feat(website): update website logo and demos

examples2d/all_examples2.rs

@@ -56,6 +56,8 @@ mod s2d_joint_grid;
 mod s2d_pyramid;
 mod sensor2;
 mod stress_tests;
+// Tessellates an SVG with usvg, which doesn't build for wasm.
+#[cfg(not(target_arch = "wasm32"))]
 mod trimesh2;
 mod voxels2;
 
@@ -67,10 +69,16 @@ type ExampleFn =
     for<'a> fn(&'a mut TestbedViewer) -> Pin<Box<dyn Future<Output = anyhow::Result<()>> + 'a>>;
 
 /// `(group, name, run-fn)` -> `(ExampleEntry, ExampleFn)`.
+/// Entries accept attributes so an example can be `#[cfg]`-ed out (e.g. on wasm).
 macro_rules! examples {
-    ($($group:expr, $name:expr, $run:path);* $(;)?) => {
-        vec![ $( (ExampleEntry::new($group, $name), (|v| Box::pin($run(v))) as ExampleFn) ),* ]
-    };
+    ($($(#[$meta:meta])* $group:ident, $name:expr, $run:path);* $(;)?) => {{
+        let mut entries: Vec<(ExampleEntry, ExampleFn)> = Vec::new();
+        $(
+            $(#[$meta])*
+            entries.push((ExampleEntry::new($group, $name), (|v| Box::pin($run(v))) as ExampleFn));
+        )*
+        entries
+    }};
 }
 
 #[kiss3d::main]
@@ -82,8 +90,10 @@ pub async fn main() {
     const DEBUG: &str = "Debug";
     const S2D: &str = "Inspired by Solver 2D";
     const STRESS: &str = "Stress tests";
-    const B2D: &str = "Box2D benchmarks";
+    const B2D: &str = "Third-party benchmarks";
 
+    // Not a `vec![]`: entries can be individually `#[cfg]`-ed out.
+    #[allow(clippy::vec_init_then_push)]
     let examples: Vec<(ExampleEntry, ExampleFn)> = examples![
         // ── Collisions ──────────────────────────────────────────────────────
         COLLISIONS, "Add remove", add_remove2::run;
@@ -95,6 +105,7 @@ pub async fn main() {
         COLLISIONS, "Convex polygons", convex_polygons2::run;
         COLLISIONS, "Heightfield", heightfield2::run;
         COLLISIONS, "Polyline", polyline2::run;
+        #[cfg(not(target_arch = "wasm32"))]
         COLLISIONS, "Trimesh", trimesh2::run;
         COLLISIONS, "Voxels", voxels2::run;
         COLLISIONS, "Collision groups", collision_groups2::run;

examples3d/all_examples3.rs

@@ -7,6 +7,9 @@ use std::pin::Pin;
 
 mod utils;
 
+// Examples gated on `not(target_arch = "wasm32")` load meshes, robot
+// descriptions or scene dumps from disk, so they can't run in a browser.
+
 mod b3d_joint_grid;
 mod b3d_junkyard;
 mod b3d_large_pyramid;
@@ -19,6 +22,7 @@ mod ccd3;
 mod character_controller3;
 mod collision_groups3;
 mod compound3;
+#[cfg(not(target_arch = "wasm32"))]
 mod convex_decomposition3;
 mod convex_polyhedron3;
 mod damping3;
@@ -31,6 +35,7 @@ mod debug_boxes3;
 mod debug_chain_high_mass_ratio3;
 mod debug_cube_high_mass_ratio3;
 mod debug_cylinder3;
+#[cfg(not(target_arch = "wasm32"))]
 mod debug_deserialize3;
 mod debug_disabled3;
 mod debug_dynamic_collider_add3;
@@ -50,6 +55,7 @@ mod debug_triangle3;
 mod debug_trimesh3;
 mod debug_two_cubes3;
 mod domino3;
+#[cfg(not(target_arch = "wasm32"))]
 mod dynamic_trimesh3;
 mod fountain3;
 mod gyroscopic3;
@@ -59,7 +65,9 @@ mod joint_motor_position3;
 mod joints3;
 mod keva3;
 mod locked_rotations3;
+#[cfg(not(target_arch = "wasm32"))]
 mod mjcf3;
+#[cfg(not(target_arch = "wasm32"))]
 mod mujoco_menagerie3;
 mod newton_cradle3;
 mod one_way_platforms3;
@@ -71,6 +79,7 @@ mod sensor3;
 mod spring_joints3;
 mod stress_tests;
 mod trimesh3;
+#[cfg(not(target_arch = "wasm32"))]
 mod urdf3;
 mod vehicle_controller3;
 mod vehicle_joints3;
@@ -82,10 +91,16 @@ type ExampleFn =
     for<'a> fn(&'a mut TestbedViewer) -> Pin<Box<dyn Future<Output = anyhow::Result<()>> + 'a>>;
 
 /// `(group, name, run-fn)` -> `(ExampleEntry, ExampleFn)`.
+/// Entries accept attributes so an example can be `#[cfg]`-ed out (e.g. on wasm).
 macro_rules! examples {
-    ($($group:expr, $name:expr, $run:path);* $(;)?) => {
-        vec![ $( (ExampleEntry::new($group, $name), (|v| Box::pin($run(v))) as ExampleFn) ),* ]
-    };
+    ($($(#[$meta:meta])* $group:ident, $name:expr, $run:path);* $(;)?) => {{
+        let mut entries: Vec<(ExampleEntry, ExampleFn)> = Vec::new();
+        $(
+            $(#[$meta])*
+            entries.push((ExampleEntry::new($group, $name), (|v| Box::pin($run(v))) as ExampleFn));
+        )*
+        entries
+    }};
 }
 
 #[kiss3d::main]
@@ -97,8 +112,10 @@ pub async fn main() {
     const DEBUG: &str = "Debug";
     const ROBOTICS: &str = "Robotics";
     const STRESS: &str = "Stress tests";
-    const B3D: &str = "Box3D benchmarks";
+    const B3D: &str = "Third-party benchmarks";
 
+    // Not a `vec![]`: entries can be individually `#[cfg]`-ed out.
+    #[allow(clippy::vec_init_then_push)]
     let examples: Vec<(ExampleEntry, ExampleFn)> = examples![
         // ── Collisions ──────────────────────────────────────────────────────
         COLLISIONS, "Fountain", fountain3::run;
@@ -109,9 +126,11 @@ pub async fn main() {
         COLLISIONS, "Platform", platform3::run;
         COLLISIONS, "Sensor", sensor3::run;
         COLLISIONS, "Compound", compound3::run;
+        #[cfg(not(target_arch = "wasm32"))]
         COLLISIONS, "Convex decomposition", convex_decomposition3::run;
         COLLISIONS, "Convex polyhedron", convex_polyhedron3::run;
         COLLISIONS, "TriMesh", trimesh3::run;
+        #[cfg(not(target_arch = "wasm32"))]
         COLLISIONS, "Dynamic trimeshes", dynamic_trimesh3::run;
         COLLISIONS, "Heightfield", heightfield3::run;
         COLLISIONS, "Voxels", voxels3::run;
@@ -135,8 +154,11 @@ pub async fn main() {
         CONTROLS, "Vehicle controller", vehicle_controller3::run;
         CONTROLS, "Vehicle joints", vehicle_joints3::run;
         // ── Robotics ────────────────────────────────────────────────────────
+        #[cfg(not(target_arch = "wasm32"))]
         ROBOTICS, "URDF", urdf3::run;
+        #[cfg(not(target_arch = "wasm32"))]
         ROBOTICS, "MJCF", mjcf3::run;
+        #[cfg(not(target_arch = "wasm32"))]
         ROBOTICS, "Mujoco Menagerie", mujoco_menagerie3::run;
         // ── Debug ───────────────────────────────────────────────────────────
         DEBUG, "Angular limits", debug_angular_limits3::run;
@@ -164,6 +186,7 @@ pub async fn main() {
         DEBUG, "Rollback", debug_rollback3::run;
         DEBUG, "Shape modification", debug_shape_modification3::run;
         DEBUG, "Sleeping kinematics", debug_sleeping_kinematic3::run;
+        #[cfg(not(target_arch = "wasm32"))]
         DEBUG, "Deserialize", debug_deserialize3::run;
         DEBUG, "Multibody ang. motor pos.", debug_multibody_ang_motor_pos3::run;
         // ── Stress tests ────────────────────────────────────────────────────

website/.gitignore

@@ -10,6 +10,9 @@ node_modules
 .docusaurus
 .cache-loader
 
+# WASM demos, built by ./scripts/build-demos.sh
+static/demos
+
 # Misc
 .DS_Store
 .env.local

website/README.md

@@ -29,6 +29,27 @@ $ yarn start
 
 Above command builds and starts a local development server and open up a browser window. Most changes are reflected live without having to restart the server.
 
+### Demos
+
+The `/demos` page embeds the `all_examples2` / `all_examples3` testbeds compiled to
+WebAssembly. They are build artifacts: `static/demos` is gitignored, so it must be
+generated once before `yarn build` (or `yarn start`) can serve them.
+
+```sh
+$ yarn build:demos              # both demos
+$ yarn build:demos all_examples2  # just one
+$ yarn build:all                # demos, then the website
+```
+
+Requires the `wasm32-unknown-unknown` target (`rustup target add wasm32-unknown-unknown`);
+a matching `wasm-bindgen-cli` is installed under `target/` automatically if the global one
+has the wrong version. `SKIP_WASM_OPT=1` skips the (slow) `wasm-opt` pass for fast
+iteration, at the cost of a bigger `.wasm`. `publish.sh` runs the demo build itself.
+
+Examples that read assets from disk (URDF/MJCF robots, `.obj` meshes, scene dumps) are
+`#[cfg]`-ed out of wasm builds; see `examples2d/all_examples2.rs` and
+`examples3d/all_examples3.rs`.
+
 ### Deployment
 
 ```sh

website/docusaurus.config.js

@@ -3,7 +3,7 @@ const katex = require('rehype-katex')
 
 const config = {
   title: 'Rapier',
-  tagline: 'Fast 2D and 3D physics engine for the Rust programming language.',
+  tagline: 'High-performance 2D and 3D physics engine for the Rust programming language.',
   url: 'https://rapier.rs',
   baseUrl: '/',
   onBrokenLinks: 'throw',
@@ -29,7 +29,7 @@ const config = {
       title: 'Rapier',
       logo: {
         alt: 'Rapier Logo',
-        src: 'img/rapier_logo_color_small.svg',
+        src: 'img/rapier_logo_notext.png',
       },
       hideOnScroll: true,
       items: [
@@ -40,18 +40,9 @@ const config = {
           position: 'left',
         },
         {
+          to: '/demos',
           label: 'Demos',
           position: 'left',
-          items: [
-            {
-              href: 'https://rapier.rs/demos2d/index.html', // FIXME: should depend on the base url.
-              label: '2D Demos',
-            },
-            {
-              href: 'https://rapier.rs/demos3d/index.html', // FIXME: should depend on the base url.
-              label: '3D Demos',
-            }
-          ],
         },
         {
           to: '/community',
@@ -101,11 +92,11 @@ const config = {
             },
             {
               label: 'Demos 2D',
-              href: 'https://rapier.rs/demos2d/index.html',
+              href: 'pathname:///demos#2d',
             },
             {
               label: 'Demos 3D',
-              href: 'https://rapier.rs/demos3d/index.html',
+              href: 'pathname:///demos#3d',
             },
           ],
         },

website/package.json

@@ -7,6 +7,8 @@
     "start": "docusaurus start --host 0.0.0.0",
     "preview": "PUBLISH_MODE=1 docusaurus start --host 0.0.0.0",
     "build": "docusaurus build",
+    "build:demos": "./scripts/build-demos.sh",
+    "build:all": "yarn build:demos && yarn build",
     "swizzle": "docusaurus swizzle",
     "deploy": "docusaurus deploy",
     "serve": "docusaurus serve"

website/publish.sh

@@ -1,6 +1,7 @@
 #!/bin/bash
 
 ./generate_user_guides.sh
+./scripts/build-demos.sh
 PUBLISH_MODE=1 yarn build
 cp .htaccess build/.
 rsync -av --delete-after build/ crozet@ssh.cluster003.hosting.ovh.net:/home/crozet/rapier/