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Update dependencies

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This commit is contained in:
Sébastien Crozet
2023-01-15 11:59:15 +01:00
parent 56aa0f5e73
commit 9b5ccb95e7
19 changed files with 116 additions and 107 deletions
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2
CHANGELOG.md
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@@ -1,5 +1,5 @@
## Unreleased
## v0.17.0 (15 Jan. 2022)
### Added
- Add `RigidBody::set_enabled`, `RigidBody::is_enabled`, `RigidBodyBuilder::enabled` to enable/disable a rigid-body
without having to delete it. Disabling a rigid-body attached to a multibody joint isn’t supported yet.

6
crates/rapier2d-f64/Cargo.toml
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@@ -51,9 +51,9 @@ required-features = [ "dim2", "f64" ]
vec_map = { version = "0.8", optional = true }
instant = { version = "0.1", features = [ "now" ], optional = true }
num-traits = "0.2"
nalgebra = "0.31"
parry2d-f64 = "0.12"
simba = "0.7"
nalgebra = "0.32"
parry2d-f64 = "0.13"
simba = "0.8"
approx = "0.5"
rayon = { version = "1", optional = true }
crossbeam = "0.8"

6
crates/rapier2d/Cargo.toml
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@@ -51,9 +51,9 @@ required-features = [ "dim2", "f32" ]
vec_map = { version = "0.8", optional = true }
instant = { version = "0.1", features = [ "now" ], optional = true }
num-traits = "0.2"
nalgebra = "0.31"
parry2d = "0.12"
simba = "0.7"
nalgebra = "0.32"
parry2d = "0.13"
simba = "0.8"
approx = "0.5"
rayon = { version = "1", optional = true }
crossbeam = "0.8"

6
crates/rapier3d-f64/Cargo.toml
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@@ -51,9 +51,9 @@ required-features = [ "dim3", "f64" ]
vec_map = { version = "0.8", optional = true }
instant = { version = "0.1", features = [ "now" ], optional = true }
num-traits = "0.2"
nalgebra = "0.31"
parry3d-f64 = "0.12"
simba = "0.7"
nalgebra = "0.32"
parry3d-f64 = "0.13"
simba = "0.8"
approx = "0.5"
rayon = { version = "1", optional = true }
crossbeam = "0.8"

6
crates/rapier3d/Cargo.toml
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@@ -51,9 +51,9 @@ required-features = [ "dim3", "f32" ]
vec_map = { version = "0.8", optional = true }
instant = { version = "0.1", features = [ "now" ], optional = true }
num-traits = "0.2"
nalgebra = "0.31"
parry3d = "0.12"
simba = "0.7"
nalgebra = "0.32"
parry3d = "0.13"
simba = "0.8"
approx = "0.5"
rayon = { version = "1", optional = true }
crossbeam = "0.8"

10
crates/rapier_testbed2d-f64/Cargo.toml
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@@ -28,7 +28,7 @@ other-backends = [ "wrapped2d" ]
features = ["parallel", "other-backends"]
[dependencies]
nalgebra = { version = "0.31", features = [ "rand" ] }
nalgebra = { version = "0.32", features = [ "rand" ] }
rand = "0.8"
rand_pcg = "0.3"
instant = { version = "0.1", features = [ "web-sys", "now" ]}
@@ -40,17 +40,17 @@ bincode = "1"
Inflector = "0.11"
md5 = "0.7"
bevy_egui = "0.16"
bevy_ecs = "0.8"
bevy_egui = "0.18"
bevy_ecs = "0.9"
#bevy_prototype_debug_lines = "0.7"
# Dependencies for native only.
[target.'cfg(not(target_arch = "wasm32"))'.dependencies]
bevy = {version = "0.8", default-features = false, features = ["bevy_winit", "render", "x11"]}
bevy = {version = "0.9", default-features = false, features = ["bevy_winit", "render", "x11"]}
# Dependencies for WASM only.
[target.'cfg(target_arch = "wasm32")'.dependencies]
bevy = {version = "0.8", default-features = false, features = ["bevy_winit", "render"]}
bevy = {version = "0.9", default-features = false, features = ["bevy_winit", "render"]}
#bevy_webgl2 = "0.5"
[dependencies.rapier]

10
crates/rapier_testbed2d/Cargo.toml
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@@ -28,7 +28,7 @@ other-backends = [ "wrapped2d" ]
features = ["parallel", "other-backends"]
[dependencies]
nalgebra = { version = "0.31", features = [ "rand" ] }
nalgebra = { version = "0.32", features = [ "rand" ] }
rand = "0.8"
rand_pcg = "0.3"
instant = { version = "0.1", features = [ "web-sys", "now" ]}
@@ -40,17 +40,17 @@ bincode = "1"
Inflector = "0.11"
md5 = "0.7"
bevy_egui = "0.16"
bevy_ecs = "0.8"
bevy_egui = "0.18"
bevy_ecs = "0.9"
#bevy_prototype_debug_lines = "0.7"
# Dependencies for native only.
[target.'cfg(not(target_arch = "wasm32"))'.dependencies]
bevy = {version = "0.8", default-features = false, features = ["bevy_winit", "render", "x11"]}
bevy = {version = "0.9", default-features = false, features = ["bevy_winit", "render", "x11"]}
# Dependencies for WASM only.
[target.'cfg(target_arch = "wasm32")'.dependencies]
bevy = {version = "0.8", default-features = false, features = ["bevy_winit", "render"]}
bevy = {version = "0.9", default-features = false, features = ["bevy_winit", "render"]}
#bevy_webgl2 = "0.5"
[dependencies.rapier]

10
crates/rapier_testbed3d-f64/Cargo.toml
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@@ -27,7 +27,7 @@ parallel = [ "rapier/parallel", "num_cpus" ]
features = ["parallel"]
[dependencies]
nalgebra = { version = "0.31", features = [ "rand" ] }
nalgebra = { version = "0.32", features = [ "rand" ] }
rand = "0.8"
rand_pcg = "0.3"
instant = { version = "0.1", features = [ "web-sys", "now" ]}
@@ -39,17 +39,17 @@ md5 = "0.7"
Inflector = "0.11"
serde = { version = "1", features = [ "derive" ] }
bevy_egui = "0.16"
bevy_ecs = "0.8"
bevy_egui = "0.18"
bevy_ecs = "0.9"
#bevy_prototype_debug_lines = { version = "0.7", features = [ "3d" ] }
# Dependencies for native only.
[target.'cfg(not(target_arch = "wasm32"))'.dependencies]
bevy = {version = "0.8", default-features = false, features = ["bevy_winit", "render", "x11"]}
bevy = {version = "0.9", default-features = false, features = ["bevy_winit", "render", "x11"]}
# Dependencies for WASM only.
[target.'cfg(target_arch = "wasm32")'.dependencies]
bevy = {version = "0.8", default-features = false, features = ["bevy_winit", "render"]}
bevy = {version = "0.9", default-features = false, features = ["bevy_winit", "render"]}
#bevy_webgl2 = "0.5"
[dependencies.rapier]

16
crates/rapier_testbed3d/Cargo.toml
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@@ -28,32 +28,32 @@ other-backends = [ "physx", "physx-sys", "glam" ]
features = ["parallel", "other-backends"]
[dependencies]
nalgebra = { version = "0.31", features = [ "rand" ] }
nalgebra = { version = "0.32", features = [ "rand" ] }
rand = "0.8"
rand_pcg = "0.3"
instant = { version = "0.1", features = [ "web-sys", "now" ]}
bitflags = "1"
glam = { version = "0.12", optional = true }
glam = { version = "0.20", optional = true } # For Physx
num_cpus = { version = "1", optional = true }
physx = { version = "0.12", features = [ "glam" ], optional = true }
physx-sys = { version = "0.4", optional = true }
physx = { version = "0.16", features = [ "glam" ], optional = true }
physx-sys = { version = "0.8", optional = true }
crossbeam = "0.8"
bincode = "1"
md5 = "0.7"
Inflector = "0.11"
serde = { version = "1", features = [ "derive" ] }
bevy_egui = "0.16"
bevy_ecs = "0.8"
bevy_egui = "0.18"
bevy_ecs = "0.9"
#bevy_prototype_debug_lines = { version = "0.7", features = [ "3d" ] }
# Dependencies for native only.
[target.'cfg(not(target_arch = "wasm32"))'.dependencies]
bevy = {version = "0.8", default-features = false, features = ["bevy_winit", "render", "x11"]}
bevy = {version = "0.9", default-features = false, features = ["bevy_winit", "render", "x11"]}
# Dependencies for WASM only.
[target.'cfg(target_arch = "wasm32")'.dependencies]
bevy = {version = "0.8", default-features = false, features = ["bevy_winit", "render"]}
bevy = {version = "0.9", default-features = false, features = ["bevy_winit", "render"]}
#bevy_webgl2 = "0.5"
[dependencies.rapier]

30
src/dynamics/joint/multibody_joint/multibody.rs
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@@ -11,9 +11,7 @@ use crate::math::{
};
use crate::prelude::MultibodyJoint;
use crate::utils::{IndexMut2, WAngularInertia, WCross, WCrossMatrix};
use na::{
self, DMatrix, DVector, DVectorSlice, DVectorSliceMut, Dynamic, OMatrix, SMatrix, SVector, LU,
};
use na::{self, DMatrix, DVector, DVectorView, DVectorViewMut, Dyn, OMatrix, SMatrix, SVector, LU};
#[repr(C)]
#[derive(Copy, Clone, Debug, Default)]
@@ -54,7 +52,7 @@ fn concat_rb_mass_matrix(
result[(1, 1)] = mass.y;
result[(2, 2)] = mass.z;
result
.fixed_slice_mut::<ANG_DIM, ANG_DIM>(DIM, DIM)
.fixed_view_mut::<ANG_DIM, ANG_DIM>(DIM, DIM)
.copy_from(&inertia);
result
}
@@ -72,10 +70,10 @@ pub struct Multibody {
body_jacobians: Vec<Jacobian<Real>>,
// TODO: use sparse matrices?
augmented_mass: DMatrix<Real>,
inv_augmented_mass: LU<Real, Dynamic, Dynamic>,
inv_augmented_mass: LU<Real, Dyn, Dyn>,
acc_augmented_mass: DMatrix<Real>,
acc_inv_augmented_mass: LU<Real, Dynamic, Dynamic>,
acc_inv_augmented_mass: LU<Real, Dyn, Dyn>,
ndofs: usize,
pub(crate) root_is_dynamic: bool,
@@ -85,8 +83,8 @@ pub struct Multibody {
* Workspaces.
*/
workspace: MultibodyWorkspace,
coriolis_v: Vec<OMatrix<Real, Dim, Dynamic>>,
coriolis_w: Vec<OMatrix<Real, AngDim, Dynamic>>,
coriolis_v: Vec<OMatrix<Real, Dim, Dyn>>,
coriolis_w: Vec<OMatrix<Real, AngDim, Dyn>>,
i_coriolis_dt: Jacobian<Real>,
}
impl Default for Multibody {
@@ -234,7 +232,7 @@ impl Multibody {
}
/// The inverse augmented mass matrix of this multibody.
pub fn inv_augmented_mass(&self) -> &LU<Real, Dynamic, Dynamic> {
pub fn inv_augmented_mass(&self) -> &LU<Real, Dyn, Dyn> {
&self.inv_augmented_mass
}
@@ -547,11 +545,11 @@ impl Multibody {
if self.coriolis_v.len() != self.links.len() {
self.coriolis_v.resize(
self.links.len(),
OMatrix::<Real, Dim, Dynamic>::zeros(self.ndofs),
OMatrix::<Real, Dim, Dyn>::zeros(self.ndofs),
);
self.coriolis_w.resize(
self.links.len(),
OMatrix::<Real, AngDim, Dynamic>::zeros(self.ndofs),
OMatrix::<Real, AngDim, Dyn>::zeros(self.ndofs),
);
self.i_coriolis_dt = Jacobian::zeros(self.ndofs);
}
@@ -730,9 +728,9 @@ impl Multibody {
/// The generalized velocity at the multibody_joint of the given link.
#[inline]
pub(crate) fn joint_velocity(&self, link: &MultibodyLink) -> DVectorSlice<Real> {
pub(crate) fn joint_velocity(&self, link: &MultibodyLink) -> DVectorView<Real> {
let ndofs = link.joint().ndofs();
DVectorSlice::from_slice(
DVectorView::from_slice(
&self.velocities.as_slice()[link.assembly_id..link.assembly_id + ndofs],
ndofs,
)
@@ -740,19 +738,19 @@ impl Multibody {
/// The generalized accelerations of this multibodies.
#[inline]
pub fn generalized_acceleration(&self) -> DVectorSlice<Real> {
pub fn generalized_acceleration(&self) -> DVectorView<Real> {
self.accelerations.rows(0, self.ndofs)
}
/// The generalized velocities of this multibodies.
#[inline]
pub fn generalized_velocity(&self) -> DVectorSlice<Real> {
pub fn generalized_velocity(&self) -> DVectorView<Real> {
self.velocities.rows(0, self.ndofs)
}
/// The mutable generalized velocities of this multibodies.
#[inline]
pub fn generalized_velocity_mut(&mut self) -> DVectorSliceMut<Real> {
pub fn generalized_velocity_mut(&mut self) -> DVectorViewMut<Real> {
self.velocities.rows_mut(0, self.ndofs)
}

14
src/dynamics/joint/multibody_joint/multibody_joint.rs
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@@ -4,10 +4,10 @@ use crate::dynamics::{
RigidBodyVelocity,
};
use crate::math::{
Isometry, JacobianSliceMut, Real, Rotation, SpacialVector, Translation, Vector, ANG_DIM, DIM,
Isometry, JacobianViewMut, Real, Rotation, SpacialVector, Translation, Vector, ANG_DIM, DIM,
SPATIAL_DIM,
};
use na::{DVector, DVectorSliceMut};
use na::{DVector, DVectorViewMut};
#[cfg(feature = "dim3")]
use na::{UnitQuaternion, Vector3};
@@ -126,14 +126,14 @@ impl MultibodyJoint {
}
/// Sets in `out` the non-zero entries of the multibody_joint jacobian transformed by `transform`.
pub fn jacobian(&self, transform: &Rotation<Real>, out: &mut JacobianSliceMut<Real>) {
pub fn jacobian(&self, transform: &Rotation<Real>, out: &mut JacobianViewMut<Real>) {
let locked_bits = self.data.locked_axes.bits();
let mut curr_free_dof = 0;
for i in 0..DIM {
if (locked_bits & (1 << i)) == 0 {
let transformed_axis = transform * Vector::ith(i, 1.0);
out.fixed_slice_mut::<DIM, 1>(0, curr_free_dof)
out.fixed_view_mut::<DIM, 1>(0, curr_free_dof)
.copy_from(&transformed_axis);
curr_free_dof += 1;
}
@@ -153,7 +153,7 @@ impl MultibodyJoint {
{
let dof_id = (!locked_ang_bits).trailing_zeros() as usize;
let rotmat = transform.to_rotation_matrix().into_inner();
out.fixed_slice_mut::<ANG_DIM, 1>(DIM, curr_free_dof)
out.fixed_view_mut::<ANG_DIM, 1>(DIM, curr_free_dof)
.copy_from(&rotmat.column(dof_id));
}
}
@@ -163,7 +163,7 @@ impl MultibodyJoint {
#[cfg(feature = "dim3")]
3 => {
let rotmat = transform.to_rotation_matrix();
out.fixed_slice_mut::<3, 3>(3, curr_free_dof)
out.fixed_view_mut::<3, 3>(3, curr_free_dof)
.copy_from(rotmat.matrix());
}
_ => unreachable!(),
@@ -213,7 +213,7 @@ impl MultibodyJoint {
}
/// Fill `out` with the non-zero entries of a damping that can be applied by default to ensure a good stability of the multibody_joint.
pub fn default_damping(&self, out: &mut DVectorSliceMut<Real>) {
pub fn default_damping(&self, out: &mut DVectorViewMut<Real>) {
let locked_bits = self.data.locked_axes.bits();
let mut curr_free_dof = self.num_free_lin_dofs();

10
src/dynamics/solver/delta_vel.rs
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@@ -1,6 +1,6 @@
use crate::math::{AngVector, Vector, SPATIAL_DIM};
use crate::utils::WReal;
use na::{DVectorSlice, DVectorSliceMut, Scalar};
use na::{DVectorView, DVectorViewMut, Scalar};
use std::ops::{AddAssign, Sub};
#[derive(Copy, Clone, Debug, Default)]
@@ -20,12 +20,12 @@ impl<N: Scalar + Copy> DeltaVel<N> {
unsafe { std::mem::transmute(self) }
}
pub fn as_vector_slice(&self) -> DVectorSlice<N> {
DVectorSlice::from_slice(&self.as_slice()[..], SPATIAL_DIM)
pub fn as_vector_slice(&self) -> DVectorView<N> {
DVectorView::from_slice(&self.as_slice()[..], SPATIAL_DIM)
}
pub fn as_vector_slice_mut(&mut self) -> DVectorSliceMut<N> {
DVectorSliceMut::from_slice(&mut self.as_mut_slice()[..], SPATIAL_DIM)
pub fn as_vector_slice_mut(&mut self) -> DVectorViewMut<N> {
DVectorViewMut::from_slice(&mut self.as_mut_slice()[..], SPATIAL_DIM)
}
}

26
src/dynamics/solver/joint_constraint/joint_generic_velocity_constraint.rs
View File

@@ -4,7 +4,7 @@ use crate::dynamics::solver::DeltaVel;
use crate::dynamics::{GenericJoint, IntegrationParameters, JointGraphEdge, JointIndex, Multibody};
use crate::math::{Isometry, Real, DIM};
use crate::prelude::SPATIAL_DIM;
use na::{DVector, DVectorSlice, DVectorSliceMut};
use na::{DVector, DVectorView, DVectorViewMut};
#[derive(Debug, Copy, Clone)]
pub struct JointGenericVelocityConstraint {
@@ -222,7 +222,7 @@ impl JointGenericVelocityConstraint {
&self,
mj_lambdas: &'a [DeltaVel<Real>],
generic_mj_lambdas: &'a DVector<Real>,
) -> DVectorSlice<'a, Real> {
) -> DVectorView<'a, Real> {
if self.is_rigid_body1 {
mj_lambdas[self.mj_lambda1].as_vector_slice()
} else {
@@ -234,7 +234,7 @@ impl JointGenericVelocityConstraint {
&self,
mj_lambdas: &'a mut [DeltaVel<Real>],
generic_mj_lambdas: &'a mut DVector<Real>,
) -> DVectorSliceMut<'a, Real> {
) -> DVectorViewMut<'a, Real> {
if self.is_rigid_body1 {
mj_lambdas[self.mj_lambda1].as_vector_slice_mut()
} else {
@@ -246,7 +246,7 @@ impl JointGenericVelocityConstraint {
&self,
mj_lambdas: &'a [DeltaVel<Real>],
generic_mj_lambdas: &'a DVector<Real>,
) -> DVectorSlice<'a, Real> {
) -> DVectorView<'a, Real> {
if self.is_rigid_body2 {
mj_lambdas[self.mj_lambda2].as_vector_slice()
} else {
@@ -258,7 +258,7 @@ impl JointGenericVelocityConstraint {
&self,
mj_lambdas: &'a mut [DeltaVel<Real>],
generic_mj_lambdas: &'a mut DVector<Real>,
) -> DVectorSliceMut<'a, Real> {
) -> DVectorViewMut<'a, Real> {
if self.is_rigid_body2 {
mj_lambdas[self.mj_lambda2].as_vector_slice_mut()
} else {
@@ -275,11 +275,11 @@ impl JointGenericVelocityConstraint {
let jacobians = jacobians.as_slice();
let mj_lambda1 = self.mj_lambda1(mj_lambdas, generic_mj_lambdas);
let j1 = DVectorSlice::from_slice(&jacobians[self.j_id1..], self.ndofs1);
let j1 = DVectorView::from_slice(&jacobians[self.j_id1..], self.ndofs1);
let vel1 = j1.dot(&mj_lambda1);
let mj_lambda2 = self.mj_lambda2(mj_lambdas, generic_mj_lambdas);
let j2 = DVectorSlice::from_slice(&jacobians[self.j_id2..], self.ndofs2);
let j2 = DVectorView::from_slice(&jacobians[self.j_id2..], self.ndofs2);
let vel2 = j2.dot(&mj_lambda2);
let dvel = self.rhs + (vel2 - vel1);
@@ -292,11 +292,11 @@ impl JointGenericVelocityConstraint {
self.impulse = total_impulse;
let mut mj_lambda1 = self.mj_lambda1_mut(mj_lambdas, generic_mj_lambdas);
let wj1 = DVectorSlice::from_slice(&jacobians[self.wj_id1()..], self.ndofs1);
let wj1 = DVectorView::from_slice(&jacobians[self.wj_id1()..], self.ndofs1);
mj_lambda1.axpy(delta_impulse, &wj1, 1.0);
let mut mj_lambda2 = self.mj_lambda2_mut(mj_lambdas, generic_mj_lambdas);
let wj2 = DVectorSlice::from_slice(&jacobians[self.wj_id2()..], self.ndofs2);
let wj2 = DVectorView::from_slice(&jacobians[self.wj_id2()..], self.ndofs2);
mj_lambda2.axpy(-delta_impulse, &wj2, 1.0);
}
@@ -506,7 +506,7 @@ impl JointGenericVelocityGroundConstraint {
&self,
_mj_lambdas: &'a [DeltaVel<Real>],
generic_mj_lambdas: &'a DVector<Real>,
) -> DVectorSlice<'a, Real> {
) -> DVectorView<'a, Real> {
generic_mj_lambdas.rows(self.mj_lambda2, self.ndofs2)
}
@@ -514,7 +514,7 @@ impl JointGenericVelocityGroundConstraint {
&self,
_mj_lambdas: &'a mut [DeltaVel<Real>],
generic_mj_lambdas: &'a mut DVector<Real>,
) -> DVectorSliceMut<'a, Real> {
) -> DVectorViewMut<'a, Real> {
generic_mj_lambdas.rows_mut(self.mj_lambda2, self.ndofs2)
}
@@ -527,7 +527,7 @@ impl JointGenericVelocityGroundConstraint {
let jacobians = jacobians.as_slice();
let mj_lambda2 = self.mj_lambda2(mj_lambdas, generic_mj_lambdas);
let j2 = DVectorSlice::from_slice(&jacobians[self.j_id2..], self.ndofs2);
let j2 = DVectorView::from_slice(&jacobians[self.j_id2..], self.ndofs2);
let vel2 = j2.dot(&mj_lambda2);
let dvel = self.rhs + vel2;
@@ -540,7 +540,7 @@ impl JointGenericVelocityGroundConstraint {
self.impulse = total_impulse;
let mut mj_lambda2 = self.mj_lambda2_mut(mj_lambdas, generic_mj_lambdas);
let wj2 = DVectorSlice::from_slice(&jacobians[self.wj_id2()..], self.ndofs2);
let wj2 = DVectorView::from_slice(&jacobians[self.wj_id2()..], self.ndofs2);
mj_lambda2.axpy(-delta_impulse, &wj2, 1.0);
}

8
src/lib.rs
View File

@@ -157,11 +157,11 @@ pub mod math {
/// The type of a slice of the constraint Jacobian in twist coordinates.
#[cfg(feature = "dim2")]
pub type JacobianSlice<'a, N> = na::MatrixSlice3xX<'a, N>;
pub type JacobianView<'a, N> = na::MatrixView3xX<'a, N>;
/// The type of a mutable slice of the constraint Jacobian in twist coordinates.
#[cfg(feature = "dim2")]
pub type JacobianSliceMut<'a, N> = na::MatrixSliceMut3xX<'a, N>;
pub type JacobianViewMut<'a, N> = na::MatrixViewMut3xX<'a, N>;
/// The maximum number of possible rotations and translations of a rigid body.
#[cfg(feature = "dim2")]
@@ -186,11 +186,11 @@ pub mod math {
/// The type of a slice of the constraint Jacobian in twist coordinates.
#[cfg(feature = "dim3")]
pub type JacobianSlice<'a, N> = na::MatrixSlice6xX<'a, N>;
pub type JacobianView<'a, N> = na::MatrixView6xX<'a, N>;
/// The type of a mutable slice of the constraint Jacobian in twist coordinates.
#[cfg(feature = "dim3")]
pub type JacobianSliceMut<'a, N> = na::MatrixSliceMut6xX<'a, N>;
pub type JacobianViewMut<'a, N> = na::MatrixViewMut6xX<'a, N>;
/// The maximum number of possible rotations and translations of a rigid body.
#[cfg(feature = "dim3")]

11
src_testbed/debug_render.rs
View File

@@ -6,6 +6,9 @@ use rapier::pipeline::{
DebugRenderBackend, DebugRenderMode, DebugRenderObject, DebugRenderPipeline,
};
#[derive(Resource)]
pub struct DebugRenderPipelineResource(pub DebugRenderPipeline);
pub struct RapierDebugRenderPlugin {
depth_test: bool,
}
@@ -23,10 +26,10 @@ impl Plugin for RapierDebugRenderPlugin {
app.add_plugin(crate::lines::DebugLinesPlugin::with_depth_test(
self.depth_test,
))
.insert_resource(DebugRenderPipeline::new(
.insert_resource(DebugRenderPipelineResource(DebugRenderPipeline::new(
Default::default(),
!DebugRenderMode::RIGID_BODY_AXES & !DebugRenderMode::COLLIDER_AABBS,
))
)))
.add_system_to_stage(CoreStage::Update, debug_render_scene);
}
}
@@ -57,12 +60,12 @@ impl<'a> DebugRenderBackend for BevyLinesRenderBackend<'a> {
}
fn debug_render_scene(
mut pipeline: ResMut<DebugRenderPipeline>,
mut pipeline: ResMut<DebugRenderPipelineResource>,
harness: NonSend<Harness>,
mut lines: ResMut<DebugLines>,
) {
let mut backend = BevyLinesRenderBackend { lines: &mut *lines };
pipeline.render(
pipeline.0.render(
&mut backend,
&harness.physics.bodies,
&harness.physics.colliders,

3
src_testbed/lines/mod.rs
View File

@@ -73,6 +73,7 @@ mod dim {
pub(crate) const DEBUG_LINES_SHADER_HANDLE: HandleUntyped =
HandleUntyped::weak_from_u64(Shader::TYPE_UUID, 17477439189930443325);
#[derive(Resource)]
pub(crate) struct DebugLinesConfig {
depth_test: bool,
}
@@ -275,7 +276,7 @@ pub(crate) struct RenderDebugLinesMesh;
/// );
/// }
/// ```
#[derive(Default)]
#[derive(Default, Resource)]
pub struct DebugLines {
pub positions: Vec<[f32; 3]>,
//pub colors: Vec<[f32; 4]>,

2
src_testbed/lines/render_dim.rs
View File

@@ -26,6 +26,7 @@ pub mod r3d {
use crate::lines::{DebugLinesConfig, RenderDebugLinesMesh, DEBUG_LINES_SHADER_HANDLE};
#[derive(Resource)]
pub(crate) struct DebugLinePipeline {
mesh_pipeline: MeshPipeline,
shader: Handle<Shader>,
@@ -208,6 +209,7 @@ pub mod r2d {
use crate::lines::{RenderDebugLinesMesh, DEBUG_LINES_SHADER_HANDLE};
#[derive(Resource)]
pub(crate) struct DebugLinePipeline {
mesh_pipeline: Mesh2dPipeline,
shader: Handle<Shader>,

4
src_testbed/objects/node.rs
View File

@@ -44,7 +44,7 @@ impl EntityWithGraphics {
color: Point3<f32>,
sensor: bool,
) -> Self {
let entity = commands.spawn().id();
let entity = commands.spawn_empty().id();
let scale = collider_mesh_scale(shape);
let mesh = prefab_meshs
@@ -108,7 +108,7 @@ impl EntityWithGraphics {
};
let mut entity_commands = commands.entity(entity);
entity_commands.insert_bundle(bundle);
entity_commands.insert(bundle);
if sensor {
entity_commands.insert(Wireframe);

43
src_testbed/testbed.rs
View File

@@ -97,6 +97,7 @@ bitflags! {
}
}
#[derive(Resource)]
pub struct TestbedState {
pub running: RunMode,
pub draw_colls: bool,
@@ -122,6 +123,7 @@ pub struct TestbedState {
camera_locked: bool, // Used so that the camera can remain the same before and after we change backend or press the restart button.
}
#[derive(Resource)]
struct SceneBuilders(Vec<(&'static str, fn(&mut Testbed))>);
#[cfg(feature = "other-backends")]
@@ -369,23 +371,26 @@ impl TestbedApp {
"Rapier: 3D demos".to_string()
};
let mut app = App::new();
let window_plugin = WindowPlugin {
window: WindowDescriptor {
title,
..Default::default()
},
..Default::default()
};
app.insert_resource(WindowDescriptor {
title,
..Default::default()
})
.insert_resource(ClearColor(Color::rgb(0.15, 0.15, 0.15)))
.insert_resource(Msaa { samples: 4 })
.insert_resource(AmbientLight {
brightness: 0.3,
..Default::default()
})
.add_plugins(DefaultPlugins)
.add_plugin(OrbitCameraPlugin)
.add_plugin(WireframePlugin)
.add_plugin(bevy_egui::EguiPlugin)
.add_plugin(debug_render::RapierDebugRenderPlugin::default());
let mut app = App::new();
app.insert_resource(ClearColor(Color::rgb(0.15, 0.15, 0.15)))
.insert_resource(Msaa { samples: 4 })
.insert_resource(AmbientLight {
brightness: 0.3,
..Default::default()
})
.add_plugins(DefaultPlugins.set(window_plugin))
.add_plugin(OrbitCameraPlugin)
.add_plugin(WireframePlugin)
.add_plugin(bevy_egui::EguiPlugin)
.add_plugin(debug_render::RapierDebugRenderPlugin::default());
#[cfg(target_arch = "wasm32")]
app.add_plugin(bevy_webgl2::WebGL2Plugin);
@@ -995,7 +1000,7 @@ fn draw_contacts(_nf: &NarrowPhase, _colliders: &ColliderSet) {
fn setup_graphics_environment(mut commands: Commands) {
const HALF_SIZE: f32 = 100.0;
commands.spawn_bundle(DirectionalLightBundle {
commands.spawn(DirectionalLightBundle {
directional_light: DirectionalLight {
illuminance: 10000.0,
// Configure the projection to better fit the scene
@@ -1020,7 +1025,7 @@ fn setup_graphics_environment(mut commands: Commands) {
});
commands
.spawn_bundle(Camera3dBundle {
.spawn(Camera3dBundle {
transform: Transform::from_matrix(
Mat4::look_at_rh(
Vec3::new(-30.0, 30.0, 100.0),
@@ -1053,7 +1058,7 @@ fn setup_graphics_environment(mut commands: Commands) {
// ..Default::default()
// });
commands
.spawn_bundle(Camera2dBundle {
.spawn(Camera2dBundle {
transform: Transform {
translation: Vec3::new(0.0, 0.0, 0.0),
rotation: Quat::IDENTITY,