Merge pull request #79 from dimforge/split_geom

Move most of the geometric code to another crate.

11 files changed, 103 insertions, 74 deletions

diff --git a/src_testbed/objects/ball.rs b/src_testbed/objects/ball.rs
index f72c284..df43341 100644
--- a/src_testbed/objects/ball.rs
+++ b/src_testbed/objects/ball.rs
@@ -9,11 +9,13 @@ pub struct Ball {
     base_color: Point3<f32>,
     gfx: GraphicsNode,
     collider: ColliderHandle,
+    delta: Isometry<f32>,
 }
 
 impl Ball {
     pub fn new(
         collider: ColliderHandle,
+        delta: Isometry<f32>,
         radius: f32,
         color: Point3<f32>,
         window: &mut Window,
@@ -28,6 +30,7 @@ impl Ball {
             base_color: color,
             gfx: node,
             collider,
+            delta,
         };
 
         // res.gfx.set_texture_from_file(&Path::new("media/kitten.png"), "kitten");
@@ -55,7 +58,7 @@ impl Ball {
             colliders,
             self.collider,
             &self.color,
-            &Isometry::identity(),
+            &self.delta,
         );
     }
 
diff --git a/src_testbed/objects/box_node.rs b/src_testbed/objects/box_node.rs
index 493ffba..0586d77 100644
--- a/src_testbed/objects/box_node.rs
+++ b/src_testbed/objects/box_node.rs
@@ -9,11 +9,13 @@ pub struct Box {
     base_color: Point3<f32>,
     gfx: GraphicsNode,
     collider: ColliderHandle,
+    delta: Isometry<f32>,
 }
 
 impl Box {
     pub fn new(
         collider: ColliderHandle,
+        delta: Isometry<f32>,
         half_extents: Vector<f32>,
         color: Point3<f32>,
         window: &mut window::Window,
@@ -29,6 +31,7 @@ impl Box {
             base_color: color,
             gfx: node,
             collider,
+            delta,
         };
 
         res.gfx.set_color(color.x, color.y, color.z);
@@ -55,7 +58,7 @@ impl Box {
             colliders,
             self.collider,
             &self.color,
-            &Isometry::identity(),
+            &self.delta,
         );
     }
 
diff --git a/src_testbed/objects/capsule.rs b/src_testbed/objects/capsule.rs
index 23160be..3d3e88f 100644
--- a/src_testbed/objects/capsule.rs
+++ b/src_testbed/objects/capsule.rs
@@ -9,11 +9,13 @@ pub struct Capsule {
     base_color: Point3<f32>,
     gfx: GraphicsNode,
     collider: ColliderHandle,
+    delta: Isometry<f32>,
 }
 
 impl Capsule {
     pub fn new(
         collider: ColliderHandle,
+        delta: Isometry<f32>,
         capsule: &geometry::Capsule,
         color: Point3<f32>,
         window: &mut window::Window,
@@ -30,6 +32,7 @@ impl Capsule {
             base_color: color,
             gfx: node,
             collider,
+            delta: delta * capsule.transform_wrt_y(),
         };
 
         res.gfx.set_color(color.x, color.y, color.z);
@@ -50,7 +53,7 @@ impl Capsule {
             colliders,
             self.collider,
             &self.color,
-            &Isometry::identity(),
+            &self.delta,
         );
     }
 
diff --git a/src_testbed/objects/cone.rs b/src_testbed/objects/cone.rs
index 58b014f..7aa2039 100644
--- a/src_testbed/objects/cone.rs
+++ b/src_testbed/objects/cone.rs
@@ -9,11 +9,13 @@ pub struct Cone {
     base_color: Point3<f32>,
     gfx: GraphicsNode,
     collider: ColliderHandle,
+    delta: Isometry<f32>,
 }
 
 impl Cone {
     pub fn new(
         collider: ColliderHandle,
+        delta: Isometry<f32>,
         half_height: f32,
         radius: f32,
         color: Point3<f32>,
@@ -29,6 +31,7 @@ impl Cone {
             base_color: color,
             gfx: node,
             collider,
+            delta,
         };
 
         // res.gfx.set_texture_from_file(&Path::new("media/kitten.png"), "kitten");
@@ -56,7 +59,7 @@ impl Cone {
             colliders,
             self.collider,
             &self.color,
-            &Isometry::identity(),
+            &self.delta,
         );
     }
 
diff --git a/src_testbed/objects/convex.rs b/src_testbed/objects/convex.rs
index 0347144..95ef74a 100644
--- a/src_testbed/objects/convex.rs
+++ b/src_testbed/objects/convex.rs
@@ -13,25 +13,44 @@ pub struct Convex {
     base_color: Point3<f32>,
     gfx: GraphicsNode,
     body: ColliderHandle,
+    delta: Isometry<f32>,
 }
 
 impl Convex {
     pub fn new(
         body: ColliderHandle,
+        delta: Isometry<f32>,
         vertices: Vec<Point<f32>>,
+        #[cfg(feature = "dim3")] indices: Vec<[u32; 3]>,
         color: Point3<f32>,
         window: &mut Window,
     ) -> Convex {
         #[cfg(feature = "dim2")]
         let node = window.add_convex_polygon(vertices, Vector::from_element(1.0));
         #[cfg(feature = "dim3")]
-        let node = unimplemented!();
+        let node = {
+            use std::cell::RefCell;
+            use std::rc::Rc;
+            let mut mesh_vertices = Vec::new();
+            let mut mesh_indices = Vec::new();
+            for idx in indices {
+                let i = mesh_vertices.len() as u16;
+                mesh_vertices.push(vertices[idx[0] as usize]);
+                mesh_vertices.push(vertices[idx[1] as usize]);
+                mesh_vertices.push(vertices[idx[2] as usize]);
+                mesh_indices.push(Point3::new(i, i + 1, i + 2));
+            }
+
+            let mesh = kiss3d::resource::Mesh::new(mesh_vertices, mesh_indices, None, None, false);
+            window.add_mesh(Rc::new(RefCell::new(mesh)), na::Vector3::from_element(1.0))
+        };
 
         let mut res = Convex {
             color,
             base_color: color,
             gfx: node,
             body,
+            delta,
         };
 
         // res.gfx.set_texture_from_file(&Path::new("media/kitten.png"), "kitten");
@@ -59,7 +78,7 @@ impl Convex {
             colliders,
             self.body,
             &self.color,
-            &Isometry::identity(),
+            &self.delta,
         );
     }
 
diff --git a/src_testbed/objects/cylinder.rs b/src_testbed/objects/cylinder.rs
index 01a6737..ff4dc72 100644
--- a/src_testbed/objects/cylinder.rs
+++ b/src_testbed/objects/cylinder.rs
@@ -9,11 +9,13 @@ pub struct Cylinder {
     base_color: Point3<f32>,
     gfx: GraphicsNode,
     collider: ColliderHandle,
+    delta: Isometry<f32>,
 }
 
 impl Cylinder {
     pub fn new(
         collider: ColliderHandle,
+        delta: Isometry<f32>,
         half_height: f32,
         radius: f32,
         color: Point3<f32>,
@@ -29,6 +31,7 @@ impl Cylinder {
             base_color: color,
             gfx: node,
             collider,
+            delta,
         };
 
         // res.gfx.set_texture_from_file(&Path::new("media/kitten.png"), "kitten");
@@ -56,7 +59,7 @@ impl Cylinder {
             colliders,
             self.collider,
             &self.color,
-            &Isometry::identity(),
+            &self.delta,
         );
     }
 
diff --git a/src_testbed/objects/heightfield.rs b/src_testbed/objects/heightfield.rs
index 0815592..913a732 100644
--- a/src_testbed/objects/heightfield.rs
+++ b/src_testbed/objects/heightfield.rs
@@ -1,15 +1,16 @@
-#[cfg(feature = "dim3")]
-use crate::objects::node::{self, GraphicsNode};
 use kiss3d::window::Window;
 use na::{self, Point3};
-use ncollide::shape;
-#[cfg(feature = "dim3")]
-use ncollide::transformation::ToTriMesh;
+use parry::shape;
 use rapier::geometry::{ColliderHandle, ColliderSet};
 #[cfg(feature = "dim2")]
 use rapier::math::Point;
 #[cfg(feature = "dim3")]
-use rapier::math::Vector;
+use {
+    crate::objects::node::{self, GraphicsNode},
+    kiss3d::resource::Mesh,
+    rapier::math::Vector,
+    std::cell::RefCell,
+};
 
 pub struct HeightField {
     color: Point3<f32>,
@@ -25,7 +26,7 @@ impl HeightField {
     #[cfg(feature = "dim2")]
     pub fn new(
         collider: ColliderHandle,
-        heightfield: &shape::HeightField<f32>,
+        heightfield: &shape::HeightField,
         color: Point3<f32>,
         _: &mut Window,
     ) -> HeightField {
@@ -47,16 +48,23 @@ impl HeightField {
     #[cfg(feature = "dim3")]
     pub fn new(
         collider: ColliderHandle,
-        heightfield: &shape::HeightField<f32>,
+        heightfield: &shape::HeightField,
         color: Point3<f32>,
         window: &mut Window,
     ) -> HeightField {
-        let mesh = heightfield.to_trimesh(());
+        use std::rc::Rc;
+
+        let (vertices, indices) = heightfield.to_trimesh();
+        let indices = indices
+            .into_iter()
+            .map(|idx| Point3::new(idx[0] as u16, idx[1] as u16, idx[2] as u16))
+            .collect();
+        let mesh = Mesh::new(vertices, indices, None, None, false);
 
         let mut res = HeightField {
             color,
             base_color: color,
-            gfx: window.add_trimesh(mesh, Vector::repeat(1.0)),
+            gfx: window.add_mesh(Rc::new(RefCell::new(mesh)), Vector::repeat(1.0)),
             collider: collider,
         };
 
diff --git a/src_testbed/objects/mesh.rs b/src_testbed/objects/mesh.rs
index 5187a8b..5505de3 100644
--- a/src_testbed/objects/mesh.rs
+++ b/src_testbed/objects/mesh.rs
@@ -17,12 +17,15 @@ impl Mesh {
     pub fn new(
         collider: ColliderHandle,
         vertices: Vec<Point<f32>>,
-        indices: Vec<Point3<u32>>,
+        indices: Vec<[u32; 3]>,
         color: Point3<f32>,
         window: &mut window::Window,
     ) -> Mesh {
         let vs = vertices;
-        let is = indices.into_iter().map(na::convert).collect();
+        let is = indices
+            .into_iter()
+            .map(|idx| Point3::new(idx[0] as u16, idx[1] as u16, idx[2] as u16))
+            .collect();
 
         let mesh;
         let gfx;
diff --git a/src_testbed/objects/mod.rs b/src_testbed/objects/mod.rs
index e4d7bc4..8e12dbe 100644
--- a/src_testbed/objects/mod.rs
+++ b/src_testbed/objects/mod.rs
@@ -7,6 +7,7 @@ pub mod cylinder;
 pub mod heightfield;
 pub mod mesh;
 pub mod node;
+pub mod polyline;
 //pub mod plane;
 //#[cfg(feature = "dim2")]
 //pub mod polyline;
diff --git a/src_testbed/objects/node.rs b/src_testbed/objects/node.rs
index d1de799..1bc491f 100644
--- a/src_testbed/objects/node.rs
+++ b/src_testbed/objects/node.rs
@@ -5,8 +5,7 @@ use crate::objects::convex::Convex;
 use crate::objects::heightfield::HeightField;
 use crate::objects::mesh::Mesh;
 //use crate::objects::plane::Plane;
-//#[cfg(feature = "dim2")]
-//use crate::objects::polyline::Polyline;
+use crate::objects::polyline::Polyline;
 use kiss3d::window::Window;
 use na::Point3;
 
@@ -26,8 +25,7 @@ pub enum Node {
     Box(Box),
     HeightField(HeightField),
     Capsule(Capsule),
-    //    #[cfg(feature = "dim2")]
-    //    Polyline(Polyline),
+    Polyline(Polyline),
     Mesh(Mesh),
     Convex(Convex),
     Cylinder(Cylinder),
@@ -42,8 +40,7 @@ impl Node {
             Node::Box(ref mut n) => n.select(),
             Node::Capsule(ref mut n) => n.select(),
             Node::HeightField(ref mut n) => n.select(),
-            //            #[cfg(feature = "dim2")]
-            //            Node::Polyline(ref mut n) => n.select(),
+            Node::Polyline(ref mut n) => n.select(),
             Node::Mesh(ref mut n) => n.select(),
             Node::Convex(ref mut n) => n.select(),
             Node::Cylinder(ref mut n) => n.select(),
@@ -58,8 +55,7 @@ impl Node {
             Node::Box(ref mut n) => n.unselect(),
             Node::Capsule(ref mut n) => n.unselect(),
             Node::HeightField(ref mut n) => n.unselect(),
-            //            #[cfg(feature = "dim2")]
-            //            Node::Polyline(ref mut n) => n.unselect(),
+            Node::Polyline(ref mut n) => n.unselect(),
             Node::Mesh(ref mut n) => n.unselect(),
             Node::Convex(ref mut n) => n.unselect(),
             Node::Cylinder(ref mut n) => n.unselect(),
@@ -74,8 +70,7 @@ impl Node {
             Node::Box(ref mut n) => n.update(colliders),
             Node::Capsule(ref mut n) => n.update(colliders),
             Node::HeightField(ref mut n) => n.update(colliders),
-            //            #[cfg(feature = "dim2")]
-            //            Node::Polyline(ref mut n) => n.update(colliders),
+            Node::Polyline(ref mut n) => n.update(colliders),
             Node::Mesh(ref mut n) => n.update(colliders),
             Node::Convex(ref mut n) => n.update(colliders),
             Node::Cylinder(ref mut n) => n.update(colliders),
@@ -86,7 +81,7 @@ impl Node {
     #[cfg(feature = "dim2")]
     pub fn draw(&mut self, window: &mut Window) {
         match *self {
-            //                    Node::Polyline(ref mut n) => n.draw(_window),
+            Node::Polyline(ref mut n) => n.draw(window),
             Node::HeightField(ref mut n) => n.draw(window),
             //            Node::Plane(ref mut n) => n.draw(_window),
             _ => {}
@@ -109,8 +104,9 @@ impl Node {
             Node::Convex(ref n) => Some(n.scene_node()),
             Node::Cylinder(ref n) => Some(n.scene_node()),
             Node::Cone(ref n) => Some(n.scene_node()),
+            Node::Polyline(_) => None,
             #[cfg(feature = "dim2")]
-            _ => None,
+            Node::HeightField(_) => None,
         }
     }
 
@@ -127,8 +123,9 @@ impl Node {
             Node::Convex(ref mut n) => Some(n.scene_node_mut()),
             Node::Cylinder(ref mut n) => Some(n.scene_node_mut()),
             Node::Cone(ref mut n) => Some(n.scene_node_mut()),
+            Node::Polyline(_) => None,
             #[cfg(feature = "dim2")]
-            _ => None,
+            Node::HeightField(_) => None,
         }
     }
 
@@ -139,8 +136,7 @@ impl Node {
             Node::Box(ref n) => n.object(),
             Node::Capsule(ref n) => n.object(),
             Node::HeightField(ref n) => n.object(),
-            //            #[cfg(feature = "dim2")]
-            //            Node::Polyline(ref n) => n.object(),
+            Node::Polyline(ref n) => n.object(),
             Node::Mesh(ref n) => n.object(),
             Node::Convex(ref n) => n.object(),
             Node::Cylinder(ref n) => n.object(),
@@ -155,8 +151,7 @@ impl Node {
             Node::Box(ref mut n) => n.set_color(color),
             Node::Capsule(ref mut n) => n.set_color(color),
             Node::HeightField(ref mut n) => n.set_color(color),
-            //            #[cfg(feature = "dim2")]
-            //            Node::Polyline(ref mut n) => n.set_color(color),
+            Node::Polyline(ref mut n) => n.set_color(color),
             Node::Mesh(ref mut n) => n.set_color(color),
             Node::Convex(ref mut n) => n.set_color(color),
             Node::Cylinder(ref mut n) => n.set_color(color),
diff --git a/src_testbed/objects/polyline.rs b/src_testbed/objects/polyline.rs
index 77841ae..98a8f24 100644
--- a/src_testbed/objects/polyline.rs
+++ b/src_testbed/objects/polyline.rs
@@ -1,38 +1,32 @@
 use kiss3d::window::Window;
-use na::{Isometry2, Point2, Point3};
-use ncollide2d::shape;
-use nphysics2d::object::{ColliderAnchor, DefaultColliderHandle, DefaultColliderSet};
+use na::Point3;
+use rapier::geometry::{ColliderHandle, ColliderSet};
+use rapier::math::{Isometry, Point};
 
 pub struct Polyline {
     color: Point3<f32>,
     base_color: Point3<f32>,
-    vertices: Vec<Point2<f32>>,
-    indices: Vec<Point2<usize>>,
-    collider: DefaultColliderHandle,
-    pos: Isometry2<f32>,
+    vertices: Vec<Point<f32>>,
+    indices: Vec<[u32; 2]>,
+    collider: ColliderHandle,
+    pos: Isometry<f32>,
 }
 
 impl Polyline {
     pub fn new(
-        collider: DefaultColliderHandle,
-        colliders: &DefaultColliderSet<f32>,
-        _: Isometry2<f32>,
-        vertices: Vec<Point2<f32>>,
-        indices: Vec<Point2<usize>>,
+        collider: ColliderHandle,
+        vertices: Vec<Point<f32>>,
+        indices: Vec<[u32; 2]>,
         color: Point3<f32>,
-        _: &mut Window,
     ) -> Polyline {
-        let mut res = Polyline {
+        Polyline {
             color,
-            pos: Isometry2::identity(),
+            pos: Isometry::identity(),
             base_color: color,
             vertices,
             indices,
             collider,
-        };
-
-        res.update(colliders);
-        res
+        }
     }
 
     pub fn select(&mut self) {
@@ -48,32 +42,26 @@ impl Polyline {
         self.base_color = color;
     }
 
-    pub fn update(&mut self, colliders: &DefaultColliderSet<f32>) {
-        // Update if some deformation occurred.
-        // FIXME: don't update if it did not move.
-        if let Some(c) = colliders.get(self.collider) {
-            self.pos = *c.position();
-            if let ColliderAnchor::OnDeformableBody { .. } = c.anchor() {
-                let shape = c.shape().as_shape::<shape::Polyline<f32>>().unwrap();
-                self.vertices = shape.points().to_vec();
-                self.indices.clear();
-
-                for e in shape.edges() {
-                    self.indices.push(e.indices);
-                }
-            }
-        }
+    pub fn update(&mut self, colliders: &ColliderSet) {
+        self.pos = colliders
+            .get(self.collider)
+            .map(|c| *c.position())
+            .unwrap_or(Isometry::identity());
     }
 
-    pub fn object(&self) -> DefaultColliderHandle {
+    pub fn object(&self) -> ColliderHandle {
         self.collider
     }
 
     pub fn draw(&mut self, window: &mut Window) {
         for idx in &self.indices {
-            let p1 = self.pos * self.vertices[idx.x];
-            let p2 = self.pos * self.vertices[idx.y];
-            window.draw_planar_line(&p1, &p2, &self.color)
+            let p1 = self.pos * self.vertices[idx[0] as usize];
+            let p2 = self.pos * self.vertices[idx[1] as usize];
+
+            #[cfg(feature = "dim2")]
+            window.draw_planar_line(&p1, &p2, &self.color);
+            #[cfg(feature = "dim3")]
+            window.draw_line(&p1, &p2, &self.color);
         }
     }
 }