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Fix compilation in 2D.

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This commit is contained in:
Crozet Sébastien
2021-01-22 16:43:16 +01:00
parent 99c2184e13
commit b779eb261e
6 changed files with 33 additions and 25 deletions
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2
src/dynamics/solver/parallel_island_solver.rs
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@@ -251,7 +251,7 @@ impl ParallelIslandSolver {
let dvel = mj_lambdas[rb.active_set_offset];
rb.linvel += dvel.linear;
rb.angvel += rb.effective_world_inv_inertia_sqrt.transform_vector(dvel.angular);
rb.integrate(params.dt));
rb.integrate(params.dt);
positions[rb.active_set_offset] = rb.position;
}
}

2
src/geometry/collider.rs
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@@ -4,8 +4,6 @@ use crate::geometry::{ColliderShape, InteractionGroups};
use crate::math::{AngVector, Isometry, Point, Real, Rotation, Vector, DIM};
use cdl::bounding_volume::AABB;
use cdl::shape::Shape;
#[cfg(feature = "dim2")]
use cdl::shape::{ConvexPolygon, RoundConvexPolygon};
bitflags::bitflags! {
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]

16
src/geometry/collider_shape.rs
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@@ -154,6 +154,14 @@ impl ColliderShape {
let mut parts = vec![];
let decomp = VHACD::decompose(params, &vertices, &indices, true);
#[cfg(feature = "dim2")]
for vertices in decomp.compute_exact_convex_hulls(&vertices, &indices) {
if let Some(convex) = Self::convex_polyline(vertices) {
parts.push((Isometry::identity(), convex));
}
}
#[cfg(feature = "dim3")]
for (vertices, indices) in decomp.compute_exact_convex_hulls(&vertices, &indices) {
if let Some(convex) = Self::convex_mesh(vertices, &indices) {
parts.push((Isometry::identity(), convex));
@@ -174,6 +182,14 @@ impl ColliderShape {
let mut parts = vec![];
let decomp = VHACD::decompose(params, &vertices, &indices, true);
#[cfg(feature = "dim2")]
for vertices in decomp.compute_exact_convex_hulls(&vertices, &indices) {
if let Some(convex) = Self::round_convex_polyline(vertices, border_radius) {
parts.push((Isometry::identity(), convex));
}
}
#[cfg(feature = "dim3")]
for (vertices, indices) in decomp.compute_exact_convex_hulls(&vertices, &indices) {
if let Some(convex) = Self::round_convex_mesh(vertices, &indices, border_radius) {
parts.push((Isometry::identity(), convex));

6
src_testbed/harness/mod.rs
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@@ -70,12 +70,6 @@ impl Harness {
#[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);

22
src_testbed/testbed.rs
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@@ -269,10 +269,10 @@ impl Testbed {
{
if self.state.selected_backend == BOX2D_BACKEND {
self.box2d = Some(Box2dWorld::from_rapier(
physics.gravity,
&physics.bodies,
&physics.colliders,
&physics.joints,
self.harness.physics.gravity,
&self.harness.physics.bodies,
&self.harness.physics.colliders,
&self.harness.physics.joints,
));
}
}
@@ -483,7 +483,7 @@ impl Testbed {
if self.state.selected_backend == BOX2D_BACKEND {
self.box2d.as_mut().unwrap().step(
&mut self.harness.physics.pipeline.counters,
&physics.integration_parameters,
&self.harness.physics.integration_parameters,
);
self.box2d.as_mut().unwrap().sync(
&mut self.harness.physics.bodies,
@@ -1270,13 +1270,13 @@ impl State for Testbed {
{
if self.state.selected_backend == BOX2D_BACKEND {
self.box2d.as_mut().unwrap().step(
&mut physics.pipeline.counters,
&physics.integration_parameters,
&mut self.harness.physics.pipeline.counters,
&self.harness.physics.integration_parameters,
);
self.box2d.as_mut().unwrap().sync(
&mut self.harness.physics.bodies,
&mut self.harness.physics.colliders,
);
self.box2d
.as_mut()
.unwrap()
.sync(&mut physics.bodies, &mut physics.colliders);
}
}

10
src_testbed/ui.rs
View File

@@ -256,7 +256,7 @@ impl TestbedUi {
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_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;
@@ -307,10 +307,10 @@ impl TestbedUi {
.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)
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();
}