harness

make harness a public mod, make harness.state public

src_testbed/harness/mod.rs

@@ -0,0 +1,205 @@
+use crate::physics::{PhysicsEvents, PhysicsState};
+use rapier::math::Vector;
+use rapier::pipeline::{ChannelEventCollector, PhysicsPipeline, QueryPipeline};
+use rapier::dynamics::{
+    IntegrationParameters, JointSet, RigidBodySet,
+};
+use rapier::geometry::{
+    BroadPhase, ColliderSet, NarrowPhase,
+};
+
+// #[derive(PartialEq)]
+// pub enum RunState {
+//     Initialized,
+//     Running,
+//     Pausing,
+//     Paused,
+//     Finished,
+// }
+
+pub struct HarnessState {
+    #[cfg(feature = "parallel")]
+    pub thread_pool: rapier::rayon::ThreadPool,
+    pub timestep_id: usize,
+    // pub run_state: RunState,
+}
+
+
+pub struct Harness {
+    physics: PhysicsState,
+    max_steps: usize,
+    callbacks: Callbacks,
+    // plugins: Vec<Box<dyn HarnessPlugin>>,
+    time: f32,
+    events: PhysicsEvents,
+    event_handler: ChannelEventCollector,
+    pub state: HarnessState,
+}
+
+type Callbacks =
+Vec<Box<dyn FnMut(&mut PhysicsState, &PhysicsEvents, f32)>>;
+
+#[allow(dead_code)]
+impl Harness {
+    pub fn new_empty() -> Self {
+        #[cfg(feature = "parallel")]
+            let num_threads = num_cpus::get_physical();
+
+        #[cfg(feature = "parallel")]
+            let thread_pool = rapier::rayon::ThreadPoolBuilder::new()
+            .num_threads(num_threads)
+            .build()
+            .unwrap();
+
+        let contact_channel = crossbeam::channel::unbounded();
+        let proximity_channel = crossbeam::channel::unbounded();
+        let event_handler = ChannelEventCollector::new(proximity_channel.0, contact_channel.0);
+        let events = PhysicsEvents {
+            contact_events: contact_channel.1,
+            proximity_events: proximity_channel.1,
+        };
+        let physics = PhysicsState::new();
+        let state = HarnessState {
+            #[cfg(feature = "parallel")]
+            thread_pool,
+            timestep_id: 0,
+            // run_state: RunState::Initialized
+        };
+
+        Self {
+            physics,
+            max_steps: 1000,
+            callbacks: Vec::new(),
+            time: 0.0,
+            events,
+            event_handler,
+            state,
+        }
+    }
+
+    pub fn new(bodies: RigidBodySet, colliders: ColliderSet, joints: JointSet) -> Self {
+        let mut res = Self::new_empty();
+        res.set_world(bodies, colliders, joints);
+        res
+    }
+
+    // pub fn pause_at_next_step(&mut self) {
+    //     if self.state.run_state == RunState::Running {
+    //         self.state.run_state = RunState::Pausing
+    //     }
+    // }
+
+    pub fn set_max_steps(&mut self, max_steps: usize) {
+        self.max_steps = max_steps
+    }
+
+    pub fn integration_parameters_mut(&mut self) -> &mut IntegrationParameters {
+        &mut self.physics.integration_parameters
+    }
+
+    pub fn physics_state_mut(&mut self) -> &mut PhysicsState {
+        &mut self.physics
+    }
+
+    pub fn set_world(&mut self, bodies: RigidBodySet, colliders: ColliderSet, joints: JointSet) {
+        self.set_world_with_gravity(bodies, colliders, joints, Vector::y() * -9.81)
+    }
+
+    pub fn set_world_with_gravity(
+        &mut self,
+        bodies: RigidBodySet,
+        colliders: ColliderSet,
+        joints: JointSet,
+        gravity: Vector<f32>,
+    ) {
+        // println!("Num bodies: {}", bodies.len());
+        // println!("Num joints: {}", joints.len());
+        self.physics.gravity = gravity;
+        self.physics.bodies = bodies;
+        self.physics.colliders = colliders;
+        self.physics.joints = joints;
+        self.physics.broad_phase = BroadPhase::new();
+        self.physics.narrow_phase = NarrowPhase::new();
+        self.time = 0.0;
+        // self.state.timestep_id = 0;
+        // self.state.highlighted_body = None;
+        self.physics.query_pipeline = QueryPipeline::new();
+        self.physics.pipeline = PhysicsPipeline::new();
+        self.physics.pipeline.counters.enable();
+
+    }
+
+    // fn clear(&mut self) {
+    //     self.callbacks.clear();
+    //
+    //     for plugin in &mut self.plugins {
+    //         plugin.clear_graphics(window);
+    //     }
+    //
+    //     self.plugins.clear();
+    // }
+
+    // pub fn add_plugin(&mut self, plugin: impl TestbedPlugin + 'static) {
+    //     self.plugins.push(Box::new(plugin));
+    // }
+
+    pub fn add_callback<
+        F: FnMut(&mut PhysicsState, &PhysicsEvents, f32) + 'static,
+    >(
+        &mut self,
+        callback: F,
+    ) {
+        self.callbacks.push(Box::new(callback));
+    }
+
+    pub fn step(&mut self) {
+        #[cfg(feature = "parallel")]
+            {
+                let physics = &mut self.physics;
+                let event_handler = &self.event_handler;
+                self.state.thread_pool.install(|| {
+                    physics.pipeline.step(
+                        &physics.gravity,
+                        &physics.integration_parameters,
+                        &mut physics.broad_phase,
+                        &mut physics.narrow_phase,
+                        &mut physics.bodies,
+                        &mut physics.colliders,
+                        &mut physics.joints,
+                        None,
+                        None,
+                        event_handler,
+                    );
+                });
+            }
+
+        #[cfg(not(feature = "parallel"))]
+            self.physics.pipeline.step(
+                &self.physics.gravity,
+                &self.physics.integration_parameters,
+                &mut self.physics.broad_phase,
+                &mut self.physics.narrow_phase,
+                &mut self.physics.bodies,
+                &mut self.physics.colliders,
+                &mut self.physics.joints,
+                None,
+                None,
+                &self.event_handler,
+            );
+
+        self.physics
+            .query_pipeline
+            .update(&self.physics.bodies, &self.physics.colliders);
+
+        // for plugin in &mut self.plugins {
+        //     plugin.step(&mut self.physics)
+        // }
+    }
+
+    pub fn run(&mut self) {
+        for _ in 0..self.max_steps {
+            self.step();
+            self.state.timestep_id += 1;
+        }
+    }
+}