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Move 2D benchmarks into their own directory/crate.

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This commit is contained in:
Crozet Sébastien
2020-09-28 10:19:49 +02:00
parent 0829ed10ac
commit e7466e2f69
16 changed files with 256 additions and 30 deletions
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19
examples2d/all_examples2.rs
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@@ -11,18 +11,12 @@ use rapier_testbed2d::Testbed;
use std::cmp::Ordering;
mod add_remove2;
mod balls2;
mod boxes2;
mod capsules2;
mod debug_box_ball2;
mod heightfield2;
mod joints2;
mod kinematic2;
mod platform2;
mod pyramid2;
mod sensor2;
mod stress_joint_ball2;
mod stress_joint_fixed2;
mod stress_joint_prismatic2;
fn demo_name_from_command_line() -> Option<String> {
let mut args = std::env::args();
@@ -58,21 +52,12 @@ pub fn main() {
let mut builders: Vec<(_, fn(&mut Testbed))> = vec![
("Add remove", add_remove2::init_world),
("Balls", balls2::init_world),
("Boxes", boxes2::init_world),
("Capsules", capsules2::init_world),
("Heightfield", heightfield2::init_world),
("Joints", joints2::init_world),
("Kinematic", kinematic2::init_world),
("Platform", platform2::init_world),
("Pyramid", pyramid2::init_world),
("Sensor", sensor2::init_world),
("(Debug) box ball", debug_box_ball2::init_world),
("(Stress test) joint ball", stress_joint_ball2::init_world),
("(Stress test) joint fixed", stress_joint_fixed2::init_world),
(
"(Stress test) joint prismatic",
stress_joint_prismatic2::init_world,
),
];
// Lexicographic sort, with stress tests moved at the end of the list.

68
examples2d/balls2.rs
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@@ -1,68 +0,0 @@
use na::Point2;
use rapier2d::dynamics::{BodyStatus, JointSet, RigidBodyBuilder, RigidBodySet};
use rapier2d::geometry::{ColliderBuilder, ColliderSet};
use rapier_testbed2d::Testbed;
pub fn init_world(testbed: &mut Testbed) {
/*
* World
*/
let mut bodies = RigidBodySet::new();
let mut colliders = ColliderSet::new();
let joints = JointSet::new();
/*
* Ground
*/
let _ground_size = 25.0;
/*
let ground_shape = ShapeHandle::new(Cuboid::new(Vector2::new(ground_size, 1.0)));
let ground_handle = bodies.insert(Ground::new());
let co = ColliderDesc::new(ground_shape)
.translation(-Vector2::y())
.build(BodyPartHandle(ground_handle, 0));
colliders.insert(co);
*/
/*
* Create the balls
*/
let num = 50;
let rad = 1.0;
let shiftx = rad * 2.5;
let shifty = rad * 2.0;
let centerx = shiftx * (num as f32) / 2.0;
let centery = shifty / 2.0;
for i in 0..num {
for j in 0usize..num * 5 {
let x = i as f32 * shiftx - centerx;
let y = j as f32 * shifty + centery;
let status = if j == 0 {
BodyStatus::Static
} else {
BodyStatus::Dynamic
};
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new(status).translation(x, y).build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::ball(rad).build();
colliders.insert(collider, handle, &mut bodies);
}
}
/*
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point2::new(0.0, 2.5), 5.0);
}
fn main() {
let testbed = Testbed::from_builders(0, vec![("Balls", init_world)]);
testbed.run()
}

73
examples2d/boxes2.rs
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@@ -1,73 +0,0 @@
use na::Point2;
use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier2d::geometry::{ColliderBuilder, ColliderSet};
use rapier_testbed2d::Testbed;
pub fn init_world(testbed: &mut Testbed) {
/*
* World
*/
let mut bodies = RigidBodySet::new();
let mut colliders = ColliderSet::new();
let joints = JointSet::new();
/*
* Ground
*/
let ground_size = 25.0;
let rigid_body = RigidBodyBuilder::new_static().build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, 1.2).build();
colliders.insert(collider, handle, &mut bodies);
let rigid_body = RigidBodyBuilder::new_static()
.rotation(std::f32::consts::FRAC_PI_2)
.translation(ground_size, ground_size * 2.0)
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size * 2.0, 1.2).build();
colliders.insert(collider, handle, &mut bodies);
let rigid_body = RigidBodyBuilder::new_static()
.rotation(std::f32::consts::FRAC_PI_2)
.translation(-ground_size, ground_size * 2.0)
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size * 2.0, 1.2).build();
colliders.insert(collider, handle, &mut bodies);
/*
* Create the cubes
*/
let num = 26;
let rad = 0.5;
let shift = rad * 2.0;
let centerx = shift * (num as f32) / 2.0;
let centery = shift / 2.0;
for i in 0..num {
for j in 0usize..num * 5 {
let x = i as f32 * shift - centerx;
let y = j as f32 * shift + centery + 2.0;
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y).build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad, rad).build();
colliders.insert(collider, handle, &mut bodies);
}
}
/*
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point2::new(0.0, 50.0), 10.0);
}
fn main() {
let testbed = Testbed::from_builders(0, vec![("Balls", init_world)]);
testbed.run()
}

74
examples2d/capsules2.rs
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@@ -1,74 +0,0 @@
use na::Point2;
use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier2d::geometry::{ColliderBuilder, ColliderSet};
use rapier_testbed2d::Testbed;
pub fn init_world(testbed: &mut Testbed) {
/*
* World
*/
let mut bodies = RigidBodySet::new();
let mut colliders = ColliderSet::new();
let joints = JointSet::new();
/*
* Ground
*/
let ground_size = 25.0;
let rigid_body = RigidBodyBuilder::new_static().build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, 1.2).build();
colliders.insert(collider, handle, &mut bodies);
let rigid_body = RigidBodyBuilder::new_static()
.rotation(std::f32::consts::FRAC_PI_2)
.translation(ground_size, ground_size * 4.0)
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size * 4.0, 1.2).build();
colliders.insert(collider, handle, &mut bodies);
let rigid_body = RigidBodyBuilder::new_static()
.rotation(std::f32::consts::FRAC_PI_2)
.translation(-ground_size, ground_size * 4.0)
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size * 4.0, 1.2).build();
colliders.insert(collider, handle, &mut bodies);
/*
* Create the cubes
*/
let num = 26;
let rad = 0.5;
let shift = rad * 2.0;
let shifty = rad * 5.0;
let centerx = shift * (num as f32) / 2.0;
let centery = shift / 2.0;
for i in 0..num {
for j in 0usize..num * 5 {
let x = i as f32 * shift - centerx;
let y = j as f32 * shifty + centery + 3.0;
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y).build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::capsule_y(rad * 1.5, rad).build();
colliders.insert(collider, handle, &mut bodies);
}
}
/*
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point2::new(0.0, 50.0), 10.0);
}
fn main() {
let testbed = Testbed::from_builders(0, vec![("Balls", init_world)]);
testbed.run()
}

8
examples2d/heightfield2.rs
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@@ -19,7 +19,7 @@ pub fn init_world(testbed: &mut Testbed) {
let heights = DVector::from_fn(nsubdivs + 1, |i, _| {
if i == 0 || i == nsubdivs {
80.0
8.0
} else {
(i as f32 * ground_size.x / (nsubdivs as f32)).cos() * 2.0
}
@@ -33,7 +33,7 @@ pub fn init_world(testbed: &mut Testbed) {
/*
* Create the cubes
*/
let num = 26;
let num = 20;
let rad = 0.5;
let shift = rad * 2.0;
@@ -41,7 +41,7 @@ pub fn init_world(testbed: &mut Testbed) {
let centery = shift / 2.0;
for i in 0..num {
for j in 0usize..num * 5 {
for j in 0usize..num {
let x = i as f32 * shift - centerx;
let y = j as f32 * shift + centery + 3.0;
@@ -63,7 +63,7 @@ pub fn init_world(testbed: &mut Testbed) {
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point2::new(0.0, 50.0), 10.0);
testbed.look_at(Point2::new(0.0, 0.0), 10.0);
}
fn main() {

8
examples2d/joints2.rs
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@@ -19,8 +19,8 @@ pub fn init_world(testbed: &mut Testbed) {
// in order to be able to compare rapier with Box2D,
// we set it to 0.4.
let rad = 0.4;
let numi = 100; // Num vertical nodes.
let numk = 100; // Num horizontal nodes.
let numi = 10; // Num vertical nodes.
let numk = 10; // Num horizontal nodes.
let shift = 1.0;
let mut body_handles = Vec::new();
@@ -30,7 +30,7 @@ pub fn init_world(testbed: &mut Testbed) {
let fk = k as f32;
let fi = i as f32;
let status = if i == 0 && (k % 4 == 0 || k == numk - 1) {
let status = if i == 0 && k == 0 {
BodyStatus::Static
} else {
BodyStatus::Dynamic
@@ -66,7 +66,7 @@ pub fn init_world(testbed: &mut Testbed) {
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point2::new(numk as f32 * rad, numi as f32 * -rad), 5.0);
testbed.look_at(Point2::new(numk as f32 * rad, numi as f32 * -rad), 20.0);
}
fn main() {

2
examples2d/kinematic2.rs → examples2d/platform2.rs
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@@ -35,7 +35,7 @@ pub fn init_world(testbed: &mut Testbed) {
let centery = shift / 2.0 + 3.04;
for i in 0usize..num {
for j in 0usize..num * 50 {
for j in 0usize..num {
let x = i as f32 * shift - centerx;
let y = j as f32 * shift + centery;

6
examples2d/pyramid2.rs
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@@ -14,7 +14,7 @@ pub fn init_world(testbed: &mut Testbed) {
/*
* Ground
*/
let ground_size = 100.0;
let ground_size = 10.0;
let ground_thickness = 1.0;
let rigid_body = RigidBodyBuilder::new_static().build();
@@ -25,7 +25,7 @@ pub fn init_world(testbed: &mut Testbed) {
/*
* Create the cubes
*/
let num = 100;
let num = 10;
let rad = 0.5;
let shift = rad * 2.0;
@@ -51,7 +51,7 @@ pub fn init_world(testbed: &mut Testbed) {
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point2::new(0.0, 2.5), 5.0);
testbed.look_at(Point2::new(0.0, 2.5), 20.0);
}
fn main() {

72
examples2d/stress_joint_ball2.rs
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@@ -1,72 +0,0 @@
use na::Point2;
use rapier2d::dynamics::{BallJoint, BodyStatus, JointSet, RigidBodyBuilder, RigidBodySet};
use rapier2d::geometry::{ColliderBuilder, ColliderSet};
use rapier_testbed2d::Testbed;
pub fn init_world(testbed: &mut Testbed) {
/*
* World
*/
let mut bodies = RigidBodySet::new();
let mut colliders = ColliderSet::new();
let mut joints = JointSet::new();
/*
* Create the balls
*/
// Build the rigid body.
let rad = 0.4;
let numi = 100; // Num vertical nodes.
let numk = 100; // Num horizontal nodes.
let shift = 1.0;
let mut body_handles = Vec::new();
for k in 0..numk {
for i in 0..numi {
let fk = k as f32;
let fi = i as f32;
let status = if k >= numk / 2 - 3 && k <= numk / 2 + 3 && i == 0 {
BodyStatus::Static
} else {
BodyStatus::Dynamic
};
let rigid_body = RigidBodyBuilder::new(status)
.translation(fk * shift, -fi * shift)
.build();
let child_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::ball(rad).build();
colliders.insert(collider, child_handle, &mut bodies);
// Vertical joint.
if i > 0 {
let parent_handle = *body_handles.last().unwrap();
let joint = BallJoint::new(Point2::origin(), Point2::new(0.0, shift));
joints.insert(&mut bodies, parent_handle, child_handle, joint);
}
// Horizontal joint.
if k > 0 {
let parent_index = body_handles.len() - numi;
let parent_handle = body_handles[parent_index];
let joint = BallJoint::new(Point2::origin(), Point2::new(-shift, 0.0));
joints.insert(&mut bodies, parent_handle, child_handle, joint);
}
body_handles.push(child_handle);
}
}
/*
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point2::new(numk as f32 * rad, numi as f32 * -rad), 5.0);
}
fn main() {
let testbed = Testbed::from_builders(0, vec![("Joints", init_world)]);
testbed.run()
}

85
examples2d/stress_joint_fixed2.rs
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@@ -1,85 +0,0 @@
use na::{Isometry2, Point2};
use rapier2d::dynamics::{BodyStatus, FixedJoint, JointSet, RigidBodyBuilder, RigidBodySet};
use rapier2d::geometry::{ColliderBuilder, ColliderSet};
use rapier_testbed2d::Testbed;
pub fn init_world(testbed: &mut Testbed) {
/*
* World
*/
let mut bodies = RigidBodySet::new();
let mut colliders = ColliderSet::new();
let mut joints = JointSet::new();
/*
* Create the balls
*/
// Build the rigid body.
let rad = 0.4;
let num = 30; // Num vertical nodes.
let shift = 1.0;
let mut body_handles = Vec::new();
for xx in 0..4 {
let x = xx as f32 * shift * (num as f32 + 2.0);
for yy in 0..4 {
let y = yy as f32 * shift * (num as f32 + 4.0);
for k in 0..num {
for i in 0..num {
let fk = k as f32;
let fi = i as f32;
let status = if k == 0 {
BodyStatus::Static
} else {
BodyStatus::Dynamic
};
let rigid_body = RigidBodyBuilder::new(status)
.translation(x + fk * shift, y - fi * shift)
.build();
let child_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::ball(rad).build();
colliders.insert(collider, child_handle, &mut bodies);
// Vertical joint.
if i > 0 {
let parent_handle = *body_handles.last().unwrap();
let joint = FixedJoint::new(
Isometry2::identity(),
Isometry2::translation(0.0, shift),
);
joints.insert(&mut bodies, parent_handle, child_handle, joint);
}
// Horizontal joint.
if k > 0 {
let parent_index = body_handles.len() - num;
let parent_handle = body_handles[parent_index];
let joint = FixedJoint::new(
Isometry2::identity(),
Isometry2::translation(-shift, 0.0),
);
joints.insert(&mut bodies, parent_handle, child_handle, joint);
}
body_handles.push(child_handle);
}
}
}
}
/*
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point2::new(50.0, 50.0), 5.0);
}
fn main() {
let testbed = Testbed::from_builders(0, vec![("Joints", init_world)]);
testbed.run()
}

69
examples2d/stress_joint_prismatic2.rs
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@@ -1,69 +0,0 @@
use na::{Point2, Unit, Vector2};
use rapier2d::dynamics::{JointSet, PrismaticJoint, RigidBodyBuilder, RigidBodySet};
use rapier2d::geometry::{ColliderBuilder, ColliderSet};
use rapier_testbed2d::Testbed;
pub fn init_world(testbed: &mut Testbed) {
/*
* World
*/
let mut bodies = RigidBodySet::new();
let mut colliders = ColliderSet::new();
let mut joints = JointSet::new();
/*
* Create the balls
*/
// Build the rigid body.
let rad = 0.4;
let num = 10;
let shift = 1.0;
for l in 0..25 {
let y = l as f32 * shift * (num as f32 + 2.0) * 2.0;
for j in 0..50 {
let x = j as f32 * shift * 4.0;
let ground = RigidBodyBuilder::new_static().translation(x, y).build();
let mut curr_parent = bodies.insert(ground);
let collider = ColliderBuilder::cuboid(rad, rad).build();
colliders.insert(collider, curr_parent, &mut bodies);
for i in 0..num {
let y = y - (i + 1) as f32 * shift;
let density = 1.0;
let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y).build();
let curr_child = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad, rad).density(density).build();
colliders.insert(collider, curr_child, &mut bodies);
let axis = if i % 2 == 0 {
Unit::new_normalize(Vector2::new(1.0, 1.0))
} else {
Unit::new_normalize(Vector2::new(-1.0, 1.0))
};
let mut prism =
PrismaticJoint::new(Point2::origin(), axis, Point2::new(0.0, shift), axis);
prism.limits_enabled = true;
prism.limits[0] = -1.5;
prism.limits[1] = 1.5;
joints.insert(&mut bodies, curr_parent, curr_child, prism);
curr_parent = curr_child;
}
}
}
/*
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point2::new(80.0, 80.0), 15.0);
}
fn main() {
let testbed = Testbed::from_builders(0, vec![("Joints", init_world)]);
testbed.run()
}