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Implement multibody joints and the new solver

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This commit is contained in:
Sébastien Crozet
2022-01-02 14:47:40 +01:00
parent b45d4b5ac2
commit f74b8401ad
182 changed files with 9871 additions and 12645 deletions
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84
src_testbed/ui.rs
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@@ -1,7 +1,10 @@
use rapier::counters::Counters;
use crate::harness::Harness;
use crate::testbed::{RunMode, TestbedActionFlags, TestbedState, TestbedStateFlags};
use crate::testbed::{
RunMode, TestbedActionFlags, TestbedState, TestbedStateFlags, PHYSX_BACKEND_PATCH_FRICTION,
PHYSX_BACKEND_TWO_FRICTION_DIR,
};
use crate::PhysicsState;
use bevy_egui::egui::Slider;
@@ -10,8 +13,6 @@ use bevy_egui::{egui, EguiContext};
pub fn update_ui(ui_context: &EguiContext, state: &mut TestbedState, harness: &mut Harness) {
egui::Window::new("Parameters").show(ui_context.ctx(), |ui| {
if state.backend_names.len() > 1 && !state.example_names.is_empty() {
#[cfg(all(feature = "dim3", feature = "other-backends"))]
let prev_selected_backend = state.selected_backend;
let mut changed = false;
egui::ComboBox::from_label("backend")
.width(150.0)
@@ -29,30 +30,6 @@ pub fn update_ui(ui_context: &EguiContext, state: &mut TestbedState, harness: &m
state
.action_flags
.set(TestbedActionFlags::BACKEND_CHANGED, true);
#[cfg(all(feature = "dim3", feature = "other-backends"))]
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(prev_selected_backend))
|| (!is_physx(state.selected_backend) && is_physx(prev_selected_backend))
{
// PhysX defaults (4 position iterations, 1 velocity) are the
// opposite of rapier's (4 velocity iterations, 1 position).
std::mem::swap(
&mut harness
.physics
.integration_parameters
.max_position_iterations,
&mut harness
.physics
.integration_parameters
.max_velocity_iterations,
);
}
}
ui.separator();
@@ -113,14 +90,47 @@ pub fn update_ui(ui_context: &EguiContext, state: &mut TestbedState, harness: &m
});
let integration_parameters = &mut harness.physics.integration_parameters;
ui.add(
Slider::new(&mut integration_parameters.max_velocity_iterations, 0..=200)
.text("vels. iters."),
);
ui.add(
Slider::new(&mut integration_parameters.max_position_iterations, 0..=200)
.text("pos. iters."),
ui.checkbox(
&mut integration_parameters.interleave_restitution_and_friction_resolution,
"interleave friction resolution",
);
if state.selected_backend == PHYSX_BACKEND_PATCH_FRICTION
|| state.selected_backend == PHYSX_BACKEND_TWO_FRICTION_DIR
{
ui.add(
Slider::new(&mut integration_parameters.max_velocity_iterations, 0..=200)
.text("pos. iters."),
);
ui.add(
Slider::new(
&mut integration_parameters.max_stabilization_iterations,
0..=200,
)
.text("vel. iters."),
);
} else {
ui.add(
Slider::new(&mut integration_parameters.max_velocity_iterations, 0..=200)
.text("vel. rest. iters."),
);
ui.add(
Slider::new(
&mut integration_parameters.max_velocity_friction_iterations,
0..=200,
)
.text("vel. frict. iters."),
);
ui.add(
Slider::new(
&mut integration_parameters.max_stabilization_iterations,
0..=200,
)
.text("vel. stab. iters."),
);
}
#[cfg(feature = "parallel")]
{
ui.add(
@@ -135,10 +145,6 @@ pub fn update_ui(ui_context: &EguiContext, state: &mut TestbedState, harness: &m
Slider::new(&mut integration_parameters.min_island_size, 1..=10_000)
.text("min island size"),
);
ui.add(
Slider::new(&mut integration_parameters.warmstart_coeff, 0.0..=1.0)
.text("warmstart coeff"),
);
let mut frequency = integration_parameters.inv_dt().round() as u32;
ui.add(Slider::new(&mut frequency, 0..=240).text("frequency (Hz)"));
integration_parameters.set_inv_dt(frequency as f32);
@@ -247,7 +253,7 @@ fn serialization_string(timestep_id: usize, physics: &PhysicsState) -> String {
let cs = bincode::serialize(&physics.colliders).unwrap();
// println!("cs: {}", instant::now() - t);
// let t = instant::now();
let js = bincode::serialize(&physics.joints).unwrap();
let js = bincode::serialize(&physics.impulse_joints).unwrap();
// println!("js: {}", instant::now() - t);
let serialization_time = instant::now() - t;
let hash_bf = md5::compute(&bf);