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Add f64 testbed

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This commit is contained in:
Sébastien Crozet
2022-01-23 16:48:24 +01:00
parent ca635674fc
commit 31e7d95ff9
9 changed files with 313 additions and 11 deletions
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4
Cargo.toml
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@@ -1,6 +1,6 @@
[workspace]
members = [ "crates/rapier2d", "crates/rapier2d-f64", "crates/rapier_testbed2d", "examples2d", "benchmarks2d",
"crates/rapier3d", "crates/rapier3d-f64", "crates/rapier_testbed3d", "examples3d", "benchmarks3d" ]
members = [ "crates/rapier2d", "crates/rapier2d-f64", "crates/rapier_testbed2d", "crates/rapier_testbed2d-f64", "examples2d", "benchmarks2d",
"crates/rapier3d", "crates/rapier3d-f64", "crates/rapier_testbed3d", "crates/rapier_testbed3d-f64", "examples3d", "examples3d-f64", "benchmarks3d" ]
resolver = "2"
[patch.crates-io]

57
crates/rapier_testbed2d-f64/Cargo.toml Normal file
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@@ -0,0 +1,57 @@
[package]
name = "rapier_testbed2d-f64"
version = "0.12.0-alpha.1"
authors = [ "Sébastien Crozet <developer@crozet.re>" ]
description = "Testbed for the Rapier 2-dimensional physics engine in Rust."
homepage = "http://rapier.org"
repository = "https://github.com/dimforge/rapier"
categories = [ "science", "game-development", "mathematics", "simulation", "wasm"]
keywords = [ "physics", "dynamics", "rigid", "real-time", "impulse_joints" ]
license = "Apache-2.0"
edition = "2021"
[badges]
maintenance = { status = "actively-developed" }
[lib]
name = "rapier_testbed2d"
path = "../../src_testbed/lib.rs"
required-features = [ "dim2" ]
[features]
default = [ "dim2" ]
dim2 = [ ]
parallel = [ "rapier/parallel", "num_cpus" ]
other-backends = [ "wrapped2d" ]
[dependencies]
nalgebra = { version = "0.30", features = [ "rand" ] }
rand = "0.8"
rand_pcg = "0.3"
instant = { version = "0.1", features = [ "web-sys", "now" ]}
bitflags = "1"
num_cpus = { version = "1", optional = true }
wrapped2d = { version = "0.4", optional = true }
crossbeam = "0.8"
bincode = "1"
Inflector = "0.11"
md5 = "0.7"
bevy_egui = "0.10"
bevy_ecs = "0.6"
# Dependencies for native only.
[target.'cfg(not(target_arch = "wasm32"))'.dependencies]
bevy = {version = "0.6", default-features = false, features = ["bevy_winit", "render", "x11"]}
# Dependencies for WASM only.
[target.'cfg(target_arch = "wasm32")'.dependencies]
bevy = {version = "0.6", default-features = false, features = ["bevy_winit", "render"]}
#bevy_webgl2 = "0.5"
[dependencies.rapier]
package = "rapier2d-f64"
path = "../rapier2d-f64"
version = "0.12.0-alpha.1"
features = [ "serde-serialize" ]

55
crates/rapier_testbed3d-f64/Cargo.toml Normal file
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@@ -0,0 +1,55 @@
[package]
name = "rapier_testbed3d-f64"
version = "0.12.0-alpha.1"
authors = [ "Sébastien Crozet <developer@crozet.re>" ]
description = "Testbed for the Rapier 3-dimensional physics engine in Rust."
homepage = "http://rapier.org"
repository = "https://github.com/dimforge/rapier"
categories = [ "science", "game-development", "mathematics", "simulation", "wasm"]
keywords = [ "physics", "dynamics", "rigid", "real-time", "impulse_joints" ]
license = "Apache-2.0"
edition = "2021"
[badges]
maintenance = { status = "actively-developed" }
[lib]
name = "rapier_testbed3d"
path = "../../src_testbed/lib.rs"
required-features = [ "dim3" ]
[features]
default = [ "dim3" ]
dim3 = [ ]
parallel = [ "rapier/parallel", "num_cpus" ]
[dependencies]
nalgebra = { version = "0.30", features = [ "rand" ] }
rand = "0.8"
rand_pcg = "0.3"
instant = { version = "0.1", features = [ "web-sys", "now" ]}
bitflags = "1"
num_cpus = { version = "1", optional = true }
crossbeam = "0.8"
bincode = "1"
md5 = "0.7"
Inflector = "0.11"
serde = { version = "1", features = [ "derive" ] }
bevy_egui = "0.10"
bevy_ecs = "0.6"
# Dependencies for native only.
[target.'cfg(not(target_arch = "wasm32"))'.dependencies]
bevy = {version = "0.6", default-features = false, features = ["bevy_winit", "render", "x11"]}
# Dependencies for WASM only.
[target.'cfg(target_arch = "wasm32")'.dependencies]
bevy = {version = "0.6", default-features = false, features = ["bevy_winit", "render"]}
#bevy_webgl2 = "0.5"
[dependencies.rapier]
package = "rapier3d-f64"
path = "../rapier3d-f64"
version = "0.12.0-alpha.1"
features = [ "serde-serialize" ]

36
examples3d-f64/Cargo.toml Normal file
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@@ -0,0 +1,36 @@
[package]
name = "rapier-examples-3d-f64"
version = "0.1.0"
authors = [ "Sébastien Crozet <developer@crozet.re>" ]
edition = "2021"
default-run = "all_examples3-f64"
[features]
parallel = [ "rapier3d-f64/parallel", "rapier_testbed3d-f64/parallel" ]
simd-stable = [ "rapier3d-f64/simd-stable" ]
simd-nightly = [ "rapier3d-f64/simd-nightly" ]
enhanced-determinism = [ "rapier3d-f64/enhanced-determinism" ]
[dependencies]
rand = "0.8"
getrandom = { version = "0.2", features = [ "js" ] }
Inflector = "0.11"
wasm-bindgen = "0.2"
obj-rs = { version = "0.6", default-features = false }
bincode = "1"
serde = "1"
[dependencies.rapier_testbed3d-f64]
path = "../crates/rapier_testbed3d-f64"
[dependencies.rapier3d-f64]
path = "../crates/rapier3d-f64"
[[bin]]
name = "all_examples3-f64"
path = "./all_examples3-f64.rs"
#[lib]
#crate-type = ["cdylib", "rlib"]
#path = "./all_examples3_wasm.rs"

67
examples3d-f64/all_examples3-f64.rs Normal file
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@@ -0,0 +1,67 @@
#![allow(dead_code)]
#[cfg(target_arch = "wasm32")]
use wasm_bindgen::prelude::*;
extern crate rapier3d_f64 as rapier3d;
use inflector::Inflector;
use rapier_testbed3d::{Testbed, TestbedApp};
use std::cmp::Ordering;
mod debug_serialized3;
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![("(Debug) serialized", debug_serialized3::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()
}

72
examples3d-f64/debug_serialized3.rs Normal file
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@@ -0,0 +1,72 @@
use rapier3d::prelude::*;
use rapier_testbed3d::Testbed;
#[derive(serde::Deserialize)]
struct State {
pub islands: IslandManager,
pub broad_phase: BroadPhase,
pub narrow_phase: NarrowPhase,
pub bodies: RigidBodySet,
pub colliders: ColliderSet,
pub impulse_joints: ImpulseJointSet,
pub multibody_joints: MultibodyJointSet,
pub ccd_solver: CCDSolver,
}
pub fn init_world(testbed: &mut Testbed) {
/*
* Set up the testbed.
*/
let bytes = std::fs::read("state.bin").unwrap();
let mut state: State = bincode::deserialize(&bytes).unwrap();
for body in state.bodies.iter_mut() {
dbg!(body.1.position());
dbg!(body.1.is_ccd_enabled());
dbg!(body.1.is_sleeping());
// dbg!(body.1);
body.1.clear_forces(false);
}
let mut to_remove = vec![];
for (_, co) in state.colliders.iter() {
if co.shape().as_ball().is_none() {
if let Some(parent) = co.parent() {
let body = &state.bodies[parent];
if body.is_dynamic() {
to_remove.push(parent);
}
}
}
}
// for h in to_remove {
// state.bodies.remove(
// h,
// &mut state.islands,
// &mut state.colliders,
// &mut state.impulse_joints,
// &mut state.multibody_joints,
// );
// }
testbed.set_world(
state.bodies,
state.colliders,
state.impulse_joints,
state.multibody_joints,
);
testbed.harness_mut().physics.islands = state.islands;
testbed.harness_mut().physics.broad_phase = state.broad_phase;
testbed.harness_mut().physics.narrow_phase = state.narrow_phase;
testbed.harness_mut().physics.ccd_solver = state.ccd_solver;
// testbed.harness_mut().physics.integration_parameters.erp = 0.0;
// testbed
// .harness_mut()
// .physics
// .integration_parameters
// .delassus_inv_factor = 1.0;
testbed.set_graphics_shift(vector![-541.0, -6377257.0, -61.0]);
testbed.look_at(point![10.0, 10.0, 10.0], point![0.0, 0.0, 0.0]);
}

8
src_testbed/graphics.rs
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@@ -5,7 +5,7 @@ use na::{point, Point3};
use crate::objects::node::EntityWithGraphics;
use rapier::dynamics::{RigidBodyHandle, RigidBodySet};
use rapier::geometry::{ColliderHandle, ColliderSet, Shape, ShapeType};
use rapier::math::{Isometry, Real};
use rapier::math::{Isometry, Real, Vector};
//use crate::objects::capsule::Capsule;
//#[cfg(feature = "dim3")]
//use crate::objects::mesh::Mesh;
@@ -30,6 +30,7 @@ pub struct GraphicsManager {
b2wireframe: HashMap<RigidBodyHandle, bool>,
ground_color: Point3<f32>,
prefab_meshes: HashMap<ShapeType, Handle<Mesh>>,
pub gfx_shift: Vector<Real>,
}
impl GraphicsManager {
@@ -42,6 +43,7 @@ impl GraphicsManager {
ground_color: point![0.5, 0.5, 0.5],
b2wireframe: HashMap::new(),
prefab_meshes: HashMap::new(),
gfx_shift: Vector::zeros(),
}
}
@@ -239,7 +241,7 @@ impl GraphicsManager {
new_nodes
.iter_mut()
.for_each(|n| n.update(colliders, components));
.for_each(|n| n.update(colliders, components, &self.gfx_shift));
// for node in new_nodes.iter_mut().filter_map(|n| n.scene_node_mut()) {
// if self.b2wireframe.get(&handle).cloned() == Some(true) {
@@ -368,7 +370,7 @@ impl GraphicsManager {
// }
// }
n.update(colliders, components);
n.update(colliders, components, &self.gfx_shift);
}
}
}

15
src_testbed/objects/node.rs
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@@ -10,7 +10,7 @@ use bevy::render::render_resource::PrimitiveTopology;
use rapier::geometry::{ColliderHandle, ColliderSet, Shape, ShapeType};
#[cfg(feature = "dim3")]
use rapier::geometry::{Cone, Cylinder};
use rapier::math::{Isometry, Real};
use rapier::math::{Isometry, Real, Vector};
use crate::graphics::BevyMaterial;
#[cfg(feature = "dim2")]
@@ -168,15 +168,20 @@ impl EntityWithGraphics {
self.base_color = color;
}
pub fn update(&mut self, colliders: &ColliderSet, components: &mut Query<(&mut Transform,)>) {
pub fn update(
&mut self,
colliders: &ColliderSet,
components: &mut Query<(&mut Transform,)>,
gfx_shift: &Vector<Real>,
) {
if let Some(Some(co)) = self.collider.map(|c| colliders.get(c)) {
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 as f32;
pos.translation.y = co_pos.translation.vector.y as f32;
pos.translation.x = (co_pos.translation.vector.x + gfx_shift.x) as f32;
pos.translation.y = (co_pos.translation.vector.y + gfx_shift.y) as f32;
#[cfg(feature = "dim3")]
{
pos.translation.z = co_pos.translation.vector.z as f32;
pos.translation.z = (co_pos.translation.vector.z + gfx_shift.z) as f32;
pos.rotation = Quat::from_xyzw(
co_pos.rotation.i as f32,
co_pos.rotation.j as f32,

10
src_testbed/testbed.rs
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@@ -362,7 +362,7 @@ impl TestbedApp {
vsync: true,
..Default::default()
})
.insert_resource(ClearColor(Color::rgb(0.85, 0.85, 0.85)))
.insert_resource(ClearColor(Color::rgb(0.15, 0.15, 0.15)))
.insert_resource(Msaa { samples: 4 })
.insert_resource(WgpuOptions {
// Required for wireframes.
@@ -536,6 +536,14 @@ impl<'a, 'b, 'c, 'd, 'e, 'f> Testbed<'a, 'b, 'c, 'd, 'e, 'f> {
}
}
pub fn set_graphics_shift(&mut self, shift: Vector<Real>) {
if !self.state.camera_locked {
if let Some(graphics) = &mut self.graphics {
graphics.graphics.gfx_shift = shift;
}
}
}
#[cfg(feature = "dim2")]
pub fn look_at(&mut self, at: Point2<f32>, zoom: f32) {
if !self.state.camera_locked {