Refactor cpp and rust(rapier) code (#45)

* update rust code and cpp files location * refactor cpp files * fix global part * lint * update other global part * build with precision double and enable all features * lint * Update rapier_direct_space_state_2d.h * Update rapier_direct_space_state_2d.cpp * revert realt again * update params * fix123 * upd * upd * less builds for now * fix undefined symbol. * reenable all builds * Update README.md * only enable 2 for now * fix build * Update rapier_project_settings.cpp * fix kinematic collision of area
fabriceci · Oct 24, 2023 · 589e4b6 · 589e4b6
1 parent ed8d504
commit 589e4b6
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diff --git a/.github/actions/build/action.yml b/.github/actions/build/action.yml
@@ -18,6 +18,12 @@ inputs:
   sconsflags:
     required: true
     description: Extra flags
+  precision:
+    required: true
+    description: single or double
+  features:
+    required: true
+    description: simd-nightly,simd-stable,parallel,enhanced-determinism
 
 runs:
   using: composite
@@ -42,22 +48,26 @@ runs:
         SCONS_CACHE: .scons-cache
         SCONS_CACHE_DIR: .scons-cache
       run: |
-        cd godot-cpp && scons target=${{ inputs.target }} platform=${{ inputs.platform }} arch=${{ inputs.arch }} generate_bindings=yes ${{ inputs.sconsflags }}
+        cd godot-cpp && \
+        scons target=${{ inputs.target }} platform=${{ inputs.platform }} arch=${{ inputs.arch }} generate_bindings=yes ${{ inputs.sconsflags }} precision=${{ inputs.precision }}
     - name: Build Rapier
       shell: sh
       run: |
-        cd src/rapier2d-wrapper && cargo build ${{ inputs.rust_target }} --release
+        cd src/rapier2d-wrapper && \
+        cargo build ${{ inputs.rust_target }} --release --features=${{ inputs.features }}
     - name: Build Rapier Macos Universal
       shell: sh
 
       # we already built for x86_64-apple-darwin for mac, now build arm64
       if: ${{ inputs.platform == 'macos'}}
       run: |
-        cd src/rapier2d-wrapper && mkdir release && rustup target add aarch64-apple-darwin && cargo build --target=aarch64-apple-darwin --release && lipo -create -output target/release/librapier2d_wrapper.a target/aarch64-apple-darwin/release/librapier2d_wrapper.a target/x86_64-apple-darwin/release/librapier2d_wrapper.a
+        cd src/rapier2d-wrapper && mkdir release && rustup target add aarch64-apple-darwin && \
+        cargo build --target=aarch64-apple-darwin --release --features=${{ inputs.features }} && \
+        lipo -create -output target/release/librapier2d_wrapper.a target/aarch64-apple-darwin/release/librapier2d_wrapper.a target/x86_64-apple-darwin/release/librapier2d_wrapper.a
     - name: Build Physics Server Rapier
       shell: sh
       env:
         SCONS_CACHE: .scons-cache
         SCONS_CACHE_DIR: .scons-cache
       run: |
-        scons target=${{ inputs.target }} platform=${{ inputs.platform }} arch=${{ inputs.arch }} generate_bindings=no ${{ inputs.sconsflags }}
+        scons target=${{ inputs.target }} platform=${{ inputs.platform }} arch=${{ inputs.arch }} generate_bindings=no ${{ inputs.sconsflags }} precision=${{ inputs.precision }}
diff --git a/.github/actions/upload/action.yml b/.github/actions/upload/action.yml
@@ -1,13 +1,21 @@
 name: Physics Server Rapier Upload
 description: Upload Godot Cpp and the Physics Server 2D Extension.
 
+inputs:
+  precision:
+    required: true
+    description: single or double
+  features:
+    required: true
+    description: simd-nightly,simd-stable,parallel,enhanced-determinism
+
 runs:
   using: composite
   steps:
     - name: Upload Artifact
       uses: actions/upload-artifact@v3
       with:
-        name: Godot Rapier 2D
+        name: Godot Rapier 2D ${{ inputs.precision }} ${{ inputs.features }}
         path: |
           ${{ github.workspace }}/bin/**
         retention-days: 14
diff --git a/.github/workflows/android_builds.yml b/.github/workflows/android_builds.yml
@@ -9,12 +9,14 @@ env:
 jobs:
   android:
     runs-on: "ubuntu-20.04"
-    name: Android Build ${{ matrix.target }} ${{ matrix.arch }}
+    name: ${{ matrix.target }} ${{ matrix.arch }} ${{ matrix.precision }} ${{ matrix.features }}
     strategy:
       fail-fast: false
       matrix:
         target: [template_debug, template_release]
         arch: [x86_64] # Todo reenable arm64
+        precision: [single, double]
+        features: [simd-stable, enhanced-determinism]
 
     steps:
       - uses: actions/checkout@v3
@@ -26,13 +28,18 @@ jobs:
           distribution: temurin
           java-version: 11
 
-      - name: Build ${{ matrix.target }} ${{ matrix.arch }}
+      - name: Build ${{ matrix.target }} ${{ matrix.arch }} ${{ matrix.precision }} ${{ matrix.features }}
         uses: ./.github/actions/build
         with:
           sconsflags: ${{ env.SCONSFLAGS }}
           arch: ${{ matrix.arch }}
           platform: android
           target: ${{ matrix.target }}
+          precision: ${{ matrix.precision }}
+          features: ${{ matrix.features }}
 
-      - name: Upload ${{ matrix.target }} ${{ matrix.arch }}
+      - name: Upload ${{ matrix.target }} ${{ matrix.arch }} ${{ matrix.precision }} ${{ matrix.features }}
         uses: ./.github/actions/upload
+        with:
+          precision: ${{ matrix.precision }}
+          features: ${{ matrix.features }}
diff --git a/.github/workflows/ios_builds.yml b/.github/workflows/ios_builds.yml
@@ -9,24 +9,31 @@ env:
 jobs:
   ios:
     runs-on: "macos-latest"
-    name: iOS Build ${{ matrix.target }} ${{ matrix.arch }}
+    name: ${{ matrix.target }} ${{ matrix.arch }} ${{ matrix.precision }} ${{ matrix.features }}
     strategy:
       fail-fast: false
       matrix:
         target: [template_debug, template_release]
         arch: [arm64]
+        precision: [single, double]
+        features: [simd-stable, enhanced-determinism]
 
     steps:
       - uses: actions/checkout@v3
         with:
           submodules: true
-      - name: Build ${{ matrix.target }} ${{ matrix.arch }}
+      - name: Build ${{ matrix.target }} ${{ matrix.arch }} ${{ matrix.precision }} ${{ matrix.features }}
         uses: ./.github/actions/build
         with:
           sconsflags: ${{ env.SCONSFLAGS }}
           arch: ${{ matrix.arch }}
           platform: ios
           target: ${{ matrix.target }}
+          precision: ${{ matrix.precision }}
+          features: ${{ matrix.features }}
 
-      - name: Upload ${{ matrix.target }} ${{ matrix.arch }}
+      - name: Upload ${{ matrix.target }} ${{ matrix.arch }} ${{ matrix.precision }} ${{ matrix.features }}
         uses: ./.github/actions/upload
+        with:
+          precision: ${{ matrix.precision }}
+          features: ${{ matrix.features }}
diff --git a/.github/workflows/linux_builds.yml b/.github/workflows/linux_builds.yml
@@ -9,26 +9,33 @@ env:
 jobs:
   linux:
     runs-on: ubuntu-20.04
-    name: Linux Build ${{ matrix.target }} ${{ matrix.arch }}
+    name: ${{ matrix.target }} ${{ matrix.arch }} ${{ matrix.precision }} ${{ matrix.features }}
     strategy:
       fail-fast: false
       matrix:
         target: [template_debug, template_release]
         arch: [x86_64]
+        precision: [single, double]
+        features: [simd-stable, enhanced-determinism]
 
     steps:
       - uses: actions/checkout@v3
         with:
           submodules: true
 
-      - name: Build ${{ matrix.target }} ${{ matrix.arch }}
+      - name: Build ${{ matrix.target }} ${{ matrix.arch }} ${{ matrix.precision }} ${{ matrix.features }}
         uses: ./.github/actions/build
         with:
           sconsflags: ${{ env.SCONSFLAGS }}
           arch: ${{ matrix.arch }}
           platform: linux
           target: ${{ matrix.target }}
+          precision: ${{ matrix.precision }}
+          features: ${{ matrix.features }}
 
-      - name: Upload ${{ matrix.target }} ${{ matrix.arch }}
+      - name: Upload ${{ matrix.target }} ${{ matrix.arch }} ${{ matrix.precision }} ${{ matrix.features }}
         uses: ./.github/actions/upload
+        with:
+          precision: ${{ matrix.precision }}
+          features: ${{ matrix.features }}
 
diff --git a/.github/workflows/macos_builds.yml b/.github/workflows/macos_builds.yml
@@ -10,28 +10,32 @@ env:
 jobs:
   macos:
     runs-on: "macos-latest"
-    name: macOS Build ${{ matrix.target }} ${{ matrix.arch }}
+    name: ${{ matrix.target }} ${{ matrix.arch }} ${{ matrix.precision }} ${{ matrix.features }}
     strategy:
       fail-fast: false
       matrix:
         target: [template_debug, template_release]
         arch: [universal]
+        precision: [single, double]
+        features: [simd-stable, enhanced-determinism]
 
     steps:
       - uses: actions/checkout@v3
         with:
           submodules: true
 
-      - name: Build ${{ matrix.target }} ${{ matrix.arch }}
+      - name: Build ${{ matrix.target }} ${{ matrix.arch }} ${{ matrix.precision }} ${{ matrix.features }}
         uses: ./.github/actions/build
         with:
           sconsflags: ${{ env.SCONSFLAGS }}
           arch: ${{ matrix.arch }}
           platform: macos
           rust_target: --target=x86_64-apple-darwin
           target: ${{ matrix.target }}
+          precision: ${{ matrix.precision }}
+          features: ${{ matrix.features }}
 
-      - name: Sign frameworks
+      - name: Sign frameworks ${{ matrix.target }} ${{ matrix.arch }} ${{ matrix.precision }} ${{ matrix.features }}
         shell: pwsh
         env:
           APPLE_CERT_BASE64: ${{ secrets.PROD_MACOS_CERTIFICATE }}
@@ -43,5 +47,8 @@ jobs:
         run: ./scripts/ci-sign-macos.ps1 bin/addons/godot-rapier2d/bin/libphysics_server_rapier2d.macos.${{ matrix.target }}.framework
         if: ${{ env.APPLE_DEV_ID }}
 
-      - name: Upload ${{ matrix.target }} ${{ matrix.arch }}
+      - name: Upload ${{ matrix.target }} ${{ matrix.arch }} ${{ matrix.precision }} ${{ matrix.features }}
         uses: ./.github/actions/upload
+        with:
+          precision: ${{ matrix.precision }}
+          features: ${{ matrix.features }}
diff --git a/.github/workflows/web_builds.yml b/.github/workflows/web_builds.yml
@@ -11,12 +11,14 @@ env:
 jobs:
   web:
     runs-on: ubuntu-20.04
-    name: Web Build ${{ matrix.target }} ${{ matrix.arch }}
+    name: ${{ matrix.target }} ${{ matrix.arch }} ${{ matrix.precision }} ${{ matrix.features }}
     strategy:
       fail-fast: false
       matrix:
         target: [template_debug, template_release]
         arch: [wasm32]
+        precision: [single, double]
+        features: [simd-stable, enhanced-determinism]
 
     steps:
       - uses: actions/checkout@v3
@@ -33,14 +35,19 @@ jobs:
         run: |
           emcc -v
 
-      - name: Build ${{ matrix.target }} ${{ matrix.arch }}
+      - name: Build ${{ matrix.target }} ${{ matrix.arch }} ${{ matrix.precision }} ${{ matrix.features }}
         uses: ./.github/actions/build
         with:
           sconsflags: ${{ env.SCONSFLAGS }}
           arch: ${{ matrix.arch }}
           platform: javascript
           target: ${{ matrix.target }}
+          precision: ${{ matrix.precision }}
+          features: ${{ matrix.features }}
 
-      - name: Upload ${{ matrix.target }} ${{ matrix.arch }}
+      - name: Upload ${{ matrix.target }} ${{ matrix.arch }} ${{ matrix.precision }} ${{ matrix.features }}
         uses: ./.github/actions/upload
+        with:
+          precision: ${{ matrix.precision }}
+          features: ${{ matrix.features }}
 
diff --git a/.github/workflows/windows_builds.yml b/.github/workflows/windows_builds.yml
@@ -9,12 +9,14 @@ env:
 jobs:
   build-windows:
     runs-on: "windows-latest"
-    name: Windows Build ${{ matrix.target }} ${{ matrix.arch }}
+    name: ${{ matrix.target }} ${{ matrix.arch }} ${{ matrix.precision }} ${{ matrix.features }}
     strategy:
       fail-fast: false
       matrix:
         target: [template_debug, template_release]
         arch: [x86_64] # Rust doesn't have built in config for 32 bit windows build.
+        precision: [single, double]
+        features: [simd-stable, enhanced-determinism]
 
     steps:
       - uses: actions/checkout@v3
@@ -23,13 +25,18 @@ jobs:
       - name: Setup MSVC problem matcher
         uses: ammaraskar/msvc-problem-matcher@master
 
-      - name: Build ${{ matrix.target }} ${{ matrix.arch }}
+      - name: Build ${{ matrix.target }} ${{ matrix.arch }} ${{ matrix.precision }} ${{ matrix.features }}
         uses: ./.github/actions/build
         with:
           sconsflags: ${{ env.SCONSFLAGS }}
           arch: ${{ matrix.arch }}
           platform: windows
           target: ${{ matrix.target }}
+          precision: ${{ matrix.precision }}
+          features: ${{ matrix.features }}
 
-      - name: Upload ${{ matrix.target }} ${{ matrix.arch }}
+      - name: Upload ${{ matrix.target }} ${{ matrix.arch }} ${{ matrix.precision }} ${{ matrix.features }}
         uses: ./.github/actions/upload
+        with:
+          precision: ${{ matrix.precision }}
+          features: ${{ matrix.features }}
diff --git a/README.md b/README.md
@@ -31,8 +31,20 @@ A 2d [rapier](https://github.com/dimforge/rapier) physics server for [Godot Engi
 - Shape scaling doesn't work (WIP)
 - Changing properties before they are added in world doesn't work (WIP)
 
-# Installation
+# Build Features
+
+## Float Precision
+
+This plugin is built for both single and double precision builds.
+
+## Rapier Features
 
+This package supports the following features of rapier ([more on this here](https://rapier.rs/docs/user_guides/rust/getting_started)):
+
+- simd-stable: enables explicit SIMD optimizations using the wide crate. Has limited cross-platform support but can be used with a stable version of the Rust compiler.
+- enhanced-determinism: enables cross-platform determinism (assuming the rest of your code is also deterministic) across all 32-bit and 64-bit platforms that implements the IEEE 754-2008 standard strictly. This includes most modern processors as well as WASM targets.
+
+# Installation
 
 - Automatic (Recommended): Download the plugin from the official [Godot Asset Store](https://godotengine.org/asset-library/asset/2267) using the `AssetLib` tab in Godot.
 

diff --git a/SConstruct b/SConstruct
@@ -21,11 +21,15 @@ env.Append(LIBS=[lib])
 
 ## Sources
 env.Append(CPPPATH=["src/"])
-sources = Glob("src/*.cpp")
+sources = [Glob("src/*.cpp"),Glob("src/bodies/*.cpp"),Glob("src/joints/*.cpp"),Glob("src/servers/*.cpp"),Glob("src/shapes/*.cpp"),Glob("src/spaces/*.cpp")]
 
 if env["platform"] == "windows":
     env.Append(CPPDEFINES="WINDOWS_ENABLED")
 
+if env["precision"] == "double":
+	env.Append(CPPDEFINES=["REAL_T_IS_DOUBLE"])
+else:
+	env.Append(CPPDEFINES=["REAL_T_IS_FLOAT"])
 if env["platform"] == "macos":
 	library = env.SharedLibrary(
 		"bin/addons/godot-rapier2d/bin/libphysics_server_rapier2d.{}.{}.framework/libphysics_server_rapier2d.{}.{}".format(

diff --git a/src/rapier_area_2d.cpp → src/bodies/rapier_area_2d.cpp b/src/rapier_area_2d.cpp → src/bodies/rapier_area_2d.cpp
@@ -1,7 +1,7 @@
 #include "rapier_area_2d.h"
+#include "../servers/rapier_physics_server_2d.h"
+#include "../spaces/rapier_space_2d.h"
 #include "rapier_body_2d.h"
-#include "rapier_physics_server_2d.h"
-#include "rapier_space_2d.h"
 
 void RapierArea2D::set_space(RapierSpace2D *p_space) {
 	if (p_space == get_space()) {

diff --git a/src/rapier_area_2d.h → src/bodies/rapier_area_2d.h b/src/rapier_area_2d.h → src/bodies/rapier_area_2d.h
diff --git a/src/rapier_body_2d.cpp → src/bodies/rapier_body_2d.cpp b/src/rapier_body_2d.cpp → src/bodies/rapier_body_2d.cpp
@@ -1,7 +1,7 @@
 #include "rapier_body_2d.h"
 
-#include "rapier_body_direct_state_2d.h"
-#include "rapier_space_2d.h"
+#include "../spaces/rapier_space_2d.h"
+#include "rapier_direct_body_state_2d.h"
 
 void RapierBody2D::_mass_properties_changed() {
 	if (!get_space()) {

diff --git a/src/rapier_body_2d.h → src/bodies/rapier_body_2d.h b/src/rapier_body_2d.h → src/bodies/rapier_body_2d.h
diff --git a/src/rapier_collision_object_2d.cpp → src/bodies/rapier_collision_object_2d.cpp b/src/rapier_collision_object_2d.cpp → src/bodies/rapier_collision_object_2d.cpp
@@ -1,6 +1,7 @@
 #include "rapier_collision_object_2d.h"
-#include "rapier_physics_server_2d.h"
-#include "rapier_space_2d.h"
+
+#include "../servers/rapier_physics_server_2d.h"
+#include "../spaces/rapier_space_2d.h"
 
 void RapierCollisionObject2D::add_shape(RapierShape2D *p_shape, const Transform2D &p_transform, bool p_disabled) {
 	Shape shape;

diff --git a/src/rapier_collision_object_2d.h → src/bodies/rapier_collision_object_2d.h b/src/rapier_collision_object_2d.h → src/bodies/rapier_collision_object_2d.h
@@ -1,10 +1,9 @@
 #ifndef RAPIER_COLLISION_OBJECT_2D_H
 #define RAPIER_COLLISION_OBJECT_2D_H
 
-#include "rapier_shape_2d.h"
-
-#include "rapier_include.h"
+#include "../shapes/rapier_shape_2d.h"
 
+#include "../rapier_include.h"
 #include <godot_cpp/classes/physics_server2d.hpp>
 #include <godot_cpp/templates/local_vector.hpp>
 #include <godot_cpp/templates/self_list.hpp>

diff --git a/src/rapier_body_direct_state_2d.cpp → src/bodies/rapier_direct_body_state_2d.cpp b/src/rapier_body_direct_state_2d.cpp → src/bodies/rapier_direct_body_state_2d.cpp
@@ -1,8 +1,8 @@
-#include "rapier_body_direct_state_2d.h"
+#include "rapier_direct_body_state_2d.h"
 
+#include "../servers/rapier_physics_server_2d.h"
+#include "../spaces/rapier_direct_space_state_2d.h"
 #include "rapier_body_2d.h"
-#include "rapier_physics_server_2d.h"
-#include "rapier_space_2d.h"
 
 Vector2 RapierDirectBodyState2D::_get_total_gravity() const {
 	ERR_FAIL_COND_V(body->get_space(), Vector2());