Merge pull request #79 from dimforge/split_geom

Move most of the geometric code to another crate.

1 files changed, 0 insertions, 392 deletions

diff --git a/src/geometry/shape.rs b/src/geometry/shape.rs
deleted file mode 100644
index 66840a0..0000000
--- a/src/geometry/shape.rs
+++ /dev/null
@@ -1,392 +0,0 @@
-use crate::dynamics::MassProperties;
-use crate::geometry::{Ball, Capsule, Cuboid, HeightField, Segment, Triangle, Trimesh};
-use crate::math::Isometry;
-use downcast_rs::{impl_downcast, DowncastSync};
-#[cfg(feature = "serde-serialize")]
-use erased_serde::Serialize;
-use ncollide::bounding_volume::{HasBoundingVolume, AABB};
-use ncollide::query::{PointQuery, RayCast};
-use num::Zero;
-use num_derive::FromPrimitive;
-#[cfg(feature = "dim3")]
-use {
-    crate::geometry::{Cone, Cylinder, PolygonalFeatureMap, RoundCylinder},
-    ncollide::bounding_volume::BoundingVolume,
-};
-
-#[derive(Copy, Clone, Debug, FromPrimitive)]
-/// Enum representing the type of a shape.
-pub enum ShapeType {
-    /// A ball shape.
-    Ball = 0,
-    /// A convex polygon shape.
-    Polygon,
-    /// A cuboid shape.
-    Cuboid,
-    /// A capsule shape.
-    Capsule,
-    /// A segment shape.
-    Segment,
-    /// A triangle shape.
-    Triangle,
-    /// A triangle mesh shape.
-    Trimesh,
-    /// A heightfield shape.
-    HeightField,
-    #[cfg(feature = "dim3")]
-    /// A cylindrical shape.
-    Cylinder,
-    #[cfg(feature = "dim3")]
-    /// A cylindrical shape.
-    Cone,
-    // /// A custom shape type.
-    // Custom(u8),
-    // /// A cuboid with rounded corners.
-    // RoundedCuboid,
-    // /// A triangle with rounded corners.
-    // RoundedTriangle,
-    // /// A triangle-mesh with rounded corners.
-    // RoundedTrimesh,
-    // /// An heightfield with rounded corners.
-    // RoundedHeightField,
-    /// A cylinder with rounded corners.
-    #[cfg(feature = "dim3")]
-    RoundCylinder,
-    // /// A cone with rounded corners.
-    // RoundedCone,
-}
-
-/// Trait implemented by shapes usable by Rapier.
-pub trait Shape: RayCast<f32> + PointQuery<f32> + DowncastSync {
-    /// Convert this shape as a serializable entity.
-    #[cfg(feature = "serde-serialize")]
-    fn as_serialize(&self) -> Option<&dyn Serialize> {
-        None
-    }
-
-    // TODO: add a compute_local_aabb method?
-
-    /// Computes the AABB of this shape.
-    fn compute_aabb(&self, position: &Isometry<f32>) -> AABB<f32>;
-
-    /// Compute the mass-properties of this shape given its uniform density.
-    fn mass_properties(&self, density: f32) -> MassProperties;
-
-    /// Gets the type tag of this shape.
-    fn shape_type(&self) -> ShapeType;
-
-    /// Converts this shape to a polygonal feature-map, if it is one.
-    #[cfg(feature = "dim3")]
-    fn as_polygonal_feature_map(&self) -> Option<(&dyn PolygonalFeatureMap, f32)> {
-        None
-    }
-
-    // fn as_rounded(&self) -> Option<&Rounded<Box<AnyShape>>> {
-    //     None
-    // }
-}
-
-impl_downcast!(sync Shape);
-
-impl dyn Shape {
-    /// Converts this abstract shape to a ball, if it is one.
-    pub fn as_ball(&self) -> Option<&Ball> {
-        self.downcast_ref()
-    }
-
-    /// Converts this abstract shape to a cuboid, if it is one.
-    pub fn as_cuboid(&self) -> Option<&Cuboid> {
-        self.downcast_ref()
-    }
-
-    /// Converts this abstract shape to a capsule, if it is one.
-    pub fn as_capsule(&self) -> Option<&Capsule> {
-        self.downcast_ref()
-    }
-
-    /// Converts this abstract shape to a triangle, if it is one.
-    pub fn as_triangle(&self) -> Option<&Triangle> {
-        self.downcast_ref()
-    }
-
-    /// Converts this abstract shape to a triangle mesh, if it is one.
-    pub fn as_trimesh(&self) -> Option<&Trimesh> {
-        self.downcast_ref()
-    }
-
-    /// Converts this abstract shape to a heightfield, if it is one.
-    pub fn as_heightfield(&self) -> Option<&HeightField> {
-        self.downcast_ref()
-    }
-
-    /// Converts this abstract shape to a cylinder, if it is one.
-    #[cfg(feature = "dim3")]
-    pub fn as_cylinder(&self) -> Option<&Cylinder> {
-        self.downcast_ref()
-    }
-
-    /// Converts this abstract shape to a cone, if it is one.
-    #[cfg(feature = "dim3")]
-    pub fn as_cone(&self) -> Option<&Cone> {
-        self.downcast_ref()
-    }
-
-    /// Converts this abstract shape to a cone, if it is one.
-    #[cfg(feature = "dim3")]
-    pub fn as_round_cylinder(&self) -> Option<&RoundCylinder> {
-        self.downcast_ref()
-    }
-}
-
-impl Shape for Ball {
-    #[cfg(feature = "serde-serialize")]
-    fn as_serialize(&self) -> Option<&dyn Serialize> {
-        Some(self as &dyn Serialize)
-    }
-
-    fn compute_aabb(&self, position: &Isometry<f32>) -> AABB<f32> {
-        self.bounding_volume(position)
-    }
-
-    fn mass_properties(&self, density: f32) -> MassProperties {
-        MassProperties::from_ball(density, self.radius)
-    }
-
-    fn shape_type(&self) -> ShapeType {
-        ShapeType::Ball
-    }
-}
-
-// impl Shape for Polygon {
-//     #[cfg(feature = "serde-serialize")]
-//     fn as_serialize(&self) -> Option<&dyn Serialize> {
-//         Some(self as &dyn Serialize)
-//     }
-//
-//     fn compute_aabb(&self, position: &Isometry<f32>) -> AABB<f32> {
-//         self.aabb(position)
-//     }
-//
-//     fn mass_properties(&self, _density: f32) -> MassProperties {
-//         unimplemented!()
-//     }
-//
-//     fn shape_type(&self) -> ShapeType {
-//         ShapeType::Polygon
-//     }
-// }
-
-impl Shape for Cuboid {
-    #[cfg(feature = "serde-serialize")]
-    fn as_serialize(&self) -> Option<&dyn Serialize> {
-        Some(self as &dyn Serialize)
-    }
-
-    fn compute_aabb(&self, position: &Isometry<f32>) -> AABB<f32> {
-        self.bounding_volume(position)
-    }
-
-    fn mass_properties(&self, density: f32) -> MassProperties {
-        MassProperties::from_cuboid(density, self.half_extents)
-    }
-
-    fn shape_type(&self) -> ShapeType {
-        ShapeType::Cuboid
-    }
-
-    #[cfg(feature = "dim3")]
-    fn as_polygonal_feature_map(&self) -> Option<(&dyn PolygonalFeatureMap, f32)> {
-        Some((self as &dyn PolygonalFeatureMap, 0.0))
-    }
-}
-
-impl Shape for Capsule {
-    #[cfg(feature = "serde-serialize")]
-    fn as_serialize(&self) -> Option<&dyn Serialize> {
-        Some(self as &dyn Serialize)
-    }
-
-    fn compute_aabb(&self, position: &Isometry<f32>) -> AABB<f32> {
-        self.aabb(position)
-    }
-
-    fn mass_properties(&self, density: f32) -> MassProperties {
-        MassProperties::from_capsule(density, self.segment.a, self.segment.b, self.radius)
-    }
-
-    fn shape_type(&self) -> ShapeType {
-        ShapeType::Capsule
-    }
-
-    #[cfg(feature = "dim3")]
-    fn as_polygonal_feature_map(&self) -> Option<(&dyn PolygonalFeatureMap, f32)> {
-        Some((&self.segment as &dyn PolygonalFeatureMap, self.radius))
-    }
-}
-
-impl Shape for Triangle {
-    #[cfg(feature = "serde-serialize")]
-    fn as_serialize(&self) -> Option<&dyn Serialize> {
-        Some(self as &dyn Serialize)
-    }
-
-    fn compute_aabb(&self, position: &Isometry<f32>) -> AABB<f32> {
-        self.bounding_volume(position)
-    }
-
-    fn mass_properties(&self, _density: f32) -> MassProperties {
-        MassProperties::zero()
-    }
-
-    fn shape_type(&self) -> ShapeType {
-        ShapeType::Triangle
-    }
-
-    #[cfg(feature = "dim3")]
-    fn as_polygonal_feature_map(&self) -> Option<(&dyn PolygonalFeatureMap, f32)> {
-        Some((self as &dyn PolygonalFeatureMap, 0.0))
-    }
-}
-
-impl Shape for Segment {
-    #[cfg(feature = "serde-serialize")]
-    fn as_serialize(&self) -> Option<&dyn Serialize> {
-        Some(self as &dyn Serialize)
-    }
-
-    fn compute_aabb(&self, position: &Isometry<f32>) -> AABB<f32> {
-        self.bounding_volume(position)
-    }
-
-    fn mass_properties(&self, _density: f32) -> MassProperties {
-        MassProperties::zero()
-    }
-
-    fn shape_type(&self) -> ShapeType {
-        ShapeType::Segment
-    }
-
-    #[cfg(feature = "dim3")]
-    fn as_polygonal_feature_map(&self) -> Option<(&dyn PolygonalFeatureMap, f32)> {
-        Some((self as &dyn PolygonalFeatureMap, 0.0))
-    }
-}
-
-impl Shape for Trimesh {
-    #[cfg(feature = "serde-serialize")]
-    fn as_serialize(&self) -> Option<&dyn Serialize> {
-        Some(self as &dyn Serialize)
-    }
-
-    fn compute_aabb(&self, position: &Isometry<f32>) -> AABB<f32> {
-        self.aabb(position)
-    }
-
-    fn mass_properties(&self, _density: f32) -> MassProperties {
-        MassProperties::zero()
-    }
-
-    fn shape_type(&self) -> ShapeType {
-        ShapeType::Trimesh
-    }
-}
-
-impl Shape for HeightField {
-    #[cfg(feature = "serde-serialize")]
-    fn as_serialize(&self) -> Option<&dyn Serialize> {
-        Some(self as &dyn Serialize)
-    }
-
-    fn compute_aabb(&self, position: &Isometry<f32>) -> AABB<f32> {
-        self.bounding_volume(position)
-    }
-
-    fn mass_properties(&self, _density: f32) -> MassProperties {
-        MassProperties::zero()
-    }
-
-    fn shape_type(&self) -> ShapeType {
-        ShapeType::HeightField
-    }
-}
-
-#[cfg(feature = "dim3")]
-impl Shape for Cylinder {
-    #[cfg(feature = "serde-serialize")]
-    fn as_serialize(&self) -> Option<&dyn Serialize> {
-        Some(self as &dyn Serialize)
-    }
-
-    fn compute_aabb(&self, position: &Isometry<f32>) -> AABB<f32> {
-        self.bounding_volume(position)
-    }
-
-    fn mass_properties(&self, density: f32) -> MassProperties {
-        MassProperties::from_cylinder(density, self.half_height, self.radius)
-    }
-
-    fn shape_type(&self) -> ShapeType {
-        ShapeType::Cylinder
-    }
-
-    #[cfg(feature = "dim3")]
-    fn as_polygonal_feature_map(&self) -> Option<(&dyn PolygonalFeatureMap, f32)> {
-        Some((self as &dyn PolygonalFeatureMap, 0.0))
-    }
-}
-
-#[cfg(feature = "dim3")]
-impl Shape for Cone {
-    #[cfg(feature = "serde-serialize")]
-    fn as_serialize(&self) -> Option<&dyn Serialize> {
-        Some(self as &dyn Serialize)
-    }
-
-    fn compute_aabb(&self, position: &Isometry<f32>) -> AABB<f32> {
-        self.bounding_volume(position)
-    }
-
-    fn mass_properties(&self, density: f32) -> MassProperties {
-        MassProperties::from_cone(density, self.half_height, self.radius)
-    }
-
-    fn shape_type(&self) -> ShapeType {
-        ShapeType::Cone
-    }
-
-    #[cfg(feature = "dim3")]
-    fn as_polygonal_feature_map(&self) -> Option<(&dyn PolygonalFeatureMap, f32)> {
-        Some((self as &dyn PolygonalFeatureMap, 0.0))
-    }
-}
-
-#[cfg(feature = "dim3")]
-impl Shape for RoundCylinder {
-    #[cfg(feature = "serde-serialize")]
-    fn as_serialize(&self) -> Option<&dyn Serialize> {
-        Some(self as &dyn Serialize)
-    }
-
-    fn compute_aabb(&self, position: &Isometry<f32>) -> AABB<f32> {
-        self.cylinder
-            .compute_aabb(position)
-            .loosened(self.border_radius)
-    }
-
-    fn mass_properties(&self, density: f32) -> MassProperties {
-        // We ignore the margin here.
-        self.cylinder.mass_properties(density)
-    }
-
-    fn shape_type(&self) -> ShapeType {
-        ShapeType::RoundCylinder
-    }
-
-    #[cfg(feature = "dim3")]
-    fn as_polygonal_feature_map(&self) -> Option<(&dyn PolygonalFeatureMap, f32)> {
-        Some((
-            &self.cylinder as &dyn PolygonalFeatureMap,
-            self.border_radius,
-        ))
-    }
-}