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First public release of Rapier.

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Sébastien Crozet
2020-08-25 22:10:25 +02:00
commit 754a48b7ff
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src_testbed/ui.rs Normal file
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use kiss3d::conrod::{self, Borderable, Colorable, Labelable, Positionable, Sizeable, Widget};
use kiss3d::window::Window;
use rapier::dynamics::IntegrationParameters;
use crate::testbed::{RunMode, TestbedActionFlags, TestbedState, TestbedStateFlags};
const SIDEBAR_W: f64 = 200.0;
const ELEMENT_W: f64 = SIDEBAR_W - 20.0;
const ELEMENT_H: f64 = 20.0;
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 struct ConrodIds {
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,
) {
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() {
/*
* Backend drop-down.
*/
conrod::widget::Text::new("Select backend:")
.top_left_with_margins_on(self.ids.canvas, VSPACE, LEFT_MARGIN)
.set(self.ids.title_backends_list, &mut ui);
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(feature = "dim3")]
fn is_physx(id: usize) -> bool {
id == crate::testbed::PHYSX_BACKEND_PATCH_FRICTION
|| id == crate::testbed::PHYSX_BACKEND_TWO_FRICTION_DIR
}
#[cfg(all(feature = "dim3", feature = "other-backends"))]
if (is_physx(state.selected_backend) && !is_physx(selected))
|| (!is_physx(state.selected_backend) && is_physx(selected))
{
// 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 integration_parameters.max_velocity_iterations,
);
}
state.selected_backend = selected;
state
.action_flags
.set(TestbedActionFlags::BACKEND_CHANGED, true)
}
}
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;
let _select_example_title = if display_ticks {
"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
.action_flags
.set(TestbedActionFlags::EXAMPLE_CHANGED, true)
}
}
for _click in conrod::widget::Button::new()
.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
.action_flags
.set(TestbedActionFlags::EXAMPLE_CHANGED, true)
}
}
}
separator(
self.ids.canvas,
self.ids.demos_list,
self.ids.separator1,
&mut ui,
);
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 = 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.:")
.down_from(self.ids.slider_pos_iter, VSPACE)
.set(self.ids.title_slider_num_threads, &mut ui);
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 state.num_threads != val as usize {
state.num_threads = val as usize;
state.thread_pool = rapier::rayon::ThreadPoolBuilder::new()
.num_threads(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,
);
let label = if state.running == RunMode::Stop {
"Start (T)"
} else {
"Pause (T)"
};
for _press in conrod::widget::Button::new()
.label(label)
.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 {
state.running = RunMode::Stop
}
}
for _press in conrod::widget::Button::new()
.label("Single Step (S)")
.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()
.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()
.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() {
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(
toggles: &[(&str, conrod::widget::Id, TestbedStateFlags)],
canvas: conrod::widget::Id,
prev: conrod::widget::Id,
ui: &mut conrod::UiCell,
flags: &mut TestbedStateFlags,
) {
toggle(
toggles[0].0,
toggles[0].2,
canvas,
prev,
toggles[0].1,
ui,
flags,
);
for win in toggles.windows(2) {
toggle(win[1].0, win[1].2, canvas, win[0].1, win[1].1, ui, flags)
}
}
fn toggle(
title: &str,
flag: TestbedStateFlags,
canvas: conrod::widget::Id,
prev: conrod::widget::Id,
curr: conrod::widget::Id,
ui: &mut conrod::UiCell,
flags: &mut TestbedStateFlags,
) {
if title == "" {
// This is a separator.
separator(canvas, prev, curr, ui)
} else {
for _pressed in conrod::widget::Toggle::new(flags.contains(flag))
.mid_left_with_margin_on(canvas, LEFT_MARGIN)
.down_from(prev, VSPACE)
.w_h(20.0 /*ELEMENT_W*/, ELEMENT_H)
.label(title)
.label_color(kiss3d::conrod::color::WHITE)
.label_x(conrod::position::Relative::Direction(
conrod::position::Direction::Forwards,
5.0,
))
.border(2.0)
// .border_color(kiss3d::conrod::color::WHITE)
.set(curr, ui)
{
flags.toggle(flag)
}
}
}
fn separator(
canvas: conrod::widget::Id,
prev: conrod::widget::Id,
curr: conrod::widget::Id,
ui: &mut conrod::UiCell,
) {
conrod::widget::Line::centred([-ELEMENT_W / 2.0, 0.0], [ELEMENT_W / 2.0, 0.0])
.align_middle_x_of(canvas)
.down_from(prev, VSPACE)
.w(ELEMENT_W)
.set(curr, ui);
}