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Runtime polymorphic shapes #238

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merged 19 commits into from
Dec 11, 2017
Merged

Runtime polymorphic shapes #238

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5a6b1f0
Redesigns Shape class to use runtime polymorphism.
louis-langholtz Dec 11, 2017
4b93982
Removes Shape visitor classes.
louis-langholtz Dec 11, 2017
3683f0b
Promotes ChainShape::Conf to ChainShapeConf.
louis-langholtz Dec 11, 2017
73f3b6e
Promotes DiskShape::Conf to DiskShapeConf.
louis-langholtz Dec 11, 2017
315b900
Promotes EdgeShape::Conf to EdgeShapeConf.
louis-langholtz Dec 11, 2017
01b85e3
Promotes PolygonShape::Conf to PolygonShapeConf.
louis-langholtz Dec 11, 2017
a5ba9ef
Promotes MultiShape::Conf to MultiShapeConf and promotes MultiShape::…
louis-langholtz Dec 11, 2017
27fcbff
Moves more Shape configuration related code into .cpp files.
louis-langholtz Dec 11, 2017
039041c
Completes ShapeDumper's operator implementation.
louis-langholtz Dec 11, 2017
5eb504e
Updates documentation comments and provides equality support for shap…
louis-langholtz Dec 11, 2017
df798ee
Removes "Set" equivalents of "Use" builder methods.
louis-langholtz Dec 11, 2017
3ec2077
Updates shape configuration file include guards to reflect their new …
louis-langholtz Dec 11, 2017
35f4ed5
Renames shape configuration header files to end with "Conf" like thei…
louis-langholtz Dec 11, 2017
4ce5823
Renames shape configuration cpp files to end in "Conf" like their cla…
louis-langholtz Dec 11, 2017
2fc691b
Updates unit test code for Real=double and Real=long double.
louis-langholtz Dec 11, 2017
387711d
Updates unit test values for Windows non-debugging builds.
louis-langholtz Dec 11, 2017
6fe3aea
Fixes equality testing.
louis-langholtz Dec 11, 2017
5a786c3
Fixes in unit test code for Win32 unit testing. Adds more unit test c…
louis-langholtz Dec 11, 2017
d66b576
Fixes unit test code for when Real=double.
louis-langholtz Dec 11, 2017
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89 changes: 45 additions & 44 deletions Benchmark/BenchmarkMain.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -55,8 +55,8 @@
#include <PlayRho/Collision/Manifold.hpp>
#include <PlayRho/Collision/WorldManifold.hpp>
#include <PlayRho/Collision/ShapeSeparation.hpp>
#include <PlayRho/Collision/Shapes/PolygonShape.hpp>
#include <PlayRho/Collision/Shapes/DiskShape.hpp>
#include <PlayRho/Collision/Shapes/PolygonShapeConf.hpp>
#include <PlayRho/Collision/Shapes/DiskShapeConf.hpp>

static float Rand(float lo, float hi)
{
Expand Down Expand Up @@ -1236,11 +1236,11 @@ static TransformationPairs GetTransformationPairs(unsigned count)
static void MaxSepBetweenRelSquaresNoStop(benchmark::State& state)
{
const auto dim = playrho::Real(2) * playrho::Meter;
const auto shape0 = playrho::PolygonShape(dim, dim);
const auto shape1 = playrho::PolygonShape(dim, dim);
const auto shape0 = playrho::PolygonShapeConf(dim, dim);
const auto shape1 = playrho::PolygonShapeConf(dim, dim);

const auto child0 = shape0.GetChild(0);
const auto child1 = shape1.GetChild(0);
const auto child0 = GetChild(shape0, 0);
const auto child1 = GetChild(shape1, 0);

const auto vals = GetTransformationPairs(static_cast<unsigned>(state.range()));
for (auto _: state)
Expand All @@ -1257,11 +1257,11 @@ static void MaxSepBetweenRelSquaresNoStop(benchmark::State& state)
static void MaxSepBetweenRel4x4(benchmark::State& state)
{
const auto dim = playrho::Real(2) * playrho::Meter;
const auto shape0 = playrho::PolygonShape(dim, dim);
const auto shape1 = playrho::PolygonShape(dim, dim);
const auto shape0 = playrho::PolygonShapeConf(dim, dim);
const auto shape1 = playrho::PolygonShapeConf(dim, dim);

const auto child0 = shape0.GetChild(0);
const auto child1 = shape1.GetChild(0);
const auto child0 = GetChild(shape0, 0);
const auto child1 = GetChild(shape1, 0);

const auto vals = GetTransformationPairs(static_cast<unsigned>(state.range()));
for (auto _: state)
Expand All @@ -1278,11 +1278,11 @@ static void MaxSepBetweenRel4x4(benchmark::State& state)
static void MaxSepBetweenRelSquares(benchmark::State& state)
{
const auto dim = playrho::Real(2) * playrho::Meter;
const auto shape0 = playrho::PolygonShape(dim, dim);
const auto shape1 = playrho::PolygonShape(dim, dim);
const auto shape0 = playrho::PolygonShapeConf(dim, dim);
const auto shape1 = playrho::PolygonShapeConf(dim, dim);

const auto child0 = shape0.GetChild(0);
const auto child1 = shape1.GetChild(0);
const auto child0 = GetChild(shape0, 0);
const auto child1 = GetChild(shape1, 0);
const auto totalRadius = child0.GetVertexRadius() + child1.GetVertexRadius();

const auto vals = GetTransformationPairs(static_cast<unsigned>(state.range()));
Expand All @@ -1305,8 +1305,8 @@ static void MaxSepBetweenAbsSquares(benchmark::State& state)
const auto xfm1 = playrho::Transformation{playrho::Vec2{0, +2} * (playrho::Real(1) * playrho::Meter), playrho::UnitVec2::GetRight()}; // top

const auto dim = playrho::Real(2) * playrho::Meter;
const auto shape0 = playrho::PolygonShape{dim, dim}.Transform(xfm0);
const auto shape1 = playrho::PolygonShape{dim, dim}.Transform(xfm1);
const auto shape0 = playrho::PolygonShapeConf{dim, dim}.Transform(xfm0);
const auto shape1 = playrho::PolygonShapeConf{dim, dim}.Transform(xfm1);

// Rotate square A and put it below square B.
// In ASCII art terms:
Expand All @@ -1329,8 +1329,8 @@ static void MaxSepBetweenAbsSquares(benchmark::State& state)
// \4/
// +

const auto child0 = shape0.GetChild(0);
const auto child1 = shape1.GetChild(0);
const auto child0 = GetChild(shape0, 0);
const auto child1 = GetChild(shape1, 0);
const auto totalRadius = child0.GetVertexRadius() + child1.GetVertexRadius();

for (auto _: state)
Expand All @@ -1345,7 +1345,7 @@ static void ManifoldForTwoSquares1(benchmark::State& state)
const auto dim = playrho::Real(2) * playrho::Meter;

// creates a square
const auto shape = playrho::PolygonShape(dim, dim);
const auto shape = playrho::PolygonShapeConf(dim, dim);

const auto rot0 = playrho::Angle{playrho::Real{45.0f} * playrho::Degree};
const auto xfm0 = playrho::Transformation{playrho::Vec2{0, -2} * (playrho::Real(1) * playrho::Meter), playrho::UnitVec2::Get(rot0)}; // bottom
Expand Down Expand Up @@ -1374,18 +1374,18 @@ static void ManifoldForTwoSquares1(benchmark::State& state)

for (auto _: state)
{
// CollideShapes(shape.GetChild(0), xfm0, shape.GetChild(0), xfm1);
benchmark::DoNotOptimize(playrho::CollideShapes(shape.GetChild(0), xfm0, shape.GetChild(0), xfm1));
// CollideShapes(GetChild(shape, 0), xfm0, GetChild(shape, 0), xfm1);
benchmark::DoNotOptimize(playrho::CollideShapes(GetChild(shape, 0), xfm0, GetChild(shape, 0), xfm1));
}
}

static void ManifoldForTwoSquares2(benchmark::State& state)
{
// Shape A: square
const auto shape0 = playrho::PolygonShape(playrho::Real{2} * playrho::Meter, playrho::Real{2} * playrho::Meter);
const auto shape0 = playrho::PolygonShapeConf(playrho::Real{2} * playrho::Meter, playrho::Real{2} * playrho::Meter);

// Shape B: wide rectangle
const auto shape1 = playrho::PolygonShape(playrho::Real{3} * playrho::Meter, playrho::Real{1.5f} * playrho::Meter);
const auto shape1 = playrho::PolygonShapeConf(playrho::Real{3} * playrho::Meter, playrho::Real{1.5f} * playrho::Meter);

const auto xfm0 = playrho::Transformation{
playrho::Vec2{-2, 0} * (playrho::Real(1) * playrho::Meter),
Expand All @@ -1411,8 +1411,8 @@ static void ManifoldForTwoSquares2(benchmark::State& state)
//
for (auto _: state)
{
//CollideShapes(shape0.GetChild(0), xfm0, shape1.GetChild(0), xfm1);
benchmark::DoNotOptimize(CollideShapes(shape0.GetChild(0), xfm0, shape1.GetChild(0), xfm1));
//CollideShapes(GetChild(shape0, 0), xfm0, GetChild(shape1, 0), xfm1);
benchmark::DoNotOptimize(CollideShapes(GetChild(shape0, 0), xfm0, GetChild(shape1, 0), xfm1));
}
}

Expand Down Expand Up @@ -1585,8 +1585,8 @@ static void DropDisks(benchmark::State& state)
auto world = playrho::World{playrho::WorldDef{}.UseGravity(playrho::EarthlyGravity2D)};

const auto diskRadius = 0.5f * playrho::Meter;
const auto diskDef = playrho::DiskShape::Conf{}.UseVertexRadius(diskRadius);
const auto shape = std::make_shared<playrho::DiskShape>(diskDef);
const auto diskDef = playrho::DiskShapeConf{}.UseRadius(diskRadius);
const auto shape = playrho::Shape{diskDef};
const auto numDisks = state.range();
for (auto i = decltype(numDisks){0}; i < numDisks; ++i)
{
Expand All @@ -1607,13 +1607,15 @@ static void DropDisks(benchmark::State& state)

static void AddPairStressTest(benchmark::State& state, int count)
{
const auto diskConf = playrho::DiskShape::Conf{}
.UseVertexRadius(playrho::Meter / 10)
const auto diskConf = playrho::DiskShapeConf{}
.UseRadius(playrho::Meter / 10)
.UseDensity(0.01f * playrho::KilogramPerSquareMeter);
const auto diskShape = std::make_shared<playrho::DiskShape>(diskConf);
const auto diskShape = playrho::Shape{diskConf};

const auto polygonConf = playrho::PolygonShape::Conf{}.UseDensity(1.0f * playrho::KilogramPerSquareMeter);
const auto rectShape = std::make_shared<playrho::PolygonShape>(1.5f * playrho::Meter, 1.5f * playrho::Meter, polygonConf);
const auto rectShape = playrho::Shape{
playrho::PolygonShapeConf{}.UseDensity(1.0f * playrho::KilogramPerSquareMeter)
.SetAsBox(1.5f * playrho::Meter, 1.5f * playrho::Meter)
};

const auto rectBodyDef = playrho::BodyDef{}
.UseType(playrho::BodyType::Dynamic)
Expand Down Expand Up @@ -1662,7 +1664,7 @@ static void DropTiles(int count)
const auto linearSlop = playrho::Meter / 1000;
const auto angularSlop = (playrho::Pi * 2 * playrho::Radian) / 180;
const auto vertexRadius = linearSlop * 2;
auto conf = playrho::PolygonShape::Conf{}.UseVertexRadius(vertexRadius);
auto conf = playrho::PolygonShapeConf{}.UseVertexRadius(vertexRadius);
auto m_world = playrho::World{
playrho::WorldDef{}.UseMinVertexRadius(vertexRadius).UseInitialTreeSize(8192)
};
Expand All @@ -1681,7 +1683,7 @@ static void DropTiles(int count)
for (auto i = 0; i < N; ++i)
{
conf.SetAsBox(a * playrho::Meter, a * playrho::Meter, position, playrho::Angle{0});
ground->CreateFixture(std::make_shared<playrho::PolygonShape>(conf));
ground->CreateFixture(conf);
GetX(position) += 2.0f * a * playrho::Meter;
}
GetY(position) -= 2.0f * a * playrho::Meter;
Expand All @@ -1691,8 +1693,8 @@ static void DropTiles(int count)
{
const auto a = playrho::Real{0.5f};
conf.SetAsBox(a * playrho::Meter, a * playrho::Meter);
conf.SetDensity(playrho::Real{5} * playrho::KilogramPerSquareMeter);
const auto shape = std::make_shared<playrho::PolygonShape>(conf);
conf.UseDensity(playrho::Real{5} * playrho::KilogramPerSquareMeter);
const auto shape = playrho::Shape(conf);

playrho::Length2 x(playrho::Real(-7.0f) * playrho::Meter, playrho::Real(0.75f) * playrho::Meter);
playrho::Length2 y;
Expand Down Expand Up @@ -1759,8 +1761,7 @@ class Tumbler
playrho::World m_world;
playrho::StepConf m_stepConf;
playrho::Length m_squareLen = 0.125f * playrho::Meter;
std::shared_ptr<playrho::PolygonShape> m_square =
std::make_shared<playrho::PolygonShape>(m_squareLen, m_squareLen);
playrho::Shape m_square = playrho::PolygonShapeConf(m_squareLen, m_squareLen);
};

Tumbler::Tumbler()
Expand All @@ -1775,16 +1776,16 @@ playrho::Body* Tumbler::CreateEnclosure(playrho::World& world)
const auto b = world.CreateBody(playrho::BodyDef{}.UseType(playrho::BodyType::Dynamic)
.UseLocation(playrho::Vec2(0, 10) * playrho::Meter)
.UseAllowSleep(false));
playrho::PolygonShape::Conf shape;
shape.SetDensity(5 * playrho::KilogramPerSquareMeter);
playrho::PolygonShapeConf shape;
shape.UseDensity(5 * playrho::KilogramPerSquareMeter);
shape.SetAsBox(0.5f * playrho::Meter, 10.0f * playrho::Meter, playrho::Vec2( 10.0f, 0.0f) * playrho::Meter, playrho::Angle{0});
b->CreateFixture(std::make_shared<playrho::PolygonShape>(shape));
b->CreateFixture(shape);
shape.SetAsBox(0.5f * playrho::Meter, 10.0f * playrho::Meter, playrho::Vec2(-10.0f, 0.0f) * playrho::Meter, playrho::Angle{0});
b->CreateFixture(std::make_shared<playrho::PolygonShape>(shape));
b->CreateFixture(shape);
shape.SetAsBox(10.0f * playrho::Meter, 0.5f * playrho::Meter, playrho::Vec2(0.0f, 10.0f) * playrho::Meter, playrho::Angle{0});
b->CreateFixture(std::make_shared<playrho::PolygonShape>(shape));
b->CreateFixture(shape);
shape.SetAsBox(10.0f * playrho::Meter, 0.5f * playrho::Meter, playrho::Vec2(0.0f, -10.0f) * playrho::Meter, playrho::Angle{0});
b->CreateFixture(std::make_shared<playrho::PolygonShape>(shape));
b->CreateFixture(shape);
return b;
}

Expand Down
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