313 lines
11 KiB
Rust
313 lines
11 KiB
Rust
use rapier::counters::Counters;
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use rapier::math::Real;
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use std::num::NonZeroUsize;
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use crate::debug_render::DebugRenderPipelineResource;
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use crate::harness::Harness;
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use crate::testbed::{
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RapierSolverType, RunMode, TestbedActionFlags, TestbedState, TestbedStateFlags,
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PHYSX_BACKEND_PATCH_FRICTION, PHYSX_BACKEND_TWO_FRICTION_DIR,
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};
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use crate::PhysicsState;
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use bevy_egui::egui::Slider;
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use bevy_egui::{egui, EguiContexts};
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pub fn update_ui(
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ui_context: &mut EguiContexts,
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state: &mut TestbedState,
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harness: &mut Harness,
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debug_render: &mut DebugRenderPipelineResource,
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) {
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egui::Window::new("Parameters").show(ui_context.ctx_mut(), |ui| {
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if state.backend_names.len() > 1 && !state.example_names.is_empty() {
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let mut changed = false;
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egui::ComboBox::from_label("backend")
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.width(150.0)
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.selected_text(state.backend_names[state.selected_backend])
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.show_ui(ui, |ui| {
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for (id, name) in state.backend_names.iter().enumerate() {
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changed = ui
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.selectable_value(&mut state.selected_backend, id, *name)
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.changed()
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|| changed;
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}
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});
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if changed {
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state
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.action_flags
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.set(TestbedActionFlags::BACKEND_CHANGED, true);
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}
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ui.separator();
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}
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ui.horizontal(|ui| {
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if ui.button("<").clicked() {
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if state.selected_example > 0 {
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state.selected_example -= 1;
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state
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.action_flags
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.set(TestbedActionFlags::EXAMPLE_CHANGED, true)
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}
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}
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if ui.button(">").clicked() {
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if state.selected_example + 1 < state.example_names.len() {
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state.selected_example += 1;
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state
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.action_flags
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.set(TestbedActionFlags::EXAMPLE_CHANGED, true)
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}
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}
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let mut changed = false;
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egui::ComboBox::from_label("example")
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.width(150.0)
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.selected_text(state.example_names[state.selected_example])
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.show_ui(ui, |ui| {
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for (id, name) in state.example_names.iter().enumerate() {
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changed = ui
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.selectable_value(&mut state.selected_example, id, *name)
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.changed()
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|| changed;
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}
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});
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if changed {
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state
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.action_flags
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.set(TestbedActionFlags::EXAMPLE_CHANGED, true);
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}
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});
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ui.separator();
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ui.collapsing("Profile infos", |ui| {
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ui.horizontal_wrapped(|ui| {
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ui.label(profiling_string(&harness.physics.pipeline.counters))
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});
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});
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ui.collapsing("Serialization infos", |ui| {
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ui.horizontal_wrapped(|ui| {
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ui.label(serialization_string(
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harness.state.timestep_id,
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&harness.physics,
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))
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});
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});
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let integration_parameters = &mut harness.physics.integration_parameters;
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if state.selected_backend == PHYSX_BACKEND_PATCH_FRICTION
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|| state.selected_backend == PHYSX_BACKEND_TWO_FRICTION_DIR
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{
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let mut num_iterations = integration_parameters.num_solver_iterations.get();
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ui.add(Slider::new(&mut num_iterations, 1..=40).text("pos. iters."));
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integration_parameters.num_solver_iterations =
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NonZeroUsize::new(num_iterations).unwrap();
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} else {
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let mut changed = false;
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egui::ComboBox::from_label("solver type")
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.width(150.0)
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.selected_text(format!("{:?}", state.solver_type))
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.show_ui(ui, |ui| {
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let solver_types = [
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RapierSolverType::SmallStepsPgs,
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RapierSolverType::StandardPgs,
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];
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for sty in solver_types {
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changed = ui
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.selectable_value(&mut state.solver_type, sty, format!("{sty:?}"))
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.changed()
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|| changed;
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}
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});
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if changed {
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match state.solver_type {
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RapierSolverType::SmallStepsPgs => {
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integration_parameters.switch_to_small_steps_pgs_solver()
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}
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RapierSolverType::StandardPgs => {
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integration_parameters.switch_to_standard_pgs_solver()
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}
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}
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}
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let mut num_iterations = integration_parameters.num_solver_iterations.get();
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ui.add(Slider::new(&mut num_iterations, 1..=40).text("num solver iters."));
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integration_parameters.num_solver_iterations =
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NonZeroUsize::new(num_iterations).unwrap();
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ui.add(
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Slider::new(
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&mut integration_parameters.num_internal_pgs_iterations,
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1..=40,
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)
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.text("num internal PGS iters."),
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);
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ui.add(
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Slider::new(
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&mut integration_parameters.num_additional_friction_iterations,
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1..=40,
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)
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.text("num additional frict. iters."),
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);
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}
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#[cfg(feature = "parallel")]
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{
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let mut num_threads = harness.state.num_threads();
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ui.add(
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Slider::new(&mut num_threads, 1..=num_cpus::get_physical()).text("num. threads"),
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);
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harness.state.set_num_threads(num_threads);
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}
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ui.add(
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Slider::new(&mut integration_parameters.max_ccd_substeps, 0..=10).text("CCD substeps"),
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);
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ui.add(
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Slider::new(&mut integration_parameters.min_island_size, 1..=10_000)
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.text("min island size"),
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);
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let mut frequency = integration_parameters.inv_dt().round() as u32;
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ui.add(Slider::new(&mut frequency, 0..=240).text("frequency (Hz)"));
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integration_parameters.set_inv_dt(frequency as Real);
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let mut sleep = state.flags.contains(TestbedStateFlags::SLEEP);
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// let mut contact_points = state.flags.contains(TestbedStateFlags::CONTACT_POINTS);
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// let mut wireframe = state.flags.contains(TestbedStateFlags::WIREFRAME);
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ui.checkbox(&mut sleep, "sleep enabled");
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// ui.checkbox(&mut contact_points, "draw contacts");
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// ui.checkbox(&mut wireframe, "draw wireframes");
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ui.checkbox(&mut debug_render.enabled, "debug render enabled");
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state.flags.set(TestbedStateFlags::SLEEP, sleep);
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// state
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// .flags
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// .set(TestbedStateFlags::CONTACT_POINTS, contact_points);
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// state.flags.set(TestbedStateFlags::WIREFRAME, wireframe);
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ui.separator();
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let label = if state.running == RunMode::Stop {
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"Start (T)"
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} else {
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"Pause (T)"
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};
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if ui.button(label).clicked() {
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if state.running == RunMode::Stop {
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state.running = RunMode::Running
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} else {
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state.running = RunMode::Stop
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}
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}
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if ui.button("Single Step (S)").clicked() {
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state.running = RunMode::Step;
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}
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if ui.button("Take snapshot").clicked() {
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state
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.action_flags
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.set(TestbedActionFlags::TAKE_SNAPSHOT, true);
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}
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if ui.button("Restore snapshot").clicked() {
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state
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.action_flags
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.set(TestbedActionFlags::RESTORE_SNAPSHOT, true);
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}
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if ui.button("Restart (R)").clicked() {
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state.action_flags.set(TestbedActionFlags::RESTART, true);
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}
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});
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}
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fn profiling_string(counters: &Counters) -> String {
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format!(
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r#"Total: {:.2}ms
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Collision detection: {:.2}ms
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|_ Broad-phase: {:.2}ms
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Narrow-phase: {:.2}ms
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Island computation: {:.2}ms
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Solver: {:.2}ms
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|_ Velocity assembly: {:.2}ms
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Velocity resolution: {:.2}ms
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Velocity integration: {:.2}ms
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Position assembly: {:.2}ms
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Position resolution: {:.2}ms
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CCD: {:.2}ms
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|_ # of substeps: {}
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TOI computation: {:.2}ms
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Broad-phase: {:.2}ms
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Narrow-phase: {:.2}ms
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Solver: {:.2}ms"#,
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counters.step_time(),
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counters.collision_detection_time(),
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counters.broad_phase_time(),
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counters.narrow_phase_time(),
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counters.island_construction_time(),
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counters.solver_time(),
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counters.solver.velocity_assembly_time.time(),
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counters.velocity_resolution_time(),
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counters.solver.velocity_update_time.time(),
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counters.solver.position_assembly_time.time(),
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counters.position_resolution_time(),
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counters.ccd_time(),
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counters.ccd.num_substeps,
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counters.ccd.toi_computation_time.time(),
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counters.ccd.broad_phase_time.time(),
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counters.ccd.narrow_phase_time.time(),
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counters.ccd.solver_time.time(),
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)
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}
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fn serialization_string(timestep_id: usize, physics: &PhysicsState) -> String {
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let t = instant::now();
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// let t = instant::now();
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let bf = bincode::serialize(&physics.broad_phase).unwrap();
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// println!("bf: {}", instant::now() - t);
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// let t = instant::now();
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let nf = bincode::serialize(&physics.narrow_phase).unwrap();
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// println!("nf: {}", instant::now() - t);
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// let t = instant::now();
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let bs = bincode::serialize(&physics.bodies).unwrap();
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// println!("bs: {}", instant::now() - t);
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// let t = instant::now();
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let cs = bincode::serialize(&physics.colliders).unwrap();
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// println!("cs: {}", instant::now() - t);
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// let t = instant::now();
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let js = bincode::serialize(&physics.impulse_joints).unwrap();
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// println!("js: {}", instant::now() - t);
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let serialization_time = instant::now() - t;
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let hash_bf = md5::compute(&bf);
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let hash_nf = md5::compute(&nf);
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let hash_bodies = md5::compute(&bs);
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let hash_colliders = md5::compute(&cs);
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let hash_joints = md5::compute(&js);
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format!(
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r#"Serialization time: {:.2}ms
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Hashes at frame: {}
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|_ Broad phase [{:.1}KB]: {}
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|_ Narrow phase [{:.1}KB]: {}
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|_ &RigidBodySet [{:.1}KB]: {}
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|_ Colliders [{:.1}KB]: {}
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|_ Joints [{:.1}KB]: {}"#,
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serialization_time,
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timestep_id,
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bf.len() as f32 / 1000.0,
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format!("{:?}", hash_bf).split_at(10).0,
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nf.len() as f32 / 1000.0,
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format!("{:?}", hash_nf).split_at(10).0,
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bs.len() as f32 / 1000.0,
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format!("{:?}", hash_bodies).split_at(10).0,
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cs.len() as f32 / 1000.0,
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format!("{:?}", hash_colliders).split_at(10).0,
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js.len() as f32 / 1000.0,
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format!("{:?}", hash_joints).split_at(10).0,
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)
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}
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