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-rw-r--r--examples3d/heightfield3.rs5
-rw-r--r--examples3d/primitives3.rs5
-rw-r--r--examples3d/trimesh3.rs5
-rw-r--r--src/dynamics/mass_properties_capsule.rs13
-rw-r--r--src/geometry/capsule.rs86
-rw-r--r--src/geometry/collider.rs35
-rw-r--r--src/geometry/contact_generator/capsule_capsule_contact_generator.rs4
-rw-r--r--src/geometry/contact_generator/contact_dispatcher.rs4
-rw-r--r--src/geometry/contact_generator/cuboid_capsule_contact_generator.rs2
-rw-r--r--src/geometry/mod.rs6
-rw-r--r--src/geometry/polygonal_feature_map.rs5
-rw-r--r--src/geometry/polyhedron_feature3d.rs2
-rw-r--r--src/geometry/shape.rs38
-rw-r--r--src_testbed/nphysics_backend.rs3
-rw-r--r--src_testbed/objects/capsule.rs2
-rw-r--r--src_testbed/physx_backend.rs11
16 files changed, 150 insertions, 76 deletions
diff --git a/examples3d/heightfield3.rs b/examples3d/heightfield3.rs
index 1213020..6af93c7 100644
--- a/examples3d/heightfield3.rs
+++ b/examples3d/heightfield3.rs
@@ -54,13 +54,14 @@ pub fn init_world(testbed: &mut Testbed) {
let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
let handle = bodies.insert(rigid_body);
- let collider = match j % 4 {
+ let collider = match j % 5 {
0 => ColliderBuilder::cuboid(rad, rad, rad).build(),
1 => ColliderBuilder::ball(rad).build(),
// Rounded cylinders are much more efficient that cylinder, even if the
// rounding margin is small.
2 => ColliderBuilder::round_cylinder(rad, rad, rad / 10.0).build(),
- _ => ColliderBuilder::cone(rad, rad).build(),
+ 3 => ColliderBuilder::cone(rad, rad).build(),
+ _ => ColliderBuilder::capsule_y(rad, rad).build(),
};
colliders.insert(collider, handle, &mut bodies);
diff --git a/examples3d/primitives3.rs b/examples3d/primitives3.rs
index 96636a4..6a98077 100644
--- a/examples3d/primitives3.rs
+++ b/examples3d/primitives3.rs
@@ -50,13 +50,14 @@ pub fn init_world(testbed: &mut Testbed) {
let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
let handle = bodies.insert(rigid_body);
- let collider = match j % 4 {
+ let collider = match j % 5 {
0 => ColliderBuilder::cuboid(rad, rad, rad).build(),
1 => ColliderBuilder::ball(rad).build(),
// Rounded cylinders are much more efficient that cylinder, even if the
// rounding margin is small.
2 => ColliderBuilder::round_cylinder(rad, rad, rad / 10.0).build(),
- _ => ColliderBuilder::cone(rad, rad).build(),
+ 3 => ColliderBuilder::cone(rad, rad).build(),
+ _ => ColliderBuilder::capsule_y(rad, rad).build(),
};
colliders.insert(collider, handle, &mut bodies);
diff --git a/examples3d/trimesh3.rs b/examples3d/trimesh3.rs
index 5ada899..2a96bda 100644
--- a/examples3d/trimesh3.rs
+++ b/examples3d/trimesh3.rs
@@ -64,13 +64,14 @@ pub fn init_world(testbed: &mut Testbed) {
let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
let handle = bodies.insert(rigid_body);
- let collider = match j % 4 {
+ let collider = match j % 5 {
0 => ColliderBuilder::cuboid(rad, rad, rad).build(),
1 => ColliderBuilder::ball(rad).build(),
// Rounded cylinders are much more efficient that cylinder, even if the
// rounding margin is small.
2 => ColliderBuilder::round_cylinder(rad, rad, rad / 10.0).build(),
- _ => ColliderBuilder::cone(rad, rad).build(),
+ 3 => ColliderBuilder::cone(rad, rad).build(),
+ _ => ColliderBuilder::capsule_y(rad, rad).build(),
};
colliders.insert(collider, handle, &mut bodies);
diff --git a/src/dynamics/mass_properties_capsule.rs b/src/dynamics/mass_properties_capsule.rs
index cfd4345..dae6cfb 100644
--- a/src/dynamics/mass_properties_capsule.rs
+++ b/src/dynamics/mass_properties_capsule.rs
@@ -1,22 +1,24 @@
use crate::dynamics::MassProperties;
use crate::math::Point;
#[cfg(feature = "dim3")]
-use crate::math::Rotation;
+use crate::{geometry::Capsule, math::Rotation};
impl MassProperties {
- pub(crate) fn from_capsule(density: f32, half_height: f32, radius: f32) -> Self {
+ pub(crate) fn from_capsule(density: f32, a: Point<f32>, b: Point<f32>, radius: f32) -> Self {
+ let half_height = (b - a).norm() / 2.0;
let (cyl_vol, cyl_unit_i) = Self::cylinder_y_volume_unit_inertia(half_height, radius);
let (ball_vol, ball_unit_i) = Self::ball_volume_unit_angular_inertia(radius);
let cap_vol = cyl_vol + ball_vol;
let cap_mass = cap_vol * density;
let mut cap_unit_i = cyl_unit_i + ball_unit_i;
+ let local_com = na::center(&a, &b);
#[cfg(feature = "dim2")]
{
let h = half_height * 2.0;
let extra = h * h * 0.5 + h * radius * 3.0 / 8.0;
cap_unit_i += extra;
- Self::new(Point::origin(), cap_mass, cap_unit_i * cap_mass)
+ Self::new(local_com, cap_mass, cap_unit_i * cap_mass)
}
#[cfg(feature = "dim3")]
@@ -25,11 +27,12 @@ impl MassProperties {
let extra = h * h * 0.5 + h * radius * 3.0 / 8.0;
cap_unit_i.x += extra;
cap_unit_i.z += extra;
+ let local_frame = Capsule::new(a, b, radius).rotation_wrt_y();
Self::with_principal_inertia_frame(
- Point::origin(),
+ local_com,
cap_mass,
cap_unit_i * cap_mass,
- Rotation::identity(),
+ local_frame,
)
}
}
diff --git a/src/geometry/capsule.rs b/src/geometry/capsule.rs
index 0d754af..54736cc 100644
--- a/src/geometry/capsule.rs
+++ b/src/geometry/capsule.rs
@@ -1,18 +1,16 @@
-use crate::geometry::AABB;
+use crate::geometry::{Ray, RayIntersection, AABB};
use crate::math::{Isometry, Point, Rotation, Vector};
use approx::AbsDiffEq;
use na::Unit;
-use ncollide::query::{PointProjection, PointQuery};
-use ncollide::shape::{FeatureId, Segment};
+use ncollide::query::{algorithms::VoronoiSimplex, PointProjection, PointQuery, RayCast};
+use ncollide::shape::{FeatureId, Segment, SupportMap};
#[derive(Copy, Clone, Debug)]
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
-/// A capsule shape defined as a segment with a radius.
+/// A capsule shape defined as a round segment.
pub struct Capsule {
- /// The first endpoint of the capsule.
- pub a: Point<f32>,
- /// The second enpdoint of the capsule.
- pub b: Point<f32>,
+ /// The axis and endpoint of the capsule.
+ pub segment: Segment<f32>,
/// The radius of the capsule.
pub radius: f32,
}
@@ -39,13 +37,14 @@ impl Capsule {
/// Creates a new capsule defined as the segment between `a` and `b` and with the given `radius`.
pub fn new(a: Point<f32>, b: Point<f32>, radius: f32) -> Self {
- Self { a, b, radius }
+ let segment = Segment::new(a, b);
+ Self { segment, radius }
}
/// The axis-aligned bounding box of this capsule.
pub fn aabb(&self, pos: &Isometry<f32>) -> AABB {
- let a = pos * self.a;
- let b = pos * self.b;
+ let a = pos * self.segment.a;
+ let b = pos * self.segment.b;
let mins = a.coords.inf(&b.coords) - Vector::repeat(self.radius);
let maxs = a.coords.sup(&b.coords) + Vector::repeat(self.radius);
AABB::new(mins.into(), maxs.into())
@@ -53,7 +52,7 @@ impl Capsule {
/// The height of this capsule.
pub fn height(&self) -> f32 {
- (self.b - self.a).norm()
+ (self.segment.b - self.segment.a).norm()
}
/// The half-height of this capsule.
@@ -63,17 +62,17 @@ impl Capsule {
/// The center of this capsule.
pub fn center(&self) -> Point<f32> {
- na::center(&self.a, &self.b)
+ na::center(&self.segment.a, &self.segment.b)
}
/// Creates a new capsule equal to `self` with all its endpoints transformed by `pos`.
pub fn transform_by(&self, pos: &Isometry<f32>) -> Self {
- Self::new(pos * self.a, pos * self.b, self.radius)
+ Self::new(pos * self.segment.a, pos * self.segment.b, self.radius)
}
/// The rotation `r` such that `r * Y` is collinear with `b - a`.
pub fn rotation_wrt_y(&self) -> Rotation<f32> {
- let mut dir = self.b - self.a;
+ let mut dir = self.segment.b - self.segment.a;
if dir.y < 0.0 {
dir = -dir;
}
@@ -96,24 +95,49 @@ impl Capsule {
}
}
-// impl SupportMap<f32> for Capsule {
-// fn local_support_point(&self, dir: &Vector) -> Point {
-// let dir = Unit::try_new(dir, 0.0).unwrap_or(Vector::y_axis());
-// self.local_support_point_toward(&dir)
-// }
-//
-// fn local_support_point_toward(&self, dir: &Unit<Vector>) -> Point {
-// if dir.dot(&self.a.coords) > dir.dot(&self.b.coords) {
-// self.a + **dir * self.radius
-// } else {
-// self.b + **dir * self.radius
-// }
-// }
-// }
+impl SupportMap<f32> for Capsule {
+ fn local_support_point(&self, dir: &Vector<f32>) -> Point<f32> {
+ let dir = Unit::try_new(*dir, 0.0).unwrap_or(Vector::y_axis());
+ self.local_support_point_toward(&dir)
+ }
+
+ fn local_support_point_toward(&self, dir: &Unit<Vector<f32>>) -> Point<f32> {
+ if dir.dot(&self.segment.a.coords) > dir.dot(&self.segment.b.coords) {
+ self.segment.a + **dir * self.radius
+ } else {
+ self.segment.b + **dir * self.radius
+ }
+ }
+}
+
+impl RayCast<f32> for Capsule {
+ fn toi_and_normal_with_ray(
+ &self,
+ m: &Isometry<f32>,
+ ray: &Ray,
+ max_toi: f32,
+ solid: bool,
+ ) -> Option<RayIntersection> {
+ let ls_ray = ray.inverse_transform_by(m);
+
+ ncollide::query::ray_intersection_with_support_map_with_params(
+ &Isometry::identity(),
+ self,
+ &mut VoronoiSimplex::new(),
+ &ls_ray,
+ max_toi,
+ solid,
+ )
+ .map(|mut res| {
+ res.normal = m * res.normal;
+ res
+ })
+ }
+}
// TODO: this code has been extracted from ncollide and added here
// so we can modify it to fit with our new definition of capsule.
-// Wa should find a way to avoid this code duplication.
+// We should find a way to avoid this code duplication.
impl PointQuery<f32> for Capsule {
#[inline]
fn project_point(
@@ -122,7 +146,7 @@ impl PointQuery<f32> for Capsule {
pt: &Point<f32>,
solid: bool,
) -> PointProjection<f32> {
- let seg = Segment::new(self.a, self.b);
+ let seg = Segment::new(self.segment.a, self.segment.b);
let proj = seg.project_point(m, pt, solid);
let dproj = *pt - proj.point;
diff --git a/src/geometry/collider.rs b/src/geometry/collider.rs
index 838dda2..ae5cc73 100644
--- a/src/geometry/collider.rs
+++ b/src/geometry/collider.rs
@@ -1,7 +1,7 @@
use crate::dynamics::{MassProperties, RigidBodyHandle, RigidBodySet};
use crate::geometry::{
Ball, Capsule, ColliderGraphIndex, Contact, Cuboid, HeightField, InteractionGraph, Proximity,
- Shape, ShapeType, Triangle, Trimesh,
+ Segment, Shape, ShapeType, Triangle, Trimesh,
};
#[cfg(feature = "dim3")]
use crate::geometry::{Cone, Cylinder, PolygonalFeatureMap, Rounded};
@@ -58,9 +58,14 @@ impl ColliderShape {
ColliderShape(Arc::new(Cuboid::new(half_extents)))
}
- /// Initialize a capsule shape aligned with the `y` axis.
- pub fn capsule(half_height: f32, radius: f32) -> Self {
- ColliderShape(Arc::new(Capsule::new(half_height, radius)))
+ /// Initialize a capsule shape from its endpoints and radius.
+ pub fn capsule(a: Point<f32>, b: Point<f32>, radius: f32) -> Self {
+ ColliderShape(Arc::new(Capsule::new(a, b, radius)))
+ }
+
+ /// Initialize a segment shape from its endpoints.
+ pub fn segment(a: Point<f32>, b: Point<f32>) -> Self {
+ ColliderShape(Arc::new(Segment::new(a, b)))
}
/// Initializes a triangle shape.
@@ -157,6 +162,7 @@ impl<'de> serde::Deserialize<'de> for ColliderShape {
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)?,
#[cfg(feature = "dim3")]
@@ -349,25 +355,21 @@ impl ColliderBuilder {
/// Initialize a new collider builder with a capsule shape aligned with the `x` axis.
pub fn capsule_x(half_height: f32, radius: f32) -> Self {
- #[cfg(feature = "dim2")]
- let rot = -std::f32::consts::FRAC_PI_2;
- #[cfg(feature = "dim3")]
- let rot = Vector::z() * -std::f32::consts::FRAC_PI_2;
- Self::new(ColliderShape::capsule(half_height, radius))
- .position(Isometry::new(na::zero(), rot))
+ let p = Point::from(Vector::x() * half_height);
+ Self::new(ColliderShape::capsule(-p, p, radius))
}
/// Initialize a new collider builder with a capsule shape aligned with the `y` axis.
pub fn capsule_y(half_height: f32, radius: f32) -> Self {
- Self::new(ColliderShape::capsule(half_height, radius))
+ let p = Point::from(Vector::y() * half_height);
+ Self::new(ColliderShape::capsule(-p, p, radius))
}
/// Initialize a new collider builder with a capsule shape aligned with the `z` axis.
#[cfg(feature = "dim3")]
pub fn capsule_z(half_height: f32, radius: f32) -> Self {
- let rot = Vector::x() * std::f32::consts::FRAC_PI_2;
- Self::new(ColliderShape::capsule(half_height, radius))
- .position(Isometry::new(na::zero(), rot))
+ let p = Point::from(Vector::z() * half_height);
+ Self::new(ColliderShape::capsule(-p, p, radius))
}
/// Initialize a new collider builder with a cuboid shape defined by its half-extents.
@@ -377,11 +379,8 @@ impl ColliderBuilder {
}
/// Initializes a collider builder with a segment shape.
- ///
- /// A segment shape is modeled by a capsule with a 0 radius.
pub fn segment(a: Point<f32>, b: Point<f32>) -> Self {
- let (pos, half_height) = crate::utils::segment_to_capsule(&a, &b);
- Self::new(ColliderShape::capsule(half_height, 0.0)).position(pos)
+ Self::new(ColliderShape::segment(a, b))
}
/// Initializes a collider builder with a triangle shape.
diff --git a/src/geometry/contact_generator/capsule_capsule_contact_generator.rs b/src/geometry/contact_generator/capsule_capsule_contact_generator.rs
index b24227a..ef18ad2 100644
--- a/src/geometry/contact_generator/capsule_capsule_contact_generator.rs
+++ b/src/geometry/contact_generator/capsule_capsule_contact_generator.rs
@@ -154,8 +154,8 @@ pub fn generate_contacts<'a>(
let pos12 = pos1.inverse() * pos2;
let pos21 = pos12.inverse();
- let seg1 = capsule1.segment();
- let seg2_1 = capsule2.segment().transformed(&pos12);
+ let seg1 = capsule1.segment;
+ let seg2_1 = capsule2.segment.transformed(&pos12);
let (loc1, loc2) = ncollide::query::closest_points_segment_segment_with_locations_nD(
(&seg1.a, &seg1.b),
(&seg2_1.a, &seg2_1.b),
diff --git a/src/geometry/contact_generator/contact_dispatcher.rs b/src/geometry/contact_generator/contact_dispatcher.rs
index 62a1f71..1872c7b 100644
--- a/src/geometry/contact_generator/contact_dispatcher.rs
+++ b/src/geometry/contact_generator/contact_dispatcher.rs
@@ -99,7 +99,9 @@ impl ContactDispatcher for DefaultContactDispatcher {
| (ShapeType::Cone, _)
| (_, ShapeType::Cone)
| (ShapeType::RoundCylinder, _)
- | (_, ShapeType::RoundCylinder) => (
+ | (_, ShapeType::RoundCylinder)
+ | (ShapeType::Capsule, _)
+ | (_, ShapeType::Capsule) => (
PrimitiveContactGenerator {
generate_contacts: super::generate_contacts_pfm_pfm,
..PrimitiveContactGenerator::default()
diff --git a/src/geometry/contact_generator/cuboid_capsule_contact_generator.rs b/src/geometry/contact_generator/cuboid_capsule_contact_generator.rs
index 8650a78..3fd4a17 100644
--- a/src/geometry/contact_generator/cuboid_capsule_contact_generator.rs
+++ b/src/geometry/contact_generator/cuboid_capsule_contact_generator.rs
@@ -54,7 +54,7 @@ pub fn generate_contacts<'a>(
return;
}
- let segment2 = capsule2.segment();
+ let segment2 = capsule2.segment;
/*
*
diff --git a/src/geometry/mod.rs b/src/geometry/mod.rs
index f73de98..a3423dd 100644
--- a/src/geometry/mod.rs
+++ b/src/geometry/mod.rs
@@ -1,6 +1,7 @@
//! Structures related to geometry: colliders, shapes, etc.
pub use self::broad_phase_multi_sap::BroadPhase;
+pub use self::capsule::Capsule;
pub use self::collider::{Collider, ColliderBuilder, ColliderShape};
pub use self::collider_set::{ColliderHandle, ColliderSet};
pub use self::contact::{
@@ -22,8 +23,8 @@ pub use self::rounded::{Roundable, Rounded};
pub use self::trimesh::Trimesh;
pub use ncollide::query::Proximity;
-/// A capsule shape.
-pub type Capsule = ncollide::shape::Capsule<f32>;
+/// A segment shape.
+pub type Segment = ncollide::shape::Segment<f32>;
/// A cuboid shape.
pub type Cuboid = ncollide::shape::Cuboid<f32>;
/// A triangle shape.
@@ -94,6 +95,7 @@ mod trimesh;
mod waabb;
mod wquadtree;
//mod z_order;
+mod capsule;
#[cfg(feature = "dim3")]
mod polygonal_feature_map;
mod rounded;
diff --git a/src/geometry/polygonal_feature_map.rs b/src/geometry/polygonal_feature_map.rs
index 2586826..2a8fc8d 100644
--- a/src/geometry/polygonal_feature_map.rs
+++ b/src/geometry/polygonal_feature_map.rs
@@ -1,9 +1,8 @@
use crate::geometry::PolyhedronFace;
-use crate::geometry::{cuboid, Cone, Cuboid, Cylinder, Triangle};
+use crate::geometry::{cuboid, Cone, Cuboid, Cylinder, Segment, Triangle};
use crate::math::{Point, Vector};
use approx::AbsDiffEq;
use na::{Unit, Vector2};
-use ncollide::shape::Segment;
use ncollide::shape::SupportMap;
/// Trait implemented by convex shapes with features with polyhedral approximations.
@@ -11,7 +10,7 @@ pub trait PolygonalFeatureMap: SupportMap<f32> {
fn local_support_feature(&self, dir: &Unit<Vector<f32>>, out_feature: &mut PolyhedronFace);
}
-impl PolygonalFeatureMap for Segment<f32> {
+impl PolygonalFeatureMap for Segment {
fn local_support_feature(&self, _: &Unit<Vector<f32>>, out_feature: &mut PolyhedronFace) {
*out_feature = PolyhedronFace::from(*self);
}
diff --git a/src/geometry/polyhedron_feature3d.rs b/src/geometry/polyhedron_feature3d.rs
index 5a86ef2..83088fe 100644
--- a/src/geometry/polyhedron_feature3d.rs
+++ b/src/geometry/polyhedron_feature3d.rs
@@ -40,6 +40,8 @@ impl From<Triangle> for PolyhedronFace {
impl From<Segment<f32>> for PolyhedronFace {
fn from(seg: Segment<f32>) -> Self {
+ // Vertices have feature ids 0 and 2.
+ // The segment interior has feature id 1.
Self {
vertices: [seg.a, seg.b, seg.b, seg.b],
vids: [0, 2, 2, 2],
diff --git a/src/geometry/shape.rs b/src/geometry/shape.rs
index 80c9b51..8f7997e 100644
--- a/src/geometry/shape.rs
+++ b/src/geometry/shape.rs
@@ -1,5 +1,7 @@
use crate::dynamics::MassProperties;
-use crate::geometry::{Ball, Capsule, Cuboid, HeightField, Roundable, Rounded, Triangle, Trimesh};
+use crate::geometry::{
+ Ball, Capsule, Cuboid, HeightField, Roundable, Rounded, Segment, Triangle, Trimesh,
+};
use crate::math::Isometry;
use downcast_rs::{impl_downcast, DowncastSync};
use erased_serde::Serialize;
@@ -24,6 +26,8 @@ pub enum ShapeType {
Cuboid,
/// A capsule shape.
Capsule,
+ /// A segment shape.
+ Segment,
/// A triangle shape.
Triangle,
/// A triangle mesh shape.
@@ -205,16 +209,20 @@ impl Shape for Capsule {
}
fn compute_aabb(&self, position: &Isometry<f32>) -> AABB<f32> {
- self.bounding_volume(position)
+ self.aabb(position)
}
fn mass_properties(&self, density: f32) -> MassProperties {
- MassProperties::from_capsule(density, self.half_height, self.radius)
+ MassProperties::from_capsule(density, self.segment.a, self.segment.b, self.radius)
}
fn shape_type(&self) -> ShapeType {
ShapeType::Capsule
}
+
+ fn as_polygonal_feature_map(&self) -> Option<(&dyn PolygonalFeatureMap, f32)> {
+ Some((&self.segment as &dyn PolygonalFeatureMap, self.radius))
+ }
}
impl Shape for Triangle {
@@ -241,6 +249,30 @@ impl Shape for Triangle {
}
}
+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> {
diff --git a/src_testbed/nphysics_backend.rs b/src_testbed/nphysics_backend.rs
index b449c44..a2b0331 100644
--- a/src_testbed/nphysics_backend.rs
+++ b/src_testbed/nphysics_backend.rs
@@ -184,7 +184,8 @@ fn nphysics_collider_from_rapier_collider(
} else if let Some(ball) = shape.as_ball() {
ShapeHandle::new(Ball::new(ball.radius - margin))
} else if let Some(capsule) = shape.as_capsule() {
- ShapeHandle::new(Capsule::new(capsule.half_height, capsule.radius))
+ pos *= capsule.transform_wrt_y();
+ ShapeHandle::new(Capsule::new(capsule.half_height(), capsule.radius))
} else if let Some(heightfield) = shape.as_heightfield() {
ShapeHandle::new(heightfield.clone())
} else {
diff --git a/src_testbed/objects/capsule.rs b/src_testbed/objects/capsule.rs
index f285b81..23160be 100644
--- a/src_testbed/objects/capsule.rs
+++ b/src_testbed/objects/capsule.rs
@@ -19,7 +19,7 @@ impl Capsule {
window: &mut window::Window,
) -> Capsule {
let r = capsule.radius;
- let h = capsule.half_height * 2.0;
+ let h = capsule.half_height() * 2.0;
#[cfg(feature = "dim2")]
let node = window.add_planar_capsule(r, h);
#[cfg(feature = "dim3")]
diff --git a/src_testbed/physx_backend.rs b/src_testbed/physx_backend.rs
index 822ad08..7db3c4c 100644
--- a/src_testbed/physx_backend.rs
+++ b/src_testbed/physx_backend.rs
@@ -433,8 +433,15 @@ fn physx_collider_from_rapier_collider(
} else if let Some(ball) = shape.as_ball() {
ColliderDesc::Sphere(ball.radius)
} else if let Some(capsule) = shape.as_capsule() {
- let rot = UnitQuaternion::rotation_between(&Vector3::x(), &Vector3::y());
- local_pose *= rot.unwrap_or(UnitQuaternion::identity());
+ let center = capsule.center();
+ let mut dir = capsule.segment.b - capsule.segment.a;
+
+ if dir.x < 0.0 {
+ dir = -dir;
+ }
+
+ let rot = UnitQuaternion::rotation_between(&Vector3::x(), &dir);
+ local_pose *= Translation3::from(center.coords) * rot.unwrap_or(UnitQuaternion::identity());
ColliderDesc::Capsule(capsule.radius, capsule.height())
} else if let Some(trimesh) = shape.as_trimesh() {
ColliderDesc::TriMesh {
generated by cgit (git 2.34.1) at 2026-01-16 16:11:17 +0000