(ref mut n) => n.unselect(),
-            Node::Convex(ref mut n) => n.unselect(),
-            Node::Cylinder(ref mut n) => n.unselect(),
-            Node::Cone(ref mut n) => n.unselect(),
         }
     }
 
-    pub fn update(&mut self, colliders: &ColliderSet) {
+    pub fn unselect(&mut self, materials: &mut Assets<StandardMaterial>) {
-        match *self {
+        self.set_color(materials, self.base_color);
-            //            Node::Plane(ref mut n) => n.update(colliders),
-            Node::Ball(ref mut n) => n.update(colliders),
-            Node::Box(ref mut n) => n.update(colliders),
-            Node::Capsule(ref mut n) => n.update(colliders),
-            Node::HeightField(ref mut n) => n.update(colliders),
-            Node::Polyline(ref mut n) => n.update(colliders),
-            Node::Mesh(ref mut n) => n.update(colliders),
-            Node::Convex(ref mut n) => n.update(colliders),
-            Node::Cylinder(ref mut n) => n.update(colliders),
-            Node::Cone(ref mut n) => n.update(colliders),
     }
+
+    pub fn set_color(&mut self, materials: &mut Assets<StandardMaterial>, color: Point3<f32>) {
+        if let Some(material) = materials.get_mut(&self.material) {
+            material.base_color = Color::rgb(color.x, color.y, color.z);
+        }
+        self.color = color;
+        self.base_color = color;
+    }
+
+    pub fn update(&mut self, colliders: &ColliderSet, components: &mut Query<(&mut Transform,)>) {
+        if let Some(co) = colliders.get(self.collider) {
+            if let Ok(mut pos) = components.get_component_mut::<Transform>(self.entity) {
+                let co_pos = co.position() * self.delta;
+                pos.translation.x = co_pos.translation.vector.x;
+                pos.translation.y = co_pos.translation.vector.y;
+                #[cfg(feature = "dim3")]
+                {
+                    pos.translation.z = co_pos.translation.vector.z;
+                    pos.rotation = Quat::from_xyzw(
+                        co_pos.rotation.i,
+                        co_pos.rotation.j,
+                        co_pos.rotation.k,
+                        co_pos.rotation.w,
+                    );
+                }
+                #[cfg(feature = "dim2")]
+                {
+                    pos.rotation = Quat::from_rotation_z(co_pos.rotation.angle());
+                }
+            }
+        }
+    }
+
+    pub fn object(&self) -> ColliderHandle {
+        self.collider
     }
 
     #[cfg(feature = "dim2")]
-    pub fn draw(&mut self, window: &mut Window) {
+    pub fn gen_prefab_meshes(
-        match *self {
+        out: &mut HashMap<ShapeType, Handle<Mesh>>,
-            Node::Polyline(ref mut n) => n.draw(window),
+        meshes: &mut Assets<Mesh>,
-            Node::HeightField(ref mut n) => n.draw(window),
-            //            Node::Plane(ref mut n) => n.draw(_window),
-            _ => {}
-        }
-    }
-
-    #[cfg(feature = "dim3")]
-    pub fn draw(&mut self, _: &mut Window) {}
-
-    pub fn scene_node(&self) -> Option<&GraphicsNode> {
-        match *self {
-            //            #[cfg(feature = "dim3")]
-            //            Node::Plane(ref n) => Some(n.scene_node()),
-            Node::Ball(ref n) => Some(n.scene_node()),
-            Node::Box(ref n) => Some(n.scene_node()),
-            Node::Capsule(ref n) => Some(n.scene_node()),
-            #[cfg(feature = "dim3")]
-            Node::HeightField(ref n) => Some(n.scene_node()),
-            Node::Mesh(ref n) => Some(n.scene_node()),
-            Node::Convex(ref n) => Some(n.scene_node()),
-            Node::Cylinder(ref n) => Some(n.scene_node()),
-            Node::Cone(ref n) => Some(n.scene_node()),
-            Node::Polyline(_) => None,
-            #[cfg(feature = "dim2")]
-            Node::HeightField(_) => None,
-        }
-    }
-
-    pub fn scene_node_mut(&mut self) -> Option<&mut GraphicsNode> {
-        match *self {
-            //            #[cfg(feature = "dim3")]
-            //            Node::Plane(ref mut n) => Some(n.scene_node_mut()),
-            Node::Ball(ref mut n) => Some(n.scene_node_mut()),
-            Node::Box(ref mut n) => Some(n.scene_node_mut()),
-            Node::Capsule(ref mut n) => Some(n.scene_node_mut()),
-            #[cfg(feature = "dim3")]
-            Node::HeightField(ref mut n) => Some(n.scene_node_mut()),
-            Node::Mesh(ref mut n) => Some(n.scene_node_mut()),
-            Node::Convex(ref mut n) => Some(n.scene_node_mut()),
-            Node::Cylinder(ref mut n) => Some(n.scene_node_mut()),
-            Node::Cone(ref mut n) => Some(n.scene_node_mut()),
-            Node::Polyline(_) => None,
-            #[cfg(feature = "dim2")]
-            Node::HeightField(_) => None,
-        }
-    }
-
-    pub fn collider(&self) -> ColliderHandle {
-        match *self {
-            //            Node::Plane(ref n) => n.object(),
-            Node::Ball(ref n) => n.object(),
-            Node::Box(ref n) => n.object(),
-            Node::Capsule(ref n) => n.object(),
-            Node::HeightField(ref n) => n.object(),
-            Node::Polyline(ref n) => n.object(),
-            Node::Mesh(ref n) => n.object(),
-            Node::Convex(ref n) => n.object(),
-            Node::Cylinder(ref n) => n.object(),
-            Node::Cone(ref n) => n.object(),
-        }
-    }
-
-    pub fn set_color(&mut self, color: Point3<f32>) {
-        match *self {
-            //            Node::Plane(ref mut n) => n.set_color(color),
-            Node::Ball(ref mut n) => n.set_color(color),
-            Node::Box(ref mut n) => n.set_color(color),
-            Node::Capsule(ref mut n) => n.set_color(color),
-            Node::HeightField(ref mut n) => n.set_color(color),
-            Node::Polyline(ref mut n) => n.set_color(color),
-            Node::Mesh(ref mut n) => n.set_color(color),
-            Node::Convex(ref mut n) => n.set_color(color),
-            Node::Cylinder(ref mut n) => n.set_color(color),
-            Node::Cone(ref mut n) => n.set_color(color),
-        }
-    }
-}
-
-pub fn update_scene_node(
-    node: &mut GraphicsNode,
-    colliders: &ColliderSet,
-    handle: ColliderHandle,
-    color: &Point3<f32>,
-    delta: &Isometry<f32>,
     ) {
-    if let Some(co) = colliders.get(handle) {
+        //
-        node.set_local_transformation(co.position() * delta);
+        // Cuboid mesh
-        node.set_color(color.x, color.y, color.z);
+        //
+        let cuboid = bevy_mesh_from_polyline(Cuboid::new(Vector2::new(1.0, 1.0)).to_polyline());
+        out.insert(ShapeType::Cuboid, meshes.add(cuboid));
+
+        //
+        // Ball mesh
+        //
+        let ball = bevy_mesh_from_polyline(Ball::new(1.0).to_polyline(30));
+        out.insert(ShapeType::Ball, meshes.add(ball));
+    }
+
+    #[cfg(feature = "dim3")]
+    pub fn gen_prefab_meshes(
+        out: &mut HashMap<ShapeType, Handle<Mesh>>,
+        meshes: &mut Assets<Mesh>,
+    ) {
+        //
+        // Cuboid mesh
+        //
+        let cuboid = Mesh::from(shape::Cube { size: 2.0 });
+        out.insert(ShapeType::Cuboid, meshes.add(cuboid));
+
+        //
+        // Ball mesh
+        //
+        let ball = Mesh::from(shape::Icosphere {
+            subdivisions: 2,
+            radius: 1.0,
+        });
+        out.insert(ShapeType::Ball, meshes.add(ball));
+
+        //
+        // Cylinder mesh
+        //
+        let cylinder = Cylinder::new(1.0, 1.0);
+        let mesh = bevy_mesh(cylinder.to_trimesh(20));
+        out.insert(ShapeType::Cylinder, meshes.add(mesh.clone()));
+        out.insert(ShapeType::RoundCylinder, meshes.add(mesh));
+
+        //
+        // Cone mesh
+        //
+        let cone = Cone::new(1.0, 1.0);
+        let mesh = bevy_mesh(cone.to_trimesh(10));
+        out.insert(ShapeType::Cone, meshes.add(mesh.clone()));
+        out.insert(ShapeType::RoundCone, meshes.add(mesh));
+
+        //
+        // Halfspace
+        //
+        let vertices = vec![
+            Point3::new(-1000.0, 0.0, -1000.0),
+            Point3::new(1000.0, 0.0, -1000.0),
+            Point3::new(1000.0, 0.0, 1000.0),
+            Point3::new(-1000.0, 0.0, 1000.0),
+        ];
+        let indices = vec![[0, 1, 2], [0, 2, 3]];
+        let mesh = bevy_mesh((vertices, indices));
+        out.insert(ShapeType::HalfSpace, meshes.add(mesh));
+    }
+}
+
+#[cfg(feature = "dim2")]
+fn bevy_mesh_from_polyline(vertices: Vec<Point2<f32>>) -> Mesh {
+    let n = vertices.len();
+    let idx = (1..n as u32 - 1).map(|i| [0, i, i + 1]).collect();
+    let vtx = vertices
+        .into_iter()
+        .map(|v| Point3::new(v.x, v.y, 0.0))
+        .collect();
+    bevy_mesh((vtx, idx))
+}
+
+#[cfg(feature = "dim2")]
+fn bevy_polyline(buffers: (Vec<Point2<f32>>, Option<Vec<[u32; 2]>>)) -> Mesh {
+    let (vtx, idx) = buffers;
+    // let mut normals: Vec<[f32; 3]> = vec![];
+    let mut vertices: Vec<[f32; 3]> = vec![];
+
+    if let Some(idx) = idx {
+        for idx in idx {
+            let a = vtx[idx[0] as usize];
+            let b = vtx[idx[1] as usize];
+
+            vertices.push([a.x, a.y, 0.0]);
+            vertices.push([b.x, b.y, 0.0]);
+        }
     } else {
-        node.set_visible(false);
+        vertices = vtx.iter().map(|v| [v.x, v.y, 0.0]).collect();
-        node.unlink();
+    }
+
+    let indices: Vec<_> = (0..vertices.len() as u32).collect();
+    let uvs: Vec<_> = (0..vertices.len()).map(|_| [0.0, 0.0]).collect();
+    let normals: Vec<_> = (0..vertices.len()).map(|_| [0.0, 0.0, 1.0]).collect();
+
+    // Generate the mesh
+    let mut mesh = Mesh::new(PrimitiveTopology::LineStrip);
+    mesh.set_attribute(
+        Mesh::ATTRIBUTE_POSITION,
+        VertexAttributeValues::from(vertices),
+    );
+    mesh.set_attribute(Mesh::ATTRIBUTE_NORMAL, VertexAttributeValues::from(normals));
+    mesh.set_attribute(Mesh::ATTRIBUTE_UV_0, VertexAttributeValues::from(uvs));
+    mesh.set_indices(Some(Indices::U32(indices)));
+    mesh
+}
+
+fn bevy_mesh(buffers: (Vec<Point3<f32>>, Vec<[u32; 3]>)) -> Mesh {
+    let (vtx, idx) = buffers;
+    let mut normals: Vec<[f32; 3]> = vec![];
+    let mut vertices: Vec<[f32; 3]> = vec![];
+
+    for idx in idx {
+        let a = vtx[idx[0] as usize];
+        let b = vtx[idx[1] as usize];
+        let c = vtx[idx[2] as usize];
+
+        vertices.push(a.into());
+        vertices.push(b.into());
+        vertices.push(c.into());
+    }
+
+    for vtx in vertices.chunks(3) {
+        let a = Point3::from(vtx[0]);
+        let b = Point3::from(vtx[1]);
+        let c = Point3::from(vtx[2]);
+        let n = (b - a).cross(&(c - a)).normalize();
+        normals.push(n.into());
+        normals.push(n.into());
+        normals.push(n.into());
+    }
+
+    normals
+        .iter_mut()
+        .for_each(|n| *n = Vector3::from(*n).normalize().into());
+    let indices: Vec<_> = (0..vertices.len() as u32).collect();
+    let uvs: Vec<_> = (0..vertices.len()).map(|_| [0.0, 0.0]).collect();
+
+    // Generate the mesh
+    let mut mesh = Mesh::new(PrimitiveTopology::TriangleList);
+    mesh.set_attribute(
+        Mesh::ATTRIBUTE_POSITION,
+        VertexAttributeValues::from(vertices),
+    );
+    mesh.set_attribute(Mesh::ATTRIBUTE_NORMAL, VertexAttributeValues::from(normals));
+    mesh.set_attribute(Mesh::ATTRIBUTE_UV_0, VertexAttributeValues::from(uvs));
+    mesh.set_indices(Some(Indices::U32(indices)));
+    mesh
+}
+
+fn collider_mesh_scale(co_shape: &dyn Shape) -> Vec3 {
+    match co_shape.shape_type() {
+        #[cfg(feature = "dim2")]
+        ShapeType::Cuboid => {
+            let c = co_shape.as_cuboid().unwrap();
+            Vec3::new(c.half_extents.x, c.half_extents.y, 1.0)
+        }
+        ShapeType::Ball => {
+            let b = co_shape.as_ball().unwrap();
+            Vec3::new(b.radius, b.radius, b.radius)
+        }
+        #[cfg(feature = "dim3")]
+        ShapeType::Cuboid => {
+            let c = co_shape.as_cuboid().unwrap();
+            Vec3::from_slice_unaligned(c.half_extents.as_slice())
+        }
+        #[cfg(feature = "dim3")]
+        ShapeType::Cylinder => {
+            let c = co_shape.as_cylinder().unwrap();
+            Vec3::new(c.radius, c.half_height, c.radius)
+        }
+        #[cfg(feature = "dim3")]
+        ShapeType::RoundCylinder => {
+            let c = &co_shape.as_round_cylinder().unwrap().base_shape;
+            Vec3::new(c.radius, c.half_height, c.radius)
+        }
+        #[cfg(feature = "dim3")]
+        ShapeType::Cone => {
+            let c = co_shape.as_cone().unwrap();
+            Vec3::new(c.radius, c.half_height, c.radius)
+        }
+        #[cfg(feature = "dim3")]
+        ShapeType::RoundCone => {
+            let c = &co_shape.as_round_cone().unwrap().base_shape;
+            Vec3::new(c.radius, c.half_height, c.radius)
+        }
+        _ => Vec3::ONE,
     }
 }
+
+#[cfg(feature = "dim2")]
+fn generate_collider_mesh(co_shape: &dyn Shape) -> Option<Mesh> {
+    let mesh = match co_shape.shape_type() {
+        ShapeType::Capsule => {
+            let capsule = co_shape.as_capsule().unwrap();
+            bevy_mesh_from_polyline(capsule.to_polyline(10))
+        }
+        ShapeType::Triangle => {
+            let tri = co_shape.as_triangle().unwrap();
+            bevy_mesh_from_polyline(vec![tri.a, tri.b, tri.c])
+        }
+        ShapeType::TriMesh => {
+            let trimesh = co_shape.as_trimesh().unwrap();
+            let vertices = trimesh
+                .vertices()
+                .iter()
+                .map(|p| Point3::new(p.x, p.y, 0.0))
+                .collect();
+            bevy_mesh((vertices, trimesh.indices().to_vec()))
+        }
+        ShapeType::Polyline => {
+            let polyline = co_shape.as_polyline().unwrap();
+            bevy_polyline((
+                polyline.vertices().to_vec(),
+                Some(polyline.indices().to_vec()),
+            ))
+        }
+        ShapeType::HeightField => {
+            let heightfield = co_shape.as_heightfield().unwrap();
+            let vertices: Vec<_> = heightfield
+                .segments()
+                .flat_map(|s| vec![s.a, s.b])
+                .collect();
+            bevy_polyline((vertices, None))
+        }
+        ShapeType::ConvexPolygon => {
+            let poly = co_shape.as_convex_polygon().unwrap();
+            bevy_mesh_from_polyline(poly.points().to_vec())
+        }
+        ShapeType::RoundConvexPolygon => {
+            let poly = co_shape.as_round_convex_polygon().unwrap();
+            bevy_mesh_from_polyline(poly.base_shape.points().to_vec())
+        }
+        _ => return None,
+    };
+
+    Some(mesh)
+}
+
+#[cfg(feature = "dim3")]
+fn generate_collider_mesh(co_shape: &dyn Shape) -> Option<Mesh> {
+    let mesh = match co_shape.shape_type() {
+        ShapeType::Capsule => {
+            let capsule = co_shape.as_capsule().unwrap();
+            bevy_mesh(capsule.to_trimesh(20, 10))
+        }
+        ShapeType::Triangle => {
+            let tri = co_shape.as_triangle().unwrap();
+            bevy_mesh((vec![tri.a, tri.b, tri.c], vec![[0, 1, 2], [0, 2, 1]]))
+        }
+        ShapeType::TriMesh => {
+            let trimesh = co_shape.as_trimesh().unwrap();
+            bevy_mesh((trimesh.vertices().to_vec(), trimesh.indices().to_vec()))
+        }
+        ShapeType::HeightField => {
+            let heightfield = co_shape.as_heightfield().unwrap();
+            bevy_mesh(heightfield.to_trimesh())
+        }
+        ShapeType::ConvexPolyhedron => {
+            let poly = co_shape.as_convex_polyhedron().unwrap();
+            bevy_mesh(poly.to_trimesh())
+        }
+        ShapeType::RoundConvexPolyhedron => {
+            let poly = co_shape.as_round_convex_polyhedron().unwrap();
+            bevy_mesh(poly.base_shape.to_trimesh())
+        }
+        _ => return None,
+    };
+
+    Some(mesh)
+}

src_testbed/objects/plane.rs

@@ -1,132 +0,0 @@
-#[cfg(feature = "dim3")]
-use crate::objects::node::GraphicsNode;
-use kiss3d::window::Window;
-use na::Point3;
-#[cfg(feature = "dim3")]
-use na::Vector3;
-#[cfg(feature = "dim2")]
-use nphysics::math::{Point, Vector};
-use nphysics::object::{DefaultColliderHandle, DefaultColliderSet};
-#[cfg(feature = "dim3")]
-use num::Zero;
-
-#[cfg(feature = "dim3")]
-pub struct Plane {
-    gfx: GraphicsNode,
-    collider: DefaultColliderHandle,
-}
-
-#[cfg(feature = "dim2")]
-pub struct Plane {
-    color: Point3<f32>,
-    base_color: Point3<f32>,
-    position: Point<f32>,
-    normal: na::Unit<Vector<f32>>,
-    collider: DefaultColliderHandle,
-}
-
-impl Plane {
-    #[cfg(feature = "dim2")]
-    pub fn new(
-        collider: DefaultColliderHandle,
-        colliders: &DefaultColliderSet<f32>,
-        position: &Point<f32>,
-        normal: &Vector<f32>,
-        color: Point3<f32>,
-        _: &mut Window,
-    ) -> Plane {
-        let mut res = Plane {
-            color,
-            base_color: color,
-            position: *position,
-            normal: na::Unit::new_normalize(*normal),
-            collider,
-        };
-
-        res.update(colliders);
-        res
-    }
-
-    #[cfg(feature = "dim3")]
-    pub fn new(
-        collider: DefaultColliderHandle,
-        colliders: &DefaultColliderSet<f32>,
-        world_pos: &Point3<f32>,
-        world_normal: &Vector3<f32>,
-        color: Point3<f32>,
-        window: &mut Window,
-    ) -> Plane {
-        let mut res = Plane {
-            gfx: window.add_quad(100.0, 100.0, 10, 10),
-            collider,
-        };
-
-        if colliders
-            .get(collider)
-            .unwrap()
-            .query_type()
-            .is_proximity_query()
-        {
-            res.gfx.set_surface_rendering_activation(false);
-            res.gfx.set_lines_width(1.0);
-        }
-
-        res.gfx.set_color(color.x, color.y, color.z);
-
-        let up = if world_normal.z.is_zero() && world_normal.y.is_zero() {
-            Vector3::z()
-        } else {
-            Vector3::x()
-        };
-
-        res.gfx
-            .reorient(world_pos, &(*world_pos + *world_normal), &up);
-
-        res.update(colliders);
-
-        res
-    }
-
-    pub fn select(&mut self) {}
-
-    pub fn unselect(&mut self) {}
-
-    pub fn update(&mut self, _: &DefaultColliderSet<f32>) {
-        // FIXME: atm we assume the plane does not move
-    }
-
-    #[cfg(feature = "dim3")]
-    pub fn set_color(&mut self, color: Point3<f32>) {
-        self.gfx.set_color(color.x, color.y, color.z);
-    }
-
-    #[cfg(feature = "dim2")]
-    pub fn set_color(&mut self, color: Point3<f32>) {
-        self.color = color;
-        self.base_color = color;
-    }
-
-    #[cfg(feature = "dim3")]
-    pub fn scene_node(&self) -> &GraphicsNode {
-        &self.gfx
-    }
-
-    #[cfg(feature = "dim3")]
-    pub fn scene_node_mut(&mut self) -> &mut GraphicsNode {
-        &mut self.gfx
-    }
-
-    pub fn object(&self) -> DefaultColliderHandle {
-        self.collider
-    }
-
-    #[cfg(feature = "dim2")]
-    pub fn draw(&mut self, window: &mut Window) {
-        let orth = Vector::new(-self.normal.y, self.normal.x);
-        window.draw_planar_line(
-            &(self.position - orth * 50.0),
-            &(self.position + orth * 50.0),
-            &self.color,
-        );
-    }
-}

src_testbed/objects/polyline.rs

@@ -1,67 +0,0 @@
-use kiss3d::window::Window;
-use na::Point3;
-use rapier::geometry::{ColliderHandle, ColliderSet};
-use rapier::math::{Isometry, Point};
-
-pub struct Polyline {
-    color: Point3<f32>,
-    base_color: Point3<f32>,
-    vertices: Vec<Point<f32>>,
-    indices: Vec<[u32; 2]>,
-    collider: ColliderHandle,
-    pos: Isometry<f32>,
-}
-
-impl Polyline {
-    pub fn new(
-        collider: ColliderHandle,
-        vertices: Vec<Point<f32>>,
-        indices: Vec<[u32; 2]>,
-        color: Point3<f32>,
-    ) -> Polyline {
-        Polyline {
-            color,
-            pos: Isometry::identity(),
-            base_color: color,
-            vertices,
-            indices,
-            collider,
-        }
-    }
-
-    pub fn select(&mut self) {
-        self.color = Point3::new(1.0, 0.0, 0.0);
-    }
-
-    pub fn unselect(&mut self) {
-        self.color = self.base_color;
-    }
-
-    pub fn set_color(&mut self, color: Point3<f32>) {
-        self.color = color;
-        self.base_color = color;
-    }
-
-    pub fn update(&mut self, colliders: &ColliderSet) {
-        self.pos = colliders
-            .get(self.collider)
-            .map(|c| *c.position())
-            .unwrap_or(Isometry::identity());
-    }
-
-    pub fn object(&self) -> ColliderHandle {
-        self.collider
-    }
-
-    pub fn draw(&mut self, window: &mut Window) {
-        for idx in &self.indices {
-            let p1 = self.pos * self.vertices[idx[0] as usize];
-            let p2 = self.pos * self.vertices[idx[1] as usize];
-
-            #[cfg(feature = "dim2")]
-            window.draw_planar_line(&p1, &p2, &self.color);
-            #[cfg(feature = "dim3")]
-            window.draw_line(&p1, &p2, &self.color);
-        }
-    }
-}

src_testbed/plugin.rs

@@ -1,17 +1,11 @@
 use crate::harness::RunState;
 use crate::physics::PhysicsState;
-use kiss3d::window::Window;
 use na::Point3;
 
 pub trait TestbedPlugin {
-    fn init_graphics(&mut self, window: &mut Window, gen_color: &mut dyn FnMut() -> Point3<f32>);
+    fn init_graphics(&mut self, gen_color: &mut dyn FnMut() -> Point3<f32>);
-    fn clear_graphics(&mut self, window: &mut Window);
+    fn clear_graphics(&mut self);
-    fn run_callbacks(
+    fn run_callbacks(&mut self, physics: &mut PhysicsState, run_state: &RunState);
-        &mut self,
-        window: &mut Window,
-        physics: &mut PhysicsState,
-        run_state: &RunState,
-    );
     fn step(&mut self, physics: &mut PhysicsState);
     fn draw(&mut self);
     fn profiling_string(&self) -> String;

src_testbed/ui.rs

@@ -1,142 +1,35 @@
-use kiss3d::conrod::{self, Borderable, Colorable, Labelable, Positionable, Sizeable, Widget};
+use rapier::counters::Counters;
-use kiss3d::window::Window;
-use rapier::dynamics::IntegrationParameters;
 
-use crate::harness::RunState;
+use crate::harness::Harness;
 use crate::testbed::{RunMode, TestbedActionFlags, TestbedState, TestbedStateFlags};
 
-const SIDEBAR_W: f64 = 200.0;
+use crate::PhysicsState;
-const ELEMENT_W: f64 = SIDEBAR_W - 20.0;
+use bevy_egui::egui::Slider;
-const ELEMENT_H: f64 = 20.0;
+use bevy_egui::{egui, EguiContext};
-const VSPACE: f64 = 4.0;
-const TITLE_VSPACE: f64 = 4.0;
-const LEFT_MARGIN: f64 = 10.0;
-const ALPHA: f32 = 0.9;
 
-widget_ids! {
+pub fn update_ui(ui_context: &EguiContext, state: &mut TestbedState, harness: &mut Harness) {
-    pub struct ConrodIds {
+    egui::Window::new("Parameters").show(ui_context.ctx(), |ui| {
-        canvas,
-        title_backends_list,
-        title_demos_list,
-        title_slider_vel_iter,
-        title_slider_pos_iter,
-        title_slider_num_threads,
-        title_slider_ccd_substeps,
-        title_slider_min_island_size,
-        title_warmstart_coeff,
-        title_frequency,
-        backends_list,
-        demos_list,
-        button_pause,
-        button_single_step,
-        button_restart,
-        button_quit,
-        button_prev_example,
-        button_next_example,
-        button_take_snapshot,
-        button_restore_snapshot,
-        slider_vel_iter,
-        slider_pos_iter,
-        slider_num_threads,
-        slider_ccd_substeps,
-        slider_min_island_size,
-        slider_warmstart_coeff,
-        slider_frequency,
-        toggle_sleep,
-        toggle_warm_starting,
-        toggle_sub_stepping,
-        toggle_shapes,
-        toggle_joints,
-        toggle_aabbs,
-        toggle_contact_points,
-        toggle_contact_normals,
-        toggle_center_of_masses,
-        toggle_statistics,
-        toggle_profile,
-        toggle_debug,
-        toggle_wireframe,
-        separator0,
-        separator1,
-        separator2,
-    }
-}
-
-pub struct TestbedUi {
-    ids: ConrodIds,
-}
-
-impl TestbedUi {
-    pub fn new(window: &mut Window) -> Self {
-        use conrod::position::{Align, Direction, Padding, Position, Relative};
-
-        let mut ui = window.conrod_ui_mut();
-        ui.theme = conrod::Theme {
-            name: "Testbed theme".to_string(),
-            padding: Padding::none(),
-            x_position: Position::Relative(Relative::Align(Align::Start), None),
-            y_position: Position::Relative(Relative::Direction(Direction::Backwards, 20.0), None),
-            background_color: conrod::color::DARK_CHARCOAL.alpha(ALPHA),
-            shape_color: conrod::color::LIGHT_CHARCOAL.alpha(ALPHA),
-            border_color: conrod::color::BLACK.alpha(ALPHA),
-            border_width: 0.0,
-            label_color: conrod::color::WHITE.alpha(ALPHA),
-            font_id: None,
-            font_size_large: 15,
-            font_size_medium: 11,
-            font_size_small: 8,
-            widget_styling: conrod::theme::StyleMap::default(),
-            mouse_drag_threshold: 0.0,
-            double_click_threshold: std::time::Duration::from_millis(500),
-        };
-
-        Self {
-            ids: ConrodIds::new(ui.widget_id_generator()),
-        }
-    }
-
-    pub fn update(
-        &mut self,
-        window: &mut Window,
-        integration_parameters: &mut IntegrationParameters,
-        state: &mut TestbedState,
-        _run_state: &mut RunState,
-    ) {
-        let ui_root = window.conrod_ui().window;
-        let mut ui = window.conrod_ui_mut().set_widgets();
-        conrod::widget::Canvas::new()
-            //            .title_bar("Demos")
-            //            .title_bar_color(conrod::color::Color::Rgba(1.0, 0.0, 0.0, 1.0))
-            //            .pad(100.0)
-            //            .pad_left(MARGIN)
-            //            .pad_right(MARGIN)
-            .scroll_kids_vertically()
-            .mid_right_with_margin(10.0)
-            .w(SIDEBAR_W)
-            .padded_h_of(ui_root, 10.0)
-            .set(self.ids.canvas, &mut ui);
-
-        // NOTE: If examples_names is empty, we can't change the backend because
-        // we have no way to properly restart the simulation.
         if state.backend_names.len() > 1 && !state.example_names.is_empty() {
-            /*
+            #[cfg(feature = "dim3")]
-             * Backend drop-down.
+            let prev_selected_backend = state.selected_backend;
-             */
+            let mut changed = false;
-            conrod::widget::Text::new("Select backend:")
+            egui::ComboBox::from_label("backend")
-                .top_left_with_margins_on(self.ids.canvas, VSPACE, LEFT_MARGIN)
+                .width(150.0)
-                .set(self.ids.title_backends_list, &mut ui);
+                .selected_text(state.backend_names[state.selected_backend])
+                .show_ui(ui, |ui| {
+                    for (id, name) in state.backend_names.iter().enumerate() {
+                        changed = ui
+                            .selectable_value(&mut state.selected_backend, id, *name)
+                            .changed()
+                            || changed;
+                    }
+                });
+
+            if changed {
+                state
+                    .action_flags
+                    .set(TestbedActionFlags::BACKEND_CHANGED, true);
 
-            for selected in conrod::widget::DropDownList::new(
-                &state.backend_names,
-                Some(state.selected_backend),
-            )
-            .align_middle_x_of(self.ids.canvas)
-            .down_from(self.ids.title_backends_list, TITLE_VSPACE)
-            .left_justify_label()
-            .w_h(ELEMENT_W, ELEMENT_H)
-            .color(conrod::color::LIGHT_CHARCOAL) // No alpha.
-            .set(self.ids.backends_list, &mut ui)
-            {
-                if selected != state.selected_backend {
                 #[cfg(all(feature = "dim3", feature = "other-backends"))]
                 fn is_physx(id: usize) -> bool {
                     id == crate::testbed::PHYSX_BACKEND_PATCH_FRICTION
@@ -144,82 +37,29 @@ impl TestbedUi {
                 }
 
                 #[cfg(all(feature = "dim3", feature = "other-backends"))]
-                    if (is_physx(state.selected_backend) && !is_physx(selected))
+                if (is_physx(state.selected_backend) && !is_physx(prev_selected_backend))
-                        || (!is_physx(state.selected_backend) && is_physx(selected))
+                    || (!is_physx(state.selected_backend) && is_physx(prev_selected_backend))
                 {
                     // PhysX defaults (4 position iterations, 1 velocity) are the
                     // opposite of rapier's (4 velocity iterations, 1 position).
                     std::mem::swap(
-                            &mut integration_parameters.max_position_iterations,
+                        &mut harness
-                            &mut integration_parameters.max_velocity_iterations,
+                            .physics
+                            .integration_parameters
+                            .max_position_iterations,
+                        &mut harness
+                            .physics
+                            .integration_parameters
+                            .max_velocity_iterations,
                     );
                 }
-
-                    state.selected_backend = selected;
-                    state
-                        .action_flags
-                        .set(TestbedActionFlags::BACKEND_CHANGED, true)
-                }
             }
 
-            separator(
+            ui.separator();
-                self.ids.canvas,
-                self.ids.backends_list,
-                self.ids.separator0,
-                &mut ui,
-            );
-        } else {
-            conrod::widget::Text::new("")
-                .top_left_with_margins_on(self.ids.canvas, 0.0, LEFT_MARGIN)
-                .set(self.ids.separator0, &mut ui);
         }
 
-        let display_ticks = state.example_names.len() > 1;
+        ui.horizontal(|ui| {
-        let _select_example_title = if display_ticks {
+            if ui.button("<").clicked() {
-            "Select example:"
-        } else {
-            "Current example:"
-        };
-        let tick_width = if display_ticks { 20.0 } else { 0.0 };
-
-        /*
-         * Examples drop-down.
-         */
-        conrod::widget::Text::new("Select example:")
-            .down_from(self.ids.separator0, VSPACE)
-            //                .top_left_with_margins_on(self.ids.canvas, VSPACE, LEFT_MARGIN)
-            //            .w_h(ELEMENT_W, ELEMENT_H)
-            .set(self.ids.title_demos_list, &mut ui);
-
-        for selected in
-            conrod::widget::DropDownList::new(&state.example_names, Some(state.selected_example))
-                //            .mid_top_with_margin_on(self.ids.canvas, 20.0)
-                .align_middle_x_of(self.ids.canvas)
-                .down_from(self.ids.title_demos_list, TITLE_VSPACE)
-                //            .right_from(self.ids.button_prev_example, 0.0)
-                .left_justify_label()
-                .w_h(ELEMENT_W - tick_width, ELEMENT_H)
-                .color(conrod::color::LIGHT_CHARCOAL) // No alpha.
-                .set(self.ids.demos_list, &mut ui)
-        {
-            if selected != state.selected_example {
-                state.selected_example = selected;
-                state
-                    .action_flags
-                    .set(TestbedActionFlags::EXAMPLE_CHANGED, true)
-            }
-        }
-
-        if display_ticks {
-            for _click in conrod::widget::Button::new()
-                .label("<")
-                .align_middle_x_of(self.ids.canvas)
-                .left_from(self.ids.demos_list, 0.0)
-                .w_h(10.0, ELEMENT_H)
-                .enabled(state.selected_example > 0)
-                .color(conrod::color::LIGHT_CHARCOAL) // No alpha.
-                .set(self.ids.button_prev_example, &mut ui)
-            {
                 if state.selected_example > 0 {
                     state.selected_example -= 1;
                     state
@@ -228,15 +68,7 @@ impl TestbedUi {
                 }
             }
 
-            for _click in conrod::widget::Button::new()
+            if ui.button(">").clicked() {
-                .label(">")
-                .align_middle_x_of(self.ids.canvas)
-                .right_from(self.ids.demos_list, 0.0)
-                .w_h(10.0, ELEMENT_H)
-                .enabled(state.selected_example + 1 < state.example_names.len())
-                .color(conrod::color::LIGHT_CHARCOAL) // No alpha.
-                .set(self.ids.button_next_example, &mut ui)
-            {
                 if state.selected_example + 1 < state.example_names.len() {
                     state.selected_example += 1;
                     state
@@ -244,199 +76,94 @@ impl TestbedUi {
                         .set(TestbedActionFlags::EXAMPLE_CHANGED, true)
                 }
             }
-        }
 
-        separator(
+            let mut changed = false;
-            self.ids.canvas,
+            egui::ComboBox::from_label("example")
-            self.ids.demos_list,
+                .width(150.0)
-            self.ids.separator1,
+                .selected_text(state.example_names[state.selected_example])
-            &mut ui,
+                .show_ui(ui, |ui| {
+                    for (id, name) in state.example_names.iter().enumerate() {
+                        changed = ui
+                            .selectable_value(&mut state.selected_example, id, *name)
+                            .changed()
+                            || changed;
+                    }
+                });
+            if changed {
+                state
+                    .action_flags
+                    .set(TestbedActionFlags::EXAMPLE_CHANGED, true);
+            }
+        });
+
+        ui.separator();
+
+        ui.collapsing("Profile infos", |ui| {
+            ui.horizontal_wrapped(|ui| {
+                ui.label(profiling_string(&harness.physics.pipeline.counters))
+            });
+        });
+        ui.collapsing("Serialization infos", |ui| {
+            ui.horizontal_wrapped(|ui| {
+                ui.label(serialization_string(
+                    harness.state.timestep_id,
+                    &harness.physics,
+                ))
+            });
+        });
+
+        let integration_parameters = &mut harness.physics.integration_parameters;
+        ui.add(
+            Slider::new(&mut integration_parameters.max_velocity_iterations, 0..=200)
+                .text("vels. iters."),
+        );
+        ui.add(
+            Slider::new(&mut integration_parameters.max_position_iterations, 0..=200)
+                .text("pos. iters."),
         );
-
-        let curr_vel_iters = integration_parameters.max_velocity_iterations;
-        let curr_pos_iters = integration_parameters.max_position_iterations;
-        #[cfg(feature = "parallel")]
-        let curr_num_threads = _run_state.num_threads;
-        let curr_max_ccd_substeps = integration_parameters.max_ccd_substeps;
-        let curr_min_island_size = integration_parameters.min_island_size;
-        let curr_warmstart_coeff = integration_parameters.warmstart_coeff;
-        let curr_frequency = integration_parameters.inv_dt().round() as usize;
-
-        conrod::widget::Text::new("Vel. Iters.:")
-            .down_from(self.ids.separator1, VSPACE)
-            .set(self.ids.title_slider_vel_iter, &mut ui);
-
-        for val in conrod::widget::Slider::new(curr_vel_iters as f32, 0.0, 200.0)
-            .label(&curr_vel_iters.to_string())
-            .align_middle_x_of(self.ids.canvas)
-            .down_from(self.ids.title_slider_vel_iter, TITLE_VSPACE)
-            .w_h(ELEMENT_W, ELEMENT_H)
-            .set(self.ids.slider_vel_iter, &mut ui)
-        {
-            integration_parameters.max_velocity_iterations = val as usize;
-        }
-
-        conrod::widget::Text::new("Pos. Iters.:")
-            .down_from(self.ids.slider_vel_iter, VSPACE)
-            .set(self.ids.title_slider_pos_iter, &mut ui);
-
-        for val in conrod::widget::Slider::new(curr_pos_iters as f32, 0.0, 200.0)
-            .label(&curr_pos_iters.to_string())
-            .align_middle_x_of(self.ids.canvas)
-            .down_from(self.ids.title_slider_pos_iter, TITLE_VSPACE)
-            .w_h(ELEMENT_W, ELEMENT_H)
-            .set(self.ids.slider_pos_iter, &mut ui)
-        {
-            integration_parameters.max_position_iterations = val as usize;
-        }
-
         #[cfg(feature = "parallel")]
         {
-            conrod::widget::Text::new("Num. Threads.:")
+            ui.add(
-                .down_from(self.ids.slider_pos_iter, VSPACE)
+                Slider::new(&mut harness.state.num_threads, 1..num_cpus::get_physical())
-                .set(self.ids.title_slider_num_threads, &mut ui);
+                    .text("num. threads"),
-
-            for val in conrod::widget::Slider::new(
-                curr_num_threads as f32,
-                1.0,
-                num_cpus::get_physical() as f32,
-            )
-            .label(&curr_num_threads.to_string())
-            .align_middle_x_of(self.ids.canvas)
-            .down_from(self.ids.title_slider_num_threads, TITLE_VSPACE)
-            .w_h(ELEMENT_W, ELEMENT_H)
-            .set(self.ids.slider_num_threads, &mut ui)
-            {
-                if _run_state.num_threads != val as usize {
-                    _run_state.num_threads = val as usize;
-                    _run_state.thread_pool = rapier::rayon::ThreadPoolBuilder::new()
-                        .num_threads(_run_state.num_threads)
-                        .build()
-                        .unwrap();
-                }
-            }
-        }
-
-        conrod::widget::Text::new("CCD substeps:")
-            .down_from(
-                if cfg!(feature = "parallel") {
-                    self.ids.slider_num_threads
-                } else {
-                    self.ids.slider_pos_iter
-                },
-                VSPACE,
-            )
-            .set(self.ids.title_slider_ccd_substeps, &mut ui);
-
-        for val in conrod::widget::Slider::new(curr_max_ccd_substeps as f32, 0.0, 10.0)
-            .label(&curr_max_ccd_substeps.to_string())
-            .align_middle_x_of(self.ids.canvas)
-            .down_from(self.ids.title_slider_ccd_substeps, TITLE_VSPACE)
-            .w_h(ELEMENT_W, ELEMENT_H)
-            .set(self.ids.slider_ccd_substeps, &mut ui)
-        {
-            integration_parameters.max_ccd_substeps = val as usize;
-        }
-
-        conrod::widget::Text::new("Min island size:")
-            .down_from(self.ids.slider_ccd_substeps, VSPACE)
-            .set(self.ids.title_slider_min_island_size, &mut ui);
-
-        for val in conrod::widget::Slider::new(curr_min_island_size as f32, 1.0, 10000.0)
-            .label(&curr_min_island_size.to_string())
-            .align_middle_x_of(self.ids.canvas)
-            .down_from(self.ids.title_slider_min_island_size, TITLE_VSPACE)
-            .w_h(ELEMENT_W, ELEMENT_H)
-            .set(self.ids.slider_min_island_size, &mut ui)
-        {
-            integration_parameters.min_island_size = val as usize;
-        }
-
-        conrod::widget::Text::new("Warm-start coeff.:")
-            .down_from(self.ids.slider_min_island_size, VSPACE)
-            .set(self.ids.title_warmstart_coeff, &mut ui);
-
-        for val in conrod::widget::Slider::new(curr_warmstart_coeff as f32, 0.0, 1.0)
-            .label(&format!("{:.2}", curr_warmstart_coeff))
-            .align_middle_x_of(self.ids.canvas)
-            .down_from(self.ids.title_warmstart_coeff, TITLE_VSPACE)
-            .w_h(ELEMENT_W, ELEMENT_H)
-            .set(self.ids.slider_warmstart_coeff, &mut ui)
-        {
-            integration_parameters.warmstart_coeff = val;
-        }
-
-        conrod::widget::Text::new("Frequency:")
-            .down_from(self.ids.slider_warmstart_coeff, VSPACE)
-            .set(self.ids.title_frequency, &mut ui);
-
-        for val in conrod::widget::Slider::new(curr_frequency as f32, 0.0, 240.0)
-            .label(&format!("{:.2}Hz", curr_frequency))
-            .align_middle_x_of(self.ids.canvas)
-            .down_from(self.ids.title_frequency, TITLE_VSPACE)
-            .w_h(ELEMENT_W, ELEMENT_H)
-            .set(self.ids.slider_frequency, &mut ui)
-        {
-            integration_parameters.set_inv_dt(val.round());
-        }
-
-        let toggle_list = [
-            ("Sleep", self.ids.toggle_sleep, TestbedStateFlags::SLEEP),
-            //            ("Warm Starting", self.ids.toggle_warm_starting, TestbedStateFlags::WARM_STARTING),
-            (
-                "Sub-Stepping",
-                self.ids.toggle_sub_stepping,
-                TestbedStateFlags::SUB_STEPPING,
-            ),
-            ("", self.ids.separator2, TestbedStateFlags::NONE),
-            //            ("Shapes", self.ids.toggle_shapes, TestbedStateFlags::SHAPES),
-            //            ("Joints", self.ids.toggle_joints, TestbedStateFlags::JOINTS),
-            ("AABBs", self.ids.toggle_aabbs, TestbedStateFlags::AABBS),
-            (
-                "Contacts",
-                self.ids.toggle_contact_points,
-                TestbedStateFlags::CONTACT_POINTS,
-            ),
-            //            ("ContactManifold Normals", self.ids.toggle_contact_normals, TestbedStateFlags::CONTACT_NORMALS),
-            (
-                "Wireframe",
-                self.ids.toggle_wireframe,
-                TestbedStateFlags::WIREFRAME,
-            ),
-            //            ("Center of Masses", self.ids.toggle_center_of_masses, TestbedStateFlags::CENTER_OF_MASSES),
-            //            ("Statistics", self.ids.toggle_statistics, TestbedStateFlags::STATISTICS),
-            (
-                "Profile",
-                self.ids.toggle_profile,
-                TestbedStateFlags::PROFILE,
-            ),
-            (
-                "Debug infos",
-                self.ids.toggle_debug,
-                TestbedStateFlags::DEBUG,
-            ),
-        ];
-
-        toggles(
-            &toggle_list,
-            self.ids.canvas,
-            self.ids.slider_frequency,
-            &mut ui,
-            &mut state.flags,
             );
+        }
+        ui.add(
+            Slider::new(&mut integration_parameters.max_ccd_substeps, 0..=10).text("CCD substeps"),
+        );
+        ui.add(
+            Slider::new(&mut integration_parameters.min_island_size, 1..=10_000)
+                .text("min island size"),
+        );
+        ui.add(
+            Slider::new(&mut integration_parameters.warmstart_coeff, 0.0..=1.0)
+                .text("warmstart coeff"),
+        );
+        let mut frequency = integration_parameters.inv_dt().round() as u32;
+        ui.add(Slider::new(&mut frequency, 0..=240).text("frequency (Hz)"));
+        integration_parameters.set_inv_dt(frequency as f32);
+
+        let mut sleep = state.flags.contains(TestbedStateFlags::SLEEP);
+        // let mut contact_points = state.flags.contains(TestbedStateFlags::CONTACT_POINTS);
+        // let mut wireframe = state.flags.contains(TestbedStateFlags::WIREFRAME);
+        ui.checkbox(&mut sleep, "sleep enabled");
+        // ui.checkbox(&mut contact_points, "draw contacts");
+        // ui.checkbox(&mut wireframe, "draw wireframes");
+
+        state.flags.set(TestbedStateFlags::SLEEP, sleep);
+        // state
+        //     .flags
+        //     .set(TestbedStateFlags::CONTACT_POINTS, contact_points);
+        // state.flags.set(TestbedStateFlags::WIREFRAME, wireframe);
+        ui.separator();
 
         let label = if state.running == RunMode::Stop {
             "Start (T)"
         } else {
             "Pause (T)"
         };
-        for _press in conrod::widget::Button::new()
+
-            .label(label)
+        if ui.button(label).clicked() {
-            .align_middle_x_of(self.ids.canvas)
-            .down_from(self.ids.toggle_debug, VSPACE)
-            .w_h(ELEMENT_W, ELEMENT_H)
-            .set(self.ids.button_pause, &mut ui)
-        {
             if state.running == RunMode::Stop {
                 state.running = RunMode::Running
             } else {
@@ -444,127 +171,109 @@ impl TestbedUi {
             }
         }
 
-        for _press in conrod::widget::Button::new()
+        if ui.button("Single Step (S)").clicked() {
-            .label("Single Step (S)")
+            state.running = RunMode::Step;
-            .align_middle_x_of(self.ids.canvas)
-            .down_from(self.ids.button_pause, VSPACE)
-            .set(self.ids.button_single_step, &mut ui)
-        {
-            state.running = RunMode::Step
         }
 
-        for _press in conrod::widget::Button::new()
+        if ui.button("Take snapshot").clicked() {
-            .label("Take snapshot")
-            .align_middle_x_of(self.ids.canvas)
-            .down_from(self.ids.button_single_step, VSPACE)
-            .set(self.ids.button_take_snapshot, &mut ui)
-        {
             state
                 .action_flags
                 .set(TestbedActionFlags::TAKE_SNAPSHOT, true);
         }
 
-        for _press in conrod::widget::Button::new()
+        if ui.button("Restore snapshot").clicked() {
-            .label("Restore snapshot")
-            .align_middle_x_of(self.ids.canvas)
-            .down_from(self.ids.button_take_snapshot, VSPACE)
-            .set(self.ids.button_restore_snapshot, &mut ui)
-        {
             state
                 .action_flags
                 .set(TestbedActionFlags::RESTORE_SNAPSHOT, true);
         }
 
-        let before_quit_button_id = if !state.example_names.is_empty() {
+        if ui.button("Restart (R)").clicked() {
-            for _press in conrod::widget::Button::new()
-                .label("Restart (R)")
-                .align_middle_x_of(self.ids.canvas)
-                .down_from(self.ids.button_restore_snapshot, VSPACE)
-                .set(self.ids.button_restart, &mut ui)
-            {
             state.action_flags.set(TestbedActionFlags::RESTART, true);
         }
-
+    });
-            self.ids.button_restart
-        } else {
-            self.ids.button_restore_snapshot
-        };
-
-        #[cfg(not(target_arch = "wasm32"))]
-        for _press in conrod::widget::Button::new()
-            .label("Quit (Esc)")
-            .align_middle_x_of(self.ids.canvas)
-            .down_from(before_quit_button_id, VSPACE)
-            .set(self.ids.button_quit, &mut ui)
-        {
-            state.running = RunMode::Quit
-        }
-    }
 }
 
-fn toggles(
+fn profiling_string(counters: &Counters) -> String {
-    toggles: &[(&str, conrod::widget::Id, TestbedStateFlags)],
+    format!(
-    canvas: conrod::widget::Id,
+        r#"Total: {:.2}ms
-    prev: conrod::widget::Id,
+Collision detection: {:.2}ms
-    ui: &mut conrod::UiCell,
+|_ Broad-phase: {:.2}ms
-    flags: &mut TestbedStateFlags,
+   Narrow-phase: {:.2}ms
-) {
+Island computation: {:.2}ms
-    toggle(
+Solver: {:.2}ms
-        toggles[0].0,
+|_ Velocity assembly: {:.2}ms
-        toggles[0].2,
+   Velocity resolution: {:.2}ms
-        canvas,
+   Velocity integration: {:.2}ms
-        prev,
+   Position assembly: {:.2}ms
-        toggles[0].1,
+   Position resolution: {:.2}ms
-        ui,
+CCD: {:.2}ms
-        flags,
+|_ # of substeps: {}
-    );
+   TOI computation: {:.2}ms
-
+   Broad-phase: {:.2}ms
-    for win in toggles.windows(2) {
+   Narrow-phase: {:.2}ms
-        toggle(win[1].0, win[1].2, canvas, win[0].1, win[1].1, ui, flags)
+   Solver: {:.2}ms"#,
-    }
+        counters.step_time(),
+        counters.collision_detection_time(),
+        counters.broad_phase_time(),
+        counters.narrow_phase_time(),
+        counters.island_construction_time(),
+        counters.solver_time(),
+        counters.solver.velocity_assembly_time.time(),
+        counters.velocity_resolution_time(),
+        counters.solver.velocity_update_time.time(),
+        counters.solver.position_assembly_time.time(),
+        counters.position_resolution_time(),
+        counters.ccd_time(),
+        counters.ccd.num_substeps,
+        counters.ccd.toi_computation_time.time(),
+        counters.ccd.broad_phase_time.time(),
+        counters.ccd.narrow_phase_time.time(),
+        counters.ccd.solver_time.time(),
+    )
 }
 
-fn toggle(
+fn serialization_string(timestep_id: usize, physics: &PhysicsState) -> String {
-    title: &str,
+    let t = instant::now();
-    flag: TestbedStateFlags,
+    // let t = instant::now();
-    canvas: conrod::widget::Id,
+    let bf = bincode::serialize(&physics.broad_phase).unwrap();
-    prev: conrod::widget::Id,
+    // println!("bf: {}", instant::now() - t);
-    curr: conrod::widget::Id,
+    // let t = instant::now();
-    ui: &mut conrod::UiCell,
+    let nf = bincode::serialize(&physics.narrow_phase).unwrap();
-    flags: &mut TestbedStateFlags,
+    // println!("nf: {}", instant::now() - t);
-) {
+    // let t = instant::now();
-    if title == "" {
+    let bs = bincode::serialize(&physics.bodies).unwrap();
-        // This is a separator.
+    // println!("bs: {}", instant::now() - t);
-        separator(canvas, prev, curr, ui)
+    // let t = instant::now();
-    } else {
+    let cs = bincode::serialize(&physics.colliders).unwrap();
-        for _pressed in conrod::widget::Toggle::new(flags.contains(flag))
+    // println!("cs: {}", instant::now() - t);
-            .mid_left_with_margin_on(canvas, LEFT_MARGIN)
+    // let t = instant::now();
-            .down_from(prev, VSPACE)
+    let js = bincode::serialize(&physics.joints).unwrap();
-            .w_h(20.0 /*ELEMENT_W*/, ELEMENT_H)
+    // println!("js: {}", instant::now() - t);
-            .label(title)
+    let serialization_time = instant::now() - t;
-            .label_color(kiss3d::conrod::color::WHITE)
+    let hash_bf = md5::compute(&bf);
-            .label_x(conrod::position::Relative::Direction(
+    let hash_nf = md5::compute(&nf);
-                conrod::position::Direction::Forwards,
+    let hash_bodies = md5::compute(&bs);
-                5.0,
+    let hash_colliders = md5::compute(&cs);
-            ))
+    let hash_joints = md5::compute(&js);
-            .border(2.0)
+    format!(
-            //            .border_color(kiss3d::conrod::color::WHITE)
+        r#"Serialization time: {:.2}ms
-            .set(curr, ui)
+Hashes at frame: {}
-        {
+|_ Broad phase [{:.1}KB]: {}
-            flags.toggle(flag)
+|_ Narrow phase [{:.1}KB]: {}
-        }
+|_ Bodies [{:.1}KB]: {}
-    }
+|_ Colliders [{:.1}KB]: {}
-}
+|_ Joints [{:.1}KB]: {}"#,
-
+        serialization_time,
-fn separator(
+        timestep_id,
-    canvas: conrod::widget::Id,
+        bf.len() as f32 / 1000.0,
-    prev: conrod::widget::Id,
+        format!("{:?}", hash_bf).split_at(10).0,
-    curr: conrod::widget::Id,
+        nf.len() as f32 / 1000.0,
-    ui: &mut conrod::UiCell,
+        format!("{:?}", hash_nf).split_at(10).0,
-) {
+        bs.len() as f32 / 1000.0,
-    conrod::widget::Line::centred([-ELEMENT_W / 2.0, 0.0], [ELEMENT_W / 2.0, 0.0])
+        format!("{:?}", hash_bodies).split_at(10).0,
-        .align_middle_x_of(canvas)
+        cs.len() as f32 / 1000.0,
-        .down_from(prev, VSPACE)
+        format!("{:?}", hash_colliders).split_at(10).0,
-        .w(ELEMENT_W)
+        js.len() as f32 / 1000.0,
-        .set(curr, ui);
+        format!("{:?}", hash_joints).split_at(10).0,
+    )
 }