模块性能测试

std::shared_ptr<SceneGraph> scn = std::make_shared<SceneGraph>();

	auto rigid = scn->addNode(std::make_shared<RigidBodySystem<DataType3f>>());

	RigidBodyInfo rigidBody;
	rigidBody.linearVelocity = Vec3f(0.5, 0, 0);
	BoxInfo box;
	for (int i = 8; i > 1; i--)
		for (int j = 0; j < i + 1; j++)
		{
			box.center = 0.5f * Vec3f(0.5f, 1.1 - 0.13 * i, 0.12f + 0.21 * j + 0.1 * (8 - i));
			box.halfLength = 0.5f * Vec3f(0.065, 0.065, 0.1);
			rigid->addBox(box, rigidBody);
		}

	SphereInfo sphere;
	sphere.center = Vec3f(0.5f, 0.75f, 0.5f);
	sphere.radius = 0.025f;

	RigidBodyInfo rigidSphere;
	rigid->addSphere(sphere, rigidSphere);

	sphere.center = Vec3f(0.5f, 0.95f, 0.5f);
	sphere.radius = 0.025f;
	rigid->addSphere(sphere, rigidSphere);

	sphere.center = Vec3f(0.5f, 0.65f, 0.5f);
	sphere.radius = 0.05f;
	rigid->addSphere(sphere, rigidSphere);

	TetInfo tet;
	tet.v[0] = Vec3f(0.5f, 1.1f, 0.5f);
	tet.v[1] = Vec3f(0.5f, 1.2f, 0.5f);
	tet.v[2] = Vec3f(0.6f, 1.1f, 0.5f);
	tet.v[3] = Vec3f(0.5f, 1.1f, 0.6f);
	rigid->addTet(tet, rigidSphere);

	auto mapper = std::make_shared<DiscreteElementsToTriangleSet<DataType3f>>();
	rigid->stateTopology()->connect(mapper->inDiscreteElements());
	rigid->graphicsPipeline()->pushModule(mapper);

	auto sRender = std::make_shared<GLSurfaceVisualModule>();
	sRender->setColor(Vec3f(1, 1, 0));
	mapper->outTriangleSet()->connect(sRender->inTriangleSet());
	rigid->graphicsPipeline()->pushModule(sRender);

	//TODO: to enable using internal modules inside a node
	//Visualize contact normals
	auto elementQuery = std::make_shared<NeighborElementQuery<DataType3f>>();
	rigid->stateTopology()->connect(elementQuery->inDiscreteElements());
	rigid->stateCollisionMask()->connect(elementQuery->inCollisionMask());
	rigid->graphicsPipeline()->pushModule(elementQuery);

	auto contactMapper = std::make_shared<ContactsToEdgeSet<DataType3f>>();
	elementQuery->outContacts()->connect(contactMapper->inContacts());
	contactMapper->varScale()->setValue(0.02);
	rigid->graphicsPipeline()->pushModule(contactMapper);

	auto wireRender = std::make_shared<GLWireframeVisualModule>();
	wireRender->setColor(Vec3f(0, 1, 0));
	contactMapper->outEdgeSet()->connect(wireRender->inEdgeSet());
	rigid->graphicsPipeline()->pushModule(wireRender);

	//Visualize contact points
	auto contactPointMapper = std::make_shared<ContactsToPointSet<DataType3f>>();
	elementQuery->outContacts()->connect(contactPointMapper->inContacts());
	rigid->graphicsPipeline()->pushModule(contactPointMapper);

	auto pointRender = std::make_shared<GLPointVisualModule>();
	pointRender->setColor(Vec3f(1, 0, 0));
	contactPointMapper->outPointSet()->connect(pointRender->inPointSet());
	rigid->graphicsPipeline()->pushModule(pointRender);

	scn->printNodeInfo(true);
	scn->printModuleInfo(true);