Allow using polylines as a collider shape.

3 files changed, 164 insertions, 0 deletions

diff --git a/examples2d/all_examples2.rs b/examples2d/all_examples2.rs
index e0b6631..5040c8a 100644
--- a/examples2d/all_examples2.rs
+++ b/examples2d/all_examples2.rs
@@ -12,12 +12,14 @@ use std::cmp::Ordering;
 
 mod add_remove2;
 mod collision_groups2;
+mod convex_polygons2;
 mod damping2;
 mod debug_box_ball2;
 mod heightfield2;
 mod joints2;
 mod locked_rotations2;
 mod platform2;
+mod polyline2;
 mod pyramid2;
 mod restitution2;
 mod sensor2;
@@ -58,11 +60,13 @@ pub fn main() {
     let mut builders: Vec<(_, fn(&mut Testbed))> = vec![
         ("Add remove", add_remove2::init_world),
         ("Collision groups", collision_groups2::init_world),
+        ("Convex polygons", convex_polygons2::init_world),
         ("Damping", damping2::init_world),
         ("Heightfield", heightfield2::init_world),
         ("Joints", joints2::init_world),
         ("Locked rotations", locked_rotations2::init_world),
         ("Platform", platform2::init_world),
+        ("Polyline", polyline2::init_world),
         ("Pyramid", pyramid2::init_world),
         ("Restitution", restitution2::init_world),
         ("Sensor", sensor2::init_world),
diff --git a/examples2d/convex_polygons2.rs b/examples2d/convex_polygons2.rs
new file mode 100644
index 0000000..d936fb6
--- /dev/null
+++ b/examples2d/convex_polygons2.rs
@@ -0,0 +1,86 @@
+use na::Point2;
+use rand::distributions::{Distribution, Standard};
+use rand::{rngs::StdRng, SeedableRng};
+use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
+use rapier2d::geometry::{ColliderBuilder, ColliderSet};
+use rapier_testbed2d::Testbed;
+
+pub fn init_world(testbed: &mut Testbed) {
+    /*
+     * World
+     */
+    let mut bodies = RigidBodySet::new();
+    let mut colliders = ColliderSet::new();
+    let joints = JointSet::new();
+
+    /*
+     * Ground
+     */
+    let ground_size = 30.0;
+
+    let rigid_body = RigidBodyBuilder::new_static().build();
+    let handle = bodies.insert(rigid_body);
+    let collider = ColliderBuilder::cuboid(ground_size, 1.2).build();
+    colliders.insert(collider, handle, &mut bodies);
+
+    let rigid_body = RigidBodyBuilder::new_static()
+        .rotation(std::f32::consts::FRAC_PI_2)
+        .translation(ground_size, ground_size * 2.0)
+        .build();
+    let handle = bodies.insert(rigid_body);
+    let collider = ColliderBuilder::cuboid(ground_size * 2.0, 1.2).build();
+    colliders.insert(collider, handle, &mut bodies);
+
+    let rigid_body = RigidBodyBuilder::new_static()
+        .rotation(std::f32::consts::FRAC_PI_2)
+        .translation(-ground_size, ground_size * 2.0)
+        .build();
+    let handle = bodies.insert(rigid_body);
+    let collider = ColliderBuilder::cuboid(ground_size * 2.0, 1.2).build();
+    colliders.insert(collider, handle, &mut bodies);
+
+    /*
+     * Create the convex polygons
+     */
+    let num = 14;
+    let scale = 4.0;
+    let border_rad = 0.0;
+
+    let shift = border_rad * 2.0 + scale;
+    let centerx = shift * (num as f32) / 2.0;
+    let centery = shift / 2.0;
+
+    let mut rng = StdRng::seed_from_u64(0);
+    let distribution = Standard;
+
+    for i in 0..num {
+        for j in 0usize..num * 4 {
+            let x = i as f32 * shift - centerx;
+            let y = j as f32 * shift * 2.0 + centery + 2.0;
+
+            let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y).build();
+            let handle = bodies.insert(rigid_body);
+
+            let mut points = Vec::new();
+
+            for _ in 0..10 {
+                let pt: Point2<f32> = distribution.sample(&mut rng);
+                points.push(pt * scale);
+            }
+
+            let collider = ColliderBuilder::convex_hull(&points).unwrap().build();
+            colliders.insert(collider, handle, &mut bodies);
+        }
+    }
+
+    /*
+     * Set up the testbed.
+     */
+    testbed.set_world(bodies, colliders, joints);
+    testbed.look_at(Point2::new(0.0, 50.0), 10.0);
+}
+
+fn main() {
+    let testbed = Testbed::from_builders(0, vec![("Balls", init_world)]);
+    testbed.run()
+}
diff --git a/examples2d/polyline2.rs b/examples2d/polyline2.rs
new file mode 100644
index 0000000..3aa4a47
--- /dev/null
+++ b/examples2d/polyline2.rs
@@ -0,0 +1,74 @@
+use na::{ComplexField, Point2};
+use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
+use rapier2d::geometry::{ColliderBuilder, ColliderSet};
+use rapier_testbed2d::Testbed;
+
+pub fn init_world(testbed: &mut Testbed) {
+    /*
+     * World
+     */
+    let mut bodies = RigidBodySet::new();
+    let mut colliders = ColliderSet::new();
+    let joints = JointSet::new();
+
+    /*
+     * Ground
+     */
+    let ground_size = 50.0;
+    let nsubdivs = 2000;
+    let step_size = ground_size / (nsubdivs as f32);
+    let mut points = Vec::new();
+
+    points.push(Point2::new(-ground_size / 2.0, 40.0));
+    for i in 1..nsubdivs - 1 {
+        let x = -ground_size / 2.0 + i as f32 * step_size;
+        let y = ComplexField::cos(i as f32 * step_size) * 2.0;
+        points.push(Point2::new(x, y));
+    }
+    points.push(Point2::new(ground_size / 2.0, 40.0));
+
+    let rigid_body = RigidBodyBuilder::new_static().build();
+    let handle = bodies.insert(rigid_body);
+    let collider = ColliderBuilder::polyline(points, None).build();
+    colliders.insert(collider, handle, &mut bodies);
+
+    /*
+     * Create the cubes
+     */
+    let num = 20;
+    let rad = 0.5;
+
+    let shift = rad * 2.0;
+    let centerx = shift * (num / 2) as f32;
+    let centery = shift / 2.0;
+
+    for i in 0..num {
+        for j in 0usize..num {
+            let x = i as f32 * shift - centerx;
+            let y = j as f32 * shift + centery + 3.0;
+
+            // Build the rigid body.
+            let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y).build();
+            let handle = bodies.insert(rigid_body);
+
+            if j % 2 == 0 {
+                let collider = ColliderBuilder::cuboid(rad, rad).build();
+                colliders.insert(collider, handle, &mut bodies);
+            } else {
+                let collider = ColliderBuilder::ball(rad).build();
+                colliders.insert(collider, handle, &mut bodies);
+            }
+        }
+    }
+
+    /*
+     * Set up the testbed.
+     */
+    testbed.set_world(bodies, colliders, joints);
+    testbed.look_at(Point2::new(0.0, 0.0), 10.0);
+}
+
+fn main() {
+    let testbed = Testbed::from_builders(0, vec![("Heightfield", init_world)]);
+    testbed.run()
+}