Move ColliderShape out of Rapier.

1 files changed, 0 insertions, 381 deletions

diff --git a/src/geometry/collider_shape.rs b/src/geometry/collider_shape.rs
deleted file mode 100644
index ed91b82..0000000
--- a/src/geometry/collider_shape.rs
+++ /dev/null
@@ -1,381 +0,0 @@
-use crate::cdl::transformation::vhacd::{VHACDParameters, VHACD};
-use crate::math::{Isometry, Point, Real, Vector, DIM};
-use cdl::shape::{
-    Ball, Capsule, Compound, Cuboid, HalfSpace, HeightField, RoundCuboid, RoundShape,
-    RoundTriangle, Segment, Shape, ShapeType, TriMesh, Triangle,
-};
-#[cfg(feature = "dim3")]
-use cdl::shape::{
-    Cone, ConvexPolyhedron, Cylinder, RoundCone, RoundConvexPolyhedron, RoundCylinder,
-};
-#[cfg(feature = "dim2")]
-use cdl::shape::{ConvexPolygon, RoundConvexPolygon};
-use std::ops::Deref;
-use std::sync::Arc;
-
-/// The shape of a collider.
-#[derive(Clone)]
-pub struct ColliderShape(pub Arc<dyn Shape>);
-
-impl Deref for ColliderShape {
-    type Target = dyn Shape;
-    fn deref(&self) -> &dyn Shape {
-        &*self.0
-    }
-}
-
-impl ColliderShape {
-    /// Initialize a compound shape defined by its subshapes.
-    pub fn compound(shapes: Vec<(Isometry<Real>, ColliderShape)>) -> Self {
-        let raw_shapes = shapes.into_iter().map(|s| (s.0, s.1 .0)).collect();
-        let compound = Compound::new(raw_shapes);
-        ColliderShape(Arc::new(compound))
-    }
-
-    /// Initialize a ball shape defined by its radius.
-    pub fn ball(radius: Real) -> Self {
-        ColliderShape(Arc::new(Ball::new(radius)))
-    }
-
-    /// Initialize a cylindrical shape defined by its half-height
-    /// (along along the y axis) and its radius.
-    #[cfg(feature = "dim3")]
-    pub fn cylinder(half_height: Real, radius: Real) -> Self {
-        ColliderShape(Arc::new(Cylinder::new(half_height, radius)))
-    }
-
-    /// Initialize a rounded cylindrical shape defined by its half-height
-    /// (along along the y axis), its radius, and its roundedness (the
-    /// radius of the sphere used for dilating the cylinder).
-    #[cfg(feature = "dim3")]
-    pub fn round_cylinder(half_height: Real, radius: Real, border_radius: Real) -> Self {
-        ColliderShape(Arc::new(RoundShape {
-            base_shape: Cylinder::new(half_height, radius),
-            border_radius,
-        }))
-    }
-
-    /// Initialize a rounded cone shape defined by its half-height
-    /// (along along the y axis), its radius, and its roundedness (the
-    /// radius of the sphere used for dilating the cylinder).
-    #[cfg(feature = "dim3")]
-    pub fn round_cone(half_height: Real, radius: Real, border_radius: Real) -> Self {
-        ColliderShape(Arc::new(RoundShape {
-            base_shape: Cone::new(half_height, radius),
-            border_radius,
-        }))
-    }
-
-    /// Initialize a cone shape defined by its half-height
-    /// (along along the y axis) and its basis radius.
-    #[cfg(feature = "dim3")]
-    pub fn cone(half_height: Real, radius: Real) -> Self {
-        ColliderShape(Arc::new(Cone::new(half_height, radius)))
-    }
-
-    /// Initialize a cuboid shape defined by its half-extents.
-    #[cfg(feature = "dim2")]
-    pub fn cuboid(hx: Real, hy: Real) -> Self {
-        ColliderShape(Arc::new(Cuboid::new(Vector::new(hx, hy))))
-    }
-
-    /// Initialize a round cuboid shape defined by its half-extents and border radius.
-    #[cfg(feature = "dim2")]
-    pub fn round_cuboid(hx: Real, hy: Real, border_radius: Real) -> Self {
-        ColliderShape(Arc::new(RoundShape {
-            base_shape: Cuboid::new(Vector::new(hx, hy)),
-            border_radius,
-        }))
-    }
-
-    /// Initialize a cuboid shape defined by its half-extents.
-    #[cfg(feature = "dim3")]
-    pub fn cuboid(hx: Real, hy: Real, hz: Real) -> Self {
-        ColliderShape(Arc::new(Cuboid::new(Vector::new(hx, hy, hz))))
-    }
-
-    /// Initialize a round cuboid shape defined by its half-extents and border radius.
-    #[cfg(feature = "dim3")]
-    pub fn round_cuboid(hx: Real, hy: Real, hz: Real, border_radius: Real) -> Self {
-        ColliderShape(Arc::new(RoundShape {
-            base_shape: Cuboid::new(Vector::new(hx, hy, hz)),
-            border_radius,
-        }))
-    }
-
-    /// Initialize a capsule shape from its endpoints and radius.
-    pub fn capsule(a: Point<Real>, b: Point<Real>, radius: Real) -> Self {
-        ColliderShape(Arc::new(Capsule::new(a, b, radius)))
-    }
-
-    /// Initialize a segment shape from its endpoints.
-    pub fn segment(a: Point<Real>, b: Point<Real>) -> Self {
-        ColliderShape(Arc::new(Segment::new(a, b)))
-    }
-
-    /// Initializes a triangle shape.
-    pub fn triangle(a: Point<Real>, b: Point<Real>, c: Point<Real>) -> Self {
-        ColliderShape(Arc::new(Triangle::new(a, b, c)))
-    }
-
-    /// Initializes a triangle mesh shape defined by its vertex and index buffers.
-    pub fn trimesh(vertices: Vec<Point<Real>>, indices: Vec<[u32; 3]>) -> Self {
-        ColliderShape(Arc::new(TriMesh::new(vertices, indices)))
-    }
-
-    /// Initializes 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 {
-        Self::convex_decomposition_with_params(vertices, indices, &VHACDParameters::default())
-    }
-
-    /// Initializes a compound shape obtained from the decomposition of the given trimesh (in 3D) or
-    /// polyline (in 2D) into convex parts dilated with round corners.
-    pub fn round_convex_decomposition(
-        vertices: &[Point<Real>],
-        indices: &[[u32; DIM]],
-        border_radius: Real,
-    ) -> Self {
-        Self::round_convex_decomposition_with_params(
-            vertices,
-            indices,
-            &VHACDParameters::default(),
-            border_radius,
-        )
-    }
-
-    /// Initializes a compound shape obtained from the decomposition of the given trimesh (in 3D) or
-    /// polyline (in 2D) into convex parts.
-    pub fn convex_decomposition_with_params(
-        vertices: &[Point<Real>],
-        indices: &[[u32; DIM]],
-        params: &VHACDParameters,
-    ) -> Self {
-        let mut parts = vec![];
-        let decomp = VHACD::decompose(params, &vertices, &indices, true);
-
-        #[cfg(feature = "dim2")]
-        for vertices in decomp.compute_exact_convex_hulls(&vertices, &indices) {
-            if let Some(convex) = Self::convex_polyline(vertices) {
-                parts.push((Isometry::identity(), convex));
-            }
-        }
-
-        #[cfg(feature = "dim3")]
-        for (vertices, indices) in decomp.compute_exact_convex_hulls(&vertices, &indices) {
-            if let Some(convex) = Self::convex_mesh(vertices, &indices) {
-                parts.push((Isometry::identity(), convex));
-            }
-        }
-
-        Self::compound(parts)
-    }
-
-    /// Initializes a compound shape obtained from the decomposition of the given trimesh (in 3D) or
-    /// polyline (in 2D) into convex parts dilated with round corners.
-    pub fn round_convex_decomposition_with_params(
-        vertices: &[Point<Real>],
-        indices: &[[u32; DIM]],
-        params: &VHACDParameters,
-        border_radius: Real,
-    ) -> Self {
-        let mut parts = vec![];
-        let decomp = VHACD::decompose(params, &vertices, &indices, true);
-
-        #[cfg(feature = "dim2")]
-        for vertices in decomp.compute_exact_convex_hulls(&vertices, &indices) {
-            if let Some(convex) = Self::round_convex_polyline(vertices, border_radius) {
-                parts.push((Isometry::identity(), convex));
-            }
-        }
-
-        #[cfg(feature = "dim3")]
-        for (vertices, indices) in decomp.compute_exact_convex_hulls(&vertices, &indices) {
-            if let Some(convex) = Self::round_convex_mesh(vertices, &indices, border_radius) {
-                parts.push((Isometry::identity(), convex));
-            }
-        }
-
-        Self::compound(parts)
-    }
-
-    pub fn convex_hull(points: &[Point<Real>]) -> Option<Self> {
-        #[cfg(feature = "dim2")]
-        return ConvexPolygon::from_convex_hull(points).map(|ch| ColliderShape(Arc::new(ch)));
-        #[cfg(feature = "dim3")]
-        return ConvexPolyhedron::from_convex_hull(points).map(|ch| ColliderShape(Arc::new(ch)));
-    }
-
-    #[cfg(feature = "dim2")]
-    pub fn convex_polyline(points: Vec<Point<Real>>) -> Option<Self> {
-        ConvexPolygon::from_convex_polyline(points).map(|ch| ColliderShape(Arc::new(ch)))
-    }
-
-    #[cfg(feature = "dim3")]
-    pub fn convex_mesh(points: Vec<Point<Real>>, indices: &[[u32; 3]]) -> Option<Self> {
-        ConvexPolyhedron::from_convex_mesh(points, indices).map(|ch| ColliderShape(Arc::new(ch)))
-    }
-
-    pub fn round_convex_hull(points: &[Point<Real>], border_radius: Real) -> Option<Self> {
-        #[cfg(feature = "dim2")]
-        return ConvexPolygon::from_convex_hull(points).map(|ch| {
-            ColliderShape(Arc::new(RoundShape {
-                base_shape: ch,
-                border_radius,
-            }))
-        });
-        #[cfg(feature = "dim3")]
-        return ConvexPolyhedron::from_convex_hull(points).map(|ch| {
-            ColliderShape(Arc::new(RoundShape {
-                base_shape: ch,
-                border_radius,
-            }))
-        });
-    }
-
-    #[cfg(feature = "dim2")]
-    pub fn round_convex_polyline(points: Vec<Point<Real>>, border_radius: Real) -> Option<Self> {
-        ConvexPolygon::from_convex_polyline(points).map(|ch| {
-            ColliderShape(Arc::new(RoundShape {
-                base_shape: ch,
-                border_radius,
-            }))
-        })
-    }
-
-    #[cfg(feature = "dim3")]
-    pub fn round_convex_mesh(
-        points: Vec<Point<Real>>,
-        indices: &[[u32; 3]],
-        border_radius: Real,
-    ) -> Option<Self> {
-        ConvexPolyhedron::from_convex_mesh(points, indices).map(|ch| {
-            ColliderShape(Arc::new(RoundShape {
-                base_shape: ch,
-                border_radius,
-            }))
-        })
-    }
-
-    /// Initializes an heightfield shape defined by its set of height and a scale
-    /// factor along each coordinate axis.
-    #[cfg(feature = "dim2")]
-    pub fn heightfield(heights: na::DVector<Real>, scale: Vector<Real>) -> Self {
-        ColliderShape(Arc::new(HeightField::new(heights, scale)))
-    }
-
-    /// Initializes an heightfield shape on the x-z plane defined by its set of height and a scale
-    /// factor along each coordinate axis.
-    #[cfg(feature = "dim3")]
-    pub fn heightfield(heights: na::DMatrix<Real>, scale: Vector<Real>) -> Self {
-        ColliderShape(Arc::new(HeightField::new(heights, scale)))
-    }
-}
-
-#[cfg(feature = "serde-serialize")]
-impl serde::Serialize for ColliderShape {
-    fn serialize<S>(&self, serializer: S) -> Result<S::Ok, S::Error>
-    where
-        S: serde::Serializer,
-    {
-        use crate::serde::ser::SerializeStruct;
-
-        if let Some(ser) = self.0.as_serialize() {
-            let typ = self.0.shape_type();
-            let mut state = serializer.serialize_struct("ColliderShape", 2)?;
-            state.serialize_field("tag", &(typ as i32))?;
-            state.serialize_field("inner", ser)?;
-            state.end()
-        } else {
-            Err(serde::ser::Error::custom(
-                "Found a non-serializable custom shape.",
-            ))
-        }
-    }
-}
-
-#[cfg(feature = "serde-serialize")]
-impl<'de> serde::Deserialize<'de> for ColliderShape {
-    fn deserialize<D>(deserializer: D) -> Result<Self, D::Error>
-    where
-        D: serde::Deserializer<'de>,
-    {
-        struct Visitor {};
-        impl<'de> serde::de::Visitor<'de> for Visitor {
-            type Value = ColliderShape;
-            fn expecting(&self, formatter: &mut std::fmt::Formatter) -> std::fmt::Result {
-                write!(formatter, "one shape type tag and the inner shape data")
-            }
-
-            fn visit_seq<A>(self, mut seq: A) -> Result<Self::Value, A::Error>
-            where
-                A: serde::de::SeqAccess<'de>,
-            {
-                use num::cast::FromPrimitive;
-
-                let tag: i32 = seq
-                    .next_element()?
-                    .ok_or_else(|| serde::de::Error::invalid_length(0, &self))?;
-
-                fn deser<'de, A, S: Shape + serde::Deserialize<'de>>(
-                    seq: &mut A,
-                ) -> Result<Arc<dyn Shape>, A::Error>
-                where
-                    A: serde::de::SeqAccess<'de>,
-                {
-                    let shape: S = seq.next_element()?.ok_or_else(|| {
-                        serde::de::Error::custom("Failed to deserialize builtin shape.")
-                    })?;
-                    Ok(Arc::new(shape) as Arc<dyn Shape>)
-                }
-
-                let shape = match ShapeType::from_i32(tag) {
-                    Some(ShapeType::Ball) => deser::<A, Ball>(&mut seq)?,
-                    Some(ShapeType::Cuboid) => deser::<A, Cuboid>(&mut seq)?,
-                    Some(ShapeType::Capsule) => deser::<A, Capsule>(&mut seq)?,
-                    Some(ShapeType::Triangle) => deser::<A, Triangle>(&mut seq)?,
-                    Some(ShapeType::Segment) => deser::<A, Segment>(&mut seq)?,
-                    Some(ShapeType::TriMesh) => deser::<A, TriMesh>(&mut seq)?,
-                    Some(ShapeType::HeightField) => deser::<A, HeightField>(&mut seq)?,
-                    Some(ShapeType::HalfSpace) => deser::<A, HalfSpace>(&mut seq)?,
-                    Some(ShapeType::RoundCuboid) => deser::<A, RoundCuboid>(&mut seq)?,
-                    Some(ShapeType::RoundTriangle) => deser::<A, RoundTriangle>(&mut seq)?,
-                    #[cfg(feature = "dim2")]
-                    Some(ShapeType::ConvexPolygon) => deser::<A, ConvexPolygon>(&mut seq)?,
-                    #[cfg(feature = "dim2")]
-                    Some(ShapeType::RoundConvexPolygon) => {
-                        deser::<A, RoundConvexPolygon>(&mut seq)?
-                    }
-                    #[cfg(feature = "dim3")]
-                    Some(ShapeType::Cylinder) => deser::<A, Cylinder>(&mut seq)?,
-                    #[cfg(feature = "dim3")]
-                    Some(ShapeType::ConvexPolyhedron) => deser::<A, ConvexPolyhedron>(&mut seq)?,
-                    #[cfg(feature = "dim3")]
-                    Some(ShapeType::Cone) => deser::<A, Cone>(&mut seq)?,
-                    #[cfg(feature = "dim3")]
-                    Some(ShapeType::RoundCylinder) => deser::<A, RoundCylinder>(&mut seq)?,
-                    #[cfg(feature = "dim3")]
-                    Some(ShapeType::RoundCone) => deser::<A, RoundCone>(&mut seq)?,
-                    #[cfg(feature = "dim3")]
-                    Some(ShapeType::RoundConvexPolyhedron) => {
-                        deser::<A, RoundConvexPolyhedron>(&mut seq)?
-                    }
-                    Some(ShapeType::Compound) => {
-                        return Err(serde::de::Error::custom(
-                            "found invalid shape type to deserialize",
-                        ))
-                    }
-                    None => {
-                        return Err(serde::de::Error::custom(
-                            "found invalid shape type to deserialize",
-                        ))
-                    }
-                };
-
-                Ok(ColliderShape(shape))
-            }
-        }
-
-        deserializer.deserialize_struct("ColliderShape", &["tag", "inner"], Visitor {})
-    }
-}