diff options
31 files changed, 768 insertions, 424 deletions
diff --git a/build/rapier2d/Cargo.toml b/build/rapier2d/Cargo.toml index 03ccd98..44038e6 100644 --- a/build/rapier2d/Cargo.toml +++ b/build/rapier2d/Cargo.toml @@ -22,7 +22,7 @@ simd-nightly = [ "simba/packed_simd", "simd-is-enabled" ] # enabled with the "simd-stable" or "simd-nightly" feature. simd-is-enabled = [ ] wasm-bindgen = [ "instant/wasm-bindgen" ] -serde-serialize = [ "nalgebra/serde-serialize", "ncollide2d/serde-serialize", "serde", "generational-arena/serde", "bit-vec/serde", "arrayvec/serde" ] +serde-serialize = [ "erased-serde", "nalgebra/serde-serialize", "ncollide2d/serde-serialize", "serde", "generational-arena/serde", "bit-vec/serde", "arrayvec/serde" ] enhanced-determinism = [ "simba/libm_force", "indexmap" ] [lib] @@ -46,7 +46,10 @@ arrayvec = "0.5" bit-vec = "0.6" rustc-hash = "1" serde = { version = "1", features = [ "derive" ], optional = true } +erased-serde = { version = "0.3", optional = true } indexmap = { version = "1", features = [ "serde-1" ], optional = true } +downcast-rs = "1.2" +num-derive = "0.3" [dev-dependencies] bincode = "1" diff --git a/build/rapier3d/Cargo.toml b/build/rapier3d/Cargo.toml index 7a0139e..adc453c 100644 --- a/build/rapier3d/Cargo.toml +++ b/build/rapier3d/Cargo.toml @@ -22,7 +22,7 @@ simd-nightly = [ "simba/packed_simd", "simd-is-enabled" ] # enabled with the "simd-stable" or "simd-nightly" feature. simd-is-enabled = [ ] wasm-bindgen = [ "instant/wasm-bindgen" ] -serde-serialize = [ "nalgebra/serde-serialize", "ncollide3d/serde-serialize", "serde", "generational-arena/serde", "bit-vec/serde" ] +serde-serialize = [ "erased-serde", "nalgebra/serde-serialize", "ncollide3d/serde-serialize", "serde", "generational-arena/serde", "bit-vec/serde" ] enhanced-determinism = [ "simba/libm_force", "indexmap" ] [lib] @@ -46,7 +46,11 @@ arrayvec = "0.5" bit-vec = "0.6" rustc-hash = "1" serde = { version = "1", features = [ "derive" ], optional = true } +erased-serde = { version = "0.3", optional = true } indexmap = { version = "1", features = [ "serde-1" ], optional = true } +downcast-rs = "1.2" +num-derive = "0.3" + [dev-dependencies] bincode = "1" diff --git a/src/dynamics/mass_properties.rs b/src/dynamics/mass_properties.rs index 22e7da5..d64839c 100644 --- a/src/dynamics/mass_properties.rs +++ b/src/dynamics/mass_properties.rs @@ -91,7 +91,7 @@ impl MassProperties { } #[cfg(feature = "dim3")] - /// Reconstructs the inverse angular inertia tensor of the rigid body from its principal inertia values and axii. + /// Reconstructs the inverse angular inertia tensor of the rigid body from its principal inertia values and axes. pub fn reconstruct_inverse_inertia_matrix(&self) -> Matrix3<f32> { let inv_principal_inertia = self.inv_principal_inertia_sqrt.map(|e| e * e); self.principal_inertia_local_frame.to_rotation_matrix() @@ -103,7 +103,7 @@ impl MassProperties { } #[cfg(feature = "dim3")] - /// Reconstructs the angular inertia tensor of the rigid body from its principal inertia values and axii. + /// Reconstructs the angular inertia tensor of the rigid body from its principal inertia values and axes. pub fn reconstruct_inertia_matrix(&self) -> Matrix3<f32> { let principal_inertia = self.inv_principal_inertia_sqrt.map(|e| utils::inv(e * e)); self.principal_inertia_local_frame.to_rotation_matrix() diff --git a/src/dynamics/mass_properties_capsule.rs b/src/dynamics/mass_properties_capsule.rs index 647cfc7..c4e039c 100644 --- a/src/dynamics/mass_properties_capsule.rs +++ b/src/dynamics/mass_properties_capsule.rs @@ -4,21 +4,19 @@ use crate::geometry::Capsule; use crate::math::{Point, PrincipalAngularInertia, Rotation, Vector}; impl MassProperties { - pub(crate) fn from_capsule(density: f32, a: Point<f32>, b: Point<f32>, radius: f32) -> Self { - let half_height = (b - a).norm() / 2.0; + pub(crate) fn from_capsule(density: f32, half_height: f32, radius: f32) -> Self { 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(local_com, cap_mass, cap_unit_i * cap_mass) + Self::new(Point::origin(), cap_mass, cap_unit_i * cap_mass) } #[cfg(feature = "dim3")] @@ -27,12 +25,11 @@ 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( - local_com, + Point::origin(), cap_mass, cap_unit_i * cap_mass, - local_frame, + Rotation::identity(), ) } } diff --git a/src/geometry/broad_phase_multi_sap.rs b/src/geometry/broad_phase_multi_sap.rs index 8e69d24..3562c2e 100644 --- a/src/geometry/broad_phase_multi_sap.rs +++ b/src/geometry/broad_phase_multi_sap.rs @@ -335,7 +335,7 @@ impl SAPAxis { #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))] struct SAPRegion { - axii: [SAPAxis; DIM], + axes: [SAPAxis; DIM], existing_proxies: BitVec, #[cfg_attr(feature = "serde-serialize", serde(skip))] to_insert: Vec<usize>, // Workspace @@ -344,14 +344,14 @@ struct SAPRegion { impl SAPRegion { pub fn new(bounds: AABB<f32>) -> Self { - let axii = [ + let axes = [ SAPAxis::new(bounds.mins.x, bounds.maxs.x), SAPAxis::new(bounds.mins.y, bounds.maxs.y), #[cfg(feature = "dim3")] SAPAxis::new(bounds.mins.z, bounds.maxs.z), ]; SAPRegion { - axii, + axes, existing_proxies: BitVec::new(), to_insert: Vec::new(), need_update: false, @@ -386,15 +386,15 @@ impl SAPRegion { // Update endpoints. let mut deleted_any = false; for dim in 0..DIM { - self.axii[dim].update_endpoints(dim, proxies, reporting); - deleted_any = self.axii[dim] + self.axes[dim].update_endpoints(dim, proxies, reporting); + deleted_any = self.axes[dim] .delete_out_of_bounds_proxies(&mut self.existing_proxies) || deleted_any; } if deleted_any { for dim in 0..DIM { - self.axii[dim].delete_out_of_bounds_endpoints(&self.existing_proxies); + self.axes[dim].delete_out_of_bounds_endpoints(&self.existing_proxies); } } @@ -404,9 +404,9 @@ impl SAPRegion { if !self.to_insert.is_empty() { // Insert new proxies. for dim in 1..DIM { - self.axii[dim].batch_insert(dim, &self.to_insert, proxies, None); + self.axes[dim].batch_insert(dim, &self.to_insert, proxies, None); } - self.axii[0].batch_insert(0, &self.to_insert, proxies, Some(reporting)); + self.axes[0].batch_insert(0, &self.to_insert, proxies, Some(reporting)); self.to_insert.clear(); } } diff --git a/src/geometry/collider.rs b/src/geometry/collider.rs index fe42bd7..c6cf6d0 100644 --- a/src/geometry/collider.rs +++ b/src/geometry/collider.rs @@ -3,172 +3,186 @@ use crate::dynamics::{MassProperties, RigidBodyHandle, RigidBodySet}; use crate::geometry::PolygonalFeatureMap; use crate::geometry::{ Ball, Capsule, ColliderGraphIndex, Contact, Cuboid, Cylinder, HeightField, InteractionGraph, - Polygon, Proximity, Ray, RayIntersection, Triangle, Trimesh, + Polygon, Proximity, Ray, RayIntersection, Shape, ShapeType, Triangle, Trimesh, }; use crate::math::{AngVector, Isometry, Point, Rotation, Vector}; +use downcast_rs::{impl_downcast, DowncastSync}; +use erased_serde::Serialize; use na::Point3; use ncollide::bounding_volume::{HasBoundingVolume, AABB}; use ncollide::query::RayCast; use num::Zero; +use std::any::Any; +use std::ops::Deref; +use std::sync::Arc; +/// The shape of a collider. #[derive(Clone)] -#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))] -/// An enum grouping all the possible shape of a collider. -pub enum Shape { - /// A ball shape. - Ball(Ball), - /// A convex polygon shape. - Polygon(Polygon), - /// A cuboid shape. - Cuboid(Cuboid), - /// A capsule shape. - Capsule(Capsule), - /// A triangle shape. - Triangle(Triangle), - /// A triangle mesh shape. - Trimesh(Trimesh), - /// A heightfield shape. - HeightField(HeightField), - #[cfg(feature = "dim3")] - /// A cylindrical shape. - Cylinder(Cylinder), -} +pub struct ColliderShape(pub Arc<dyn Shape>); -impl Shape { - /// Gets a reference to the underlying ball shape, if `self` is one. - pub fn as_ball(&self) -> Option<&Ball> { - match self { - Shape::Ball(b) => Some(b), - _ => None, - } +impl Deref for ColliderShape { + type Target = Shape; + fn deref(&self) -> &Shape { + &*self.0 } +} - /// Gets a reference to the underlying polygon shape, if `self` is one. - pub fn as_polygon(&self) -> Option<&Polygon> { - match self { - Shape::Polygon(p) => Some(p), - _ => None, - } +impl ColliderShape { + /// Initialize a ball shape defined by its radius. + pub fn ball(radius: f32) -> Self { + ColliderShape(Arc::new(Ball::new(radius))) } - /// Gets a reference to the underlying cuboid shape, if `self` is one. - pub fn as_cuboid(&self) -> Option<&Cuboid> { - match self { - Shape::Cuboid(c) => Some(c), - _ => None, - } + /// 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: f32, radius: f32) -> Self { + ColliderShape(Arc::new(Cylinder::new(half_height, radius))) } - /// Gets a reference to the underlying capsule shape, if `self` is one. - pub fn as_capsule(&self) -> Option<&Capsule> { - match self { - Shape::Capsule(c) => Some(c), - _ => None, - } + /// Initialize a cuboid shape defined by its half-extents. + pub fn cuboid(half_extents: Vector<f32>) -> Self { + ColliderShape(Arc::new(Cuboid::new(half_extents))) } - /// Gets a reference to the underlying triangle mesh shape, if `self` is one. - pub fn as_trimesh(&self) -> Option<&Trimesh> { - match self { - Shape::Trimesh(c) => Some(c), - _ => None, - } + /// 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))) } - /// Gets a reference to the underlying heightfield shape, if `self` is one. - pub fn as_heightfield(&self) -> Option<&HeightField> { - match self { - Shape::HeightField(h) => Some(h), - _ => None, - } + /// Initializes a triangle shape. + pub fn triangle(a: Point<f32>, b: Point<f32>, c: Point<f32>) -> Self { + ColliderShape(Arc::new(Triangle::new(a, b, c))) } - /// Gets a reference to the underlying triangle shape, if `self` is one. - pub fn as_triangle(&self) -> Option<&Triangle> { - match self { - Shape::Triangle(c) => Some(c), - _ => None, - } + /// Initializes a triangle mesh shape defined by its vertex and index buffers. + pub fn trimesh(vertices: Vec<Point<f32>>, indices: Vec<Point3<u32>>) -> Self { + ColliderShape(Arc::new(Trimesh::new(vertices, indices))) } - /// Gets a reference to the underlying cylindrical shape, if `self` is one. - pub fn as_cylinder(&self) -> Option<&Cylinder> { - match self { - Shape::Cylinder(c) => Some(c), - _ => None, - } + /// 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<f32>, scale: Vector<f32>) -> Self { + ColliderShape(Arc::new(HeightField::new(heights, scale))) } - /// gets a reference to this shape seen as a PolygonalFeatureMap. + /// 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 as_polygonal_feature_map(&self) -> Option<&dyn PolygonalFeatureMap> { - match self { - Shape::Triangle(t) => Some(t), - Shape::Cuboid(c) => Some(c), - Shape::Cylinder(c) => Some(c), - _ => None, - } + pub fn heightfield(heights: na::DMatrix<f32>, scale: Vector<f32>) -> Self { + ColliderShape(Arc::new(HeightField::new(heights, scale))) } +} - /// Computes the axis-aligned bounding box of this shape. - pub fn compute_aabb(&self, position: &Isometry<f32>) -> AABB<f32> { - match self { - Shape::Ball(ball) => ball.bounding_volume(position), - Shape::Polygon(poly) => poly.aabb(position), - Shape::Capsule(caps) => caps.aabb(position), - Shape::Cuboid(cuboid) => cuboid.bounding_volume(position), - Shape::Triangle(triangle) => triangle.bounding_volume(position), - Shape::Trimesh(trimesh) => trimesh.aabb(position), - Shape::HeightField(heightfield) => heightfield.bounding_volume(position), - Shape::Cylinder(cylinder) => cylinder.bounding_volume(position), +#[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.", + )) } } +} - /// Computes the first intersection point between a ray in this collider. - /// - /// Some shapes are not supported yet and will always return `None`. - /// - /// # Parameters - /// - `position`: the position of this shape. - /// - `ray`: the ray to cast. - /// - `max_toi`: the maximum time-of-impact that can be reported by this cast. This effectively - /// limits the length of the ray to `ray.dir.norm() * max_toi`. Use `f32::MAX` for an unbounded ray. - pub fn cast_ray( - &self, - position: &Isometry<f32>, - ray: &Ray, - max_toi: f32, - ) -> Option<RayIntersection> { - match self { - Shape::Ball(ball) => ball.toi_and_normal_with_ray(position, ray, max_toi, true), - Shape::Polygon(_poly) => None, - Shape::Capsule(caps) => { - let pos = position * caps.transform_wrt_y(); - let caps = ncollide::shape::Capsule::new(caps.half_height(), caps.radius); - caps.toi_and_normal_with_ray(&pos, ray, max_toi, true) +#[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") } - Shape::Cuboid(cuboid) => cuboid.toi_and_normal_with_ray(position, ray, max_toi, true), - #[cfg(feature = "dim2")] - Shape::Triangle(_) | Shape::Trimesh(_) => { - // This is not implemented yet in 2D. - None - } - #[cfg(feature = "dim3")] - Shape::Triangle(triangle) => { - triangle.toi_and_normal_with_ray(position, ray, max_toi, true) - } - #[cfg(feature = "dim3")] - Shape::Trimesh(trimesh) => { - trimesh.toi_and_normal_with_ray(position, ray, max_toi, true) - } - Shape::HeightField(heightfield) => { - heightfield.toi_and_normal_with_ray(position, ray, max_toi, true) - } - #[cfg(feature = "dim3")] - Shape::Cylinder(cylinder) => { - cylinder.toi_and_normal_with_ray(position, ray, max_toi, true) + + 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))?; + + let shape = match ShapeType::from_i32(tag) { + Some(ShapeType::Ball) => { + let shape: Ball = seq + .next_element()? + .ok_or_else(|| serde::de::Error::invalid_length(0, &self))?; + Arc::new(shape) as Arc<dyn Shape> + } + Some(ShapeType::Polygon) => { + unimplemented!() + // let shape: Polygon = seq + // .next_element()? + // .ok_or_else(|| serde::de::Error::invalid_length(0, &self))?; + // Arc::new(shape) as Arc<dyn Shape> + } + Some(ShapeType::Cuboid) => { + let shape: Cuboid = seq + .next_element()? + .ok_or_else(|| serde::de::Error::invalid_length(0, &self))?; + Arc::new(shape) as Arc<dyn Shape> + } + Some(ShapeType::Capsule) => { + let shape: Capsule = seq + .next_element()? + .ok_or_else(|| serde::de::Error::invalid_length(0, &self))?; + Arc::new(shape) as Arc<dyn Shape> + } + Some(ShapeType::Triangle) => { + let shape: Triangle = seq + .next_element()? + .ok_or_else(|| serde::de::Error::invalid_length(0, &self))?; + Arc::new(shape) as Arc<dyn Shape> + } + Some(ShapeType::Trimesh) => { + let shape: Trimesh = seq + .next_element()? + .ok_or_else(|| serde::de::Error::invalid_length(0, &self))?; + Arc::new(shape) as Arc<dyn Shape> + } + Some(ShapeType::HeightField) => { + let shape: HeightField = seq + .next_element()? + .ok_or_else(|| serde::de::Error::invalid_length(0, &self))?; + Arc::new(shape) as Arc<dyn Shape> + } + #[cfg(feature = "dim3")] + Some(ShapeType::Cylinder) => { + let shape: Cylinder = seq + .next_element()? + .ok_or_else(|| serde::de::Error::invalid_length(0, &self))?; + Arc::new(shape) as Arc<dyn Shape> + } + None => { + return Err(serde::de::Error::custom( + "found invalid shape type to deserialize", + )) + } + }; + + Ok(ColliderShape(shape)) } } + + deserializer.deserialize_struct("ColliderShape", &["tag", "inner"], Visitor {}) } } @@ -177,7 +191,7 @@ impl Shape { /// /// To build a new collider, use the `ColliderBuilder` structure. pub struct Collider { - shape: Shape, + shape: ColliderShape, density: f32, is_sensor: bool, pub(crate) parent: RigidBodyHandle, @@ -245,7 +259,7 @@ impl Collider { /// The geometric shape of this collider. pub fn shape(&self) -> &Shape { - &self.shape + &*self.shape.0 } /// Compute the axis-aligned bounding box of this collider. @@ -261,23 +275,7 @@ impl Collider { /// Compute the local-space mass properties of this collider. pub fn mass_properties(&self) -> MassProperties { - match &self.shape { - Shape::Ball(ball) => MassProperties::from_ball(self.density, ball.radius), - #[cfg(feature = "dim2")] - Shape::Polygon(p) => MassProperties::from_polygon(self.density, p.vertices()), - #[cfg(feature = "dim3")] - Shape::Polygon(_p) => unimplemented!(), - Shape::Cuboid(c) => MassProperties::from_cuboid(self.density, c.half_extents), - Shape::Capsule(caps) => { - MassProperties::from_capsule(self.density, caps.a, caps.b, caps.radius) - } - Shape::Triangle(_) | Shape::Trimesh(_) | Shape::HeightField(_) => { - MassProperties::zero() - } - Shape::Cylinder(c) => { - MassProperties::from_cylinder(self.density, c.half_height, c.radius) - } - } + self.shape.mass_properties(self.density) } } @@ -286,7 +284,7 @@ impl Collider { #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))] pub struct ColliderBuilder { /// The shape of the collider to be built. - pub shape: Shape, + pub shape: ColliderShape, /// The density of the collider to be built. density: Option<f32>, /// The friction coefficient of the collider to be built. @@ -301,7 +299,7 @@ pub struct ColliderBuilder { impl ColliderBuilder { /// Initialize a new collider builder with the given shape. - pub fn new(shape: Shape) -> Self { + pub fn new(shape: ColliderShape) -> Self { Self { shape, density: None, @@ -320,102 +318,81 @@ impl ColliderBuilder { /// Initialize a new collider builder with a ball shape defined by its radius. pub fn ball(radius: f32) -> Self { - Self::new(Shape::Ball(Ball::new(radius))) + Self::new(ColliderShape::ball(radius)) } /// Initialize a new collider builder with a cylindrical shape defined by its half-height /// (along along the y axis) and its radius. + #[cfg(feature = "dim3")] pub fn cylinder(half_height: f32, radius: f32) -> Self { - Self::new(Shape::Cylinder(Cylinder::new(half_height, radius))) + Self::new(ColliderShape::cylinder(half_height, radius)) } /// Initialize a new collider builder with a cuboid shape defined by its half-extents. #[cfg(feature = "dim2")] pub fn cuboid(hx: f32, hy: f32) -> Self { - let cuboid = Cuboid { - half_extents: Vector::new(hx, hy), - }; - - Self::new(Shape::Cuboid(cuboid)) - - /* - use crate::math::Point; - let vertices = vec![ - Point::new(hx, -hy), - Point::new(hx, hy), - Point::new(-hx, hy), - Point::new(-hx, -hy), - ]; - let normals = vec![Vector::x(), Vector::y(), -Vector::x(), -Vector::y()]; - let polygon = Polygon::new(vertices, normals); - - Self::new(Shape::Polygon(polygon)) - */ + Self::new(ColliderShape::cuboid(Vector::new(hx, hy))) } /// Initialize a new collider builder with a capsule shape aligned with the `x` axis. pub fn capsule_x(half_height: f32, radius: f32) -> Self { - let capsule = Capsule::new_x(half_height, radius); - Self::new(Shape::Capsule(capsule)) + #[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)) } /// Initialize a new collider builder with a capsule shape aligned with the `y` axis. pub fn capsule_y(half_height: f32, radius: f32) -> Self { - let capsule = Capsule::new_y(half_height, radius); - Self::new(Shape::Capsule(capsule)) + Self::new(ColliderShape::capsule(half_height, 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 capsule = Capsule::new_z(half_height, radius); - Self::new(Shape::Capsule(capsule)) + let rot = Vector::x() * std::f32::consts::FRAC_PI_2; + Self::new(ColliderShape::capsule(half_height, radius)) + .position(Isometry::new(na::zero(), rot)) } /// Initialize a new collider builder with a cuboid shape defined by its half-extents. #[cfg(feature = "dim3")] pub fn cuboid(hx: f32, hy: f32, hz: f32) -> Self { - let cuboid = Cuboid { - half_extents: Vector::new(hx, hy, hz), - }; - - Self::new(Shape::Cuboid(cuboid)) + Self::new(ColliderShape::cuboid(Vector::new(hx, hy, hz))) } /// 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 capsule = Capsule::new(a, b, 0.0); - Self::new(Shape::Capsule(capsule)) + let (pos, half_height) = crate::utils::segment_to_capsule(&a, &b); + Self::new(ColliderShape::capsule(half_height, 0.0)).position(pos) } /// Initializes a collider builder with a triangle shape. pub fn triangle(a: Point<f32>, b: Point<f32>, c: Point<f32>) -> Self { - let triangle = Triangle::new(a, b, c); - Self::new(Shape::Triangle(triangle)) + Self::new(ColliderShape::triangle(a, b, c)) } /// Initializes a collider builder with a triangle mesh shape defined by its vertex and index buffers. pub fn trimesh(vertices: Vec<Point<f32>>, indices: Vec<Point3<u32>>) -> Self { - let trimesh = Trimesh::new(vertices, indices); - Self::new(Shape::Trimesh(trimesh)) + Self::new(ColliderShape::trimesh(vertices, indices)) } /// Initializes a collider builder with a 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<f32>, scale: Vector<f32>) -> Self { - let heightfield = HeightField::new(heights, scale); - Self::new(Shape::HeightField(heightfield)) + Self::new(ColliderShape::heightfield(heights, scale)) } /// Initializes a collider builder with a heightfield shape defined by its set of height and a scale /// factor along each coordinate axis. #[cfg(feature = "dim3")] pub fn heightfield(heights: na::DMatrix<f32>, scale: Vector<f32>) -> Self { - let heightfield = HeightField::new(heights, scale); - Self::new(Shape::HeightField(heightfield)) + Self::new(ColliderShape::heightfield(heights, scale)) } /// The default friction coefficient used by the collider builder. diff --git a/src/geometry/contact_generator/ball_convex_contact_generator.rs b/src/geometry/contact_generator/ball_convex_contact_generator.rs index 0856029..62ebfab 100644 --- a/src/geometry/contact_generator/ball_convex_contact_generator.rs +++ b/src/geometry/contact_generator/ball_convex_contact_generator.rs @@ -5,30 +5,17 @@ use na::Unit; use ncollide::query::PointQuery; pub fn generate_contacts_ball_convex(ctxt: &mut PrimitiveContactGenerationContext) { - if let Shape::Ball(ball1) = ctxt.shape1 { + if let Some(ball1) = ctxt.shap |