95bd6fcfeb
* feat: switch to the new Bvh from parry for the broad-phase * chore: cargo fmt + update testbed * chore: remove the multi-grid SAP broad-phase * fix soft-ccd handling in broad-phase * Fix contact cleanup in broad-phase after collider removal * chore: clippy fixes * fix CCD regression * chore: update changelog * fix build with the parallel feature enabled * chore: remove the now useless broad-phase proxy index from colliders * fix tests
109 lines
3.0 KiB
Rust
109 lines
3.0 KiB
Rust
#![allow(dead_code)]
|
|
|
|
#[cfg(target_arch = "wasm32")]
|
|
use wasm_bindgen::prelude::*;
|
|
|
|
use inflector::Inflector;
|
|
|
|
use rapier_testbed3d::{Testbed, TestbedApp};
|
|
use std::cmp::Ordering;
|
|
|
|
mod balls3;
|
|
mod boxes3;
|
|
mod capsules3;
|
|
mod ccd3;
|
|
mod compound3;
|
|
mod convex_polyhedron3;
|
|
mod heightfield3;
|
|
mod joint_ball3;
|
|
mod joint_fixed3;
|
|
mod joint_prismatic3;
|
|
mod joint_revolute3;
|
|
mod keva3;
|
|
mod many_kinematics3;
|
|
mod many_pyramids3;
|
|
mod many_sleep3;
|
|
mod many_static3;
|
|
mod pyramid3;
|
|
mod ray_cast3;
|
|
mod stacks3;
|
|
mod trimesh3;
|
|
|
|
enum Command {
|
|
Run(String),
|
|
List,
|
|
RunAll,
|
|
}
|
|
|
|
fn parse_command_line() -> Command {
|
|
let mut args = std::env::args();
|
|
|
|
while let Some(arg) = args.next() {
|
|
if &arg[..] == "--example" {
|
|
return Command::Run(args.next().unwrap_or_default());
|
|
} else if &arg[..] == "--list" {
|
|
return Command::List;
|
|
}
|
|
}
|
|
|
|
Command::RunAll
|
|
}
|
|
|
|
#[allow(clippy::type_complexity)]
|
|
pub fn demo_builders() -> Vec<(&'static str, fn(&mut Testbed))> {
|
|
let mut builders: Vec<(_, fn(&mut Testbed))> = vec![
|
|
("Balls", balls3::init_world),
|
|
("Boxes", boxes3::init_world),
|
|
("Capsules", capsules3::init_world),
|
|
("CCD", ccd3::init_world),
|
|
("Compound", compound3::init_world),
|
|
("Convex polyhedron", convex_polyhedron3::init_world),
|
|
("Many kinematics", many_kinematics3::init_world),
|
|
("Many static", many_static3::init_world),
|
|
("Many sleep", many_sleep3::init_world),
|
|
("Heightfield", heightfield3::init_world),
|
|
("Stacks", stacks3::init_world),
|
|
("Pyramid", pyramid3::init_world),
|
|
("Trimesh", trimesh3::init_world),
|
|
("ImpulseJoint ball", joint_ball3::init_world),
|
|
("ImpulseJoint fixed", joint_fixed3::init_world),
|
|
("ImpulseJoint revolute", joint_revolute3::init_world),
|
|
("ImpulseJoint prismatic", joint_prismatic3::init_world),
|
|
("Many pyramids", many_pyramids3::init_world),
|
|
("Keva tower", keva3::init_world),
|
|
("Ray cast", ray_cast3::init_world),
|
|
];
|
|
|
|
// Lexicographic sort, with stress tests moved at the end of the list.
|
|
builders.sort_by(|a, b| match (a.0.starts_with('('), b.0.starts_with('(')) {
|
|
(true, true) | (false, false) => a.0.cmp(b.0),
|
|
(true, false) => Ordering::Greater,
|
|
(false, true) => Ordering::Less,
|
|
});
|
|
builders
|
|
}
|
|
|
|
pub fn main() {
|
|
let command = parse_command_line();
|
|
let builders = demo_builders();
|
|
|
|
match command {
|
|
Command::Run(demo) => {
|
|
if let Some(i) = builders
|
|
.iter()
|
|
.position(|builder| builder.0.to_camel_case().as_str() == demo.as_str())
|
|
{
|
|
TestbedApp::from_builders(vec![builders[i]]).run()
|
|
} else {
|
|
eprintln!("Invalid example to run provided: '{demo}'");
|
|
}
|
|
}
|
|
Command::RunAll => TestbedApp::from_builders(builders).run(),
|
|
Command::List => {
|
|
for builder in &builders {
|
|
println!("{}", builder.0.to_camel_case())
|
|
}
|
|
}
|
|
}
|
|
}
|