feat: add MeshConverter and Colliders::converted_trimesh for building a collider with a shape computed form mesh buffers

3 files changed, 102 insertions, 4 deletions

diff --git a/src/geometry/collider.rs b/src/geometry/collider.rs
index c58548e..d72e098 100644
--- a/src/geometry/collider.rs
+++ b/src/geometry/collider.rs
@@ -2,7 +2,7 @@ use crate::dynamics::{CoefficientCombineRule, MassProperties, RigidBodyHandle};
 use crate::geometry::{
     ActiveCollisionTypes, BroadPhaseProxyIndex, ColliderBroadPhaseData, ColliderChanges,
     ColliderFlags, ColliderMassProps, ColliderMaterial, ColliderParent, ColliderPosition,
-    ColliderShape, ColliderType, InteractionGroups, SharedShape,
+    ColliderShape, ColliderType, InteractionGroups, MeshConverter, MeshConverterError, SharedShape,
 };
 use crate::math::{AngVector, Isometry, Point, Real, Rotation, Vector, DIM};
 use crate::parry::transformation::vhacd::VHACDParameters;
@@ -698,6 +698,21 @@ impl ColliderBuilder {
         Self::new(SharedShape::trimesh_with_flags(vertices, indices, flags))
     }
 
+    /// Initializes a collider builder with a shape converted from the given triangle mesh index
+    /// and vertex buffer.
+    ///
+    /// All the conversion variants could be achieved with other constructors of [`ColliderBuilder`]
+    /// but having this specified by an enum can occasionally be easier or more flexible (determined
+    /// at runtime).
+    pub fn converted_trimesh(
+        vertices: Vec<Point<Real>>,
+        indices: Vec<[u32; 3]>,
+        converter: MeshConverter,
+    ) -> Result<Self, MeshConverterError> {
+        let (shape, pose) = converter.convert(vertices, indices)?;
+        Ok(Self::new(shape).position(pose))
+    }
+
     /// Initializes a collider builder with a compound shape obtained from the decomposition of
     /// the given trimesh (in 3D) or polyline (in 2D) into convex parts.
     pub fn convex_decomposition(vertices: &[Point<Real>], indices: &[[u32; DIM]]) -> Self {
diff --git a/src/geometry/mesh_converter.rs b/src/geometry/mesh_converter.rs
new file mode 100644
index 0000000..e2f515a
--- /dev/null
+++ b/src/geometry/mesh_converter.rs
@@ -0,0 +1,82 @@
+use parry::bounding_volume;
+use parry::math::{Isometry, Point, Real};
+use parry::shape::{Cuboid, SharedShape, TriMeshFlags};
+use parry::transformation::vhacd::VHACDParameters;
+
+/*
+ *
+ * TODO: should all this be part of parry instead?
+ *
+ */
+
+#[derive(thiserror::Error, Debug)]
+pub enum MeshConverterError {
+    #[error("convex-hull computation failed")]
+    ConvexHullFailed,
+}
+
+/// Determines how meshes (generally when loaded from a file) are converted into Rapier colliders.
+// TODO: implement Copy once we add a Copy implementation for VHACDParameters.
+#[derive(Clone, Debug, PartialEq, Default)]
+pub enum MeshConverter {
+    /// The mesh is loaded as-is without any particular processing.
+    #[default]
+    TriMesh,
+    /// The mesh is loaded with the specified flags.
+    TriMeshWithFlags(TriMeshFlags),
+    /// The mesh is replaced by its Oriented Bounding Box (represented as
+    /// a rotated cuboid).
+    ///
+    /// With this option, the mesh’s index buffer is ignored.
+    Obb,
+    /// The mesh is replaced by its AABB.
+    ///
+    /// With this option, the mesh’s index buffer is ignored.
+    Aabb,
+    /// The mesh is replaced by its convex-hull.
+    ///
+    /// With this option, the mesh’s index buffer is ignored.
+    ConvexHull,
+    /// The mesh is replaced by its convex decomposition.
+    ConvexDecomposition,
+    /// The mesh is replaced by its convex decomposition with parameters specified to adjust
+    /// the convex decomposition algorithm.
+    ConvexDecompositionWithParams(VHACDParameters),
+}
+
+impl MeshConverter {
+    pub fn convert(
+        &self,
+        vertices: Vec<Point<Real>>,
+        indices: Vec<[u32; 3]>,
+    ) -> Result<(SharedShape, Isometry<Real>), MeshConverterError> {
+        let mut transform = Isometry::identity();
+        let shape = match self {
+            MeshConverter::TriMesh => SharedShape::trimesh(vertices, indices),
+            MeshConverter::TriMeshWithFlags(flags) => {
+                SharedShape::trimesh_with_flags(vertices, indices, *flags)
+            }
+            MeshConverter::Obb => {
+                let (pose, cuboid) = parry::utils::obb(&vertices);
+                transform = pose;
+                SharedShape::new(cuboid)
+            }
+            MeshConverter::Aabb => {
+                let aabb = bounding_volume::details::local_point_cloud_aabb(&vertices);
+                let cuboid = Cuboid::new(aabb.half_extents());
+                transform = Isometry::from(aabb.center().coords);
+                SharedShape::new(cuboid)
+            }
+            MeshConverter::ConvexHull => {
+                SharedShape::convex_hull(&vertices).ok_or(MeshConverterError::ConvexHullFailed)?
+            }
+            MeshConverter::ConvexDecomposition => {
+                SharedShape::convex_decomposition(&vertices, &indices)
+            }
+            MeshConverter::ConvexDecompositionWithParams(params) => {
+                SharedShape::convex_decomposition_with_params(&vertices, &indices, &params)
+            }
+        };
+        Ok((shape, transform))
+    }
+}
diff --git a/src/geometry/mod.rs b/src/geometry/mod.rs
index 1eaad79..e7f0da7 100644
--- a/src/geometry/mod.rs
+++ b/src/geometry/mod.rs
@@ -2,7 +2,9 @@
 
 pub use self::broad_phase::BroadPhase;
 pub use self::broad_phase_multi_sap::{BroadPhaseMultiSap, BroadPhasePairEvent, ColliderPair};
+pub use self::collider::{Collider, ColliderBuilder};
 pub use self::collider_components::*;
+pub use self::collider_set::ColliderSet;
 pub use self::contact_pair::{
     ContactData, ContactManifoldData, ContactPair, IntersectionPair, SolverContact, SolverFlags,
 };
@@ -10,11 +12,9 @@ pub use self::interaction_graph::{
     ColliderGraphIndex, InteractionGraph, RigidBodyGraphIndex, TemporaryInteractionIndex,
 };
 pub use self::interaction_groups::{Group, InteractionGroups};
+pub use self::mesh_converter::{MeshConverter, MeshConverterError};
 pub use self::narrow_phase::NarrowPhase;
 
-pub use self::collider::{Collider, ColliderBuilder};
-pub use self::collider_set::ColliderSet;
-
 pub use parry::bounding_volume::BoundingVolume;
 pub use parry::query::{PointQuery, PointQueryWithLocation, RayCast, TrackedContact};
 pub use parry::shape::SharedShape;
@@ -207,3 +207,4 @@ mod broad_phase;
 mod broad_phase_qbvh;
 mod collider;
 mod collider_set;
+mod mesh_converter;