diff options
Diffstat (limited to 'src/geometry/collider.rs')
| -rw-r--r-- | src/geometry/collider.rs | 171 |
1 files changed, 83 insertions, 88 deletions
diff --git a/src/geometry/collider.rs b/src/geometry/collider.rs index 2a31afa..82febe2 100644 --- a/src/geometry/collider.rs +++ b/src/geometry/collider.rs @@ -1,14 +1,13 @@ use crate::dynamics::{CoefficientCombineRule, MassProperties, RigidBodyHandle}; use crate::geometry::{ ActiveCollisionTypes, ColliderBroadPhaseData, ColliderChanges, ColliderFlags, - ColliderMassProps, ColliderMaterial, ColliderParent, ColliderPosition, ColliderShape, - ColliderType, InteractionGroups, SharedShape, + ColliderMassProperties, ColliderParent, ColliderPosition, ColliderShape, ColliderType, + Friction, InteractionGroups, Restitution, SharedShape, }; -use crate::math::{AngVector, Isometry, Point, Real, Rotation, Vector, DIM}; +use crate::math::*; use crate::parry::transformation::vhacd::VHACDParameters; use crate::pipeline::{ActiveEvents, ActiveHooks}; use crate::prelude::ColliderEnabled; -use na::Unit; use parry::bounding_volume::Aabb; use parry::shape::{Shape, TriMeshFlags}; @@ -20,11 +19,12 @@ use parry::shape::{Shape, TriMeshFlags}; pub struct Collider { pub(crate) coll_type: ColliderType, pub(crate) shape: ColliderShape, - pub(crate) mprops: ColliderMassProps, + pub(crate) mprops: ColliderMassProperties, pub(crate) changes: ColliderChanges, pub(crate) parent: Option<ColliderParent>, pub(crate) pos: ColliderPosition, - pub(crate) material: ColliderMaterial, + pub(crate) friction: Friction, + pub(crate) restitution: Restitution, pub(crate) flags: ColliderFlags, pub(crate) bf_data: ColliderBroadPhaseData, contact_force_event_threshold: Real, @@ -92,50 +92,50 @@ impl Collider { /// The friction coefficient of this collider. pub fn friction(&self) -> Real { - self.material.friction + self.friction.coefficient } /// Sets the friction coefficient of this collider. pub fn set_friction(&mut self, coefficient: Real) { - self.material.friction = coefficient + self.friction.coefficient = coefficient } /// The combine rule used by this collider to combine its friction /// coefficient with the friction coefficient of the other collider it /// is in contact with. pub fn friction_combine_rule(&self) -> CoefficientCombineRule { - self.material.friction_combine_rule + self.friction.combine_rule } /// Sets the combine rule used by this collider to combine its friction /// coefficient with the friction coefficient of the other collider it /// is in contact with. pub fn set_friction_combine_rule(&mut self, rule: CoefficientCombineRule) { - self.material.friction_combine_rule = rule; + self.friction.combine_rule = rule; } /// The restitution coefficient of this collider. pub fn restitution(&self) -> Real { - self.material.restitution + self.restitution.coefficient } /// Sets the restitution coefficient of this collider. pub fn set_restitution(&mut self, coefficient: Real) { - self.material.restitution = coefficient + self.restitution.coefficient = coefficient } /// The combine rule used by this collider to combine its restitution /// coefficient with the restitution coefficient of the other collider it /// is in contact with. pub fn restitution_combine_rule(&self) -> CoefficientCombineRule { - self.material.restitution_combine_rule + self.restitution.combine_rule } /// Sets the combine rule used by this collider to combine its restitution /// coefficient with the restitution coefficient of the other collider it /// is in contact with. pub fn set_restitution_combine_rule(&mut self, rule: CoefficientCombineRule) { - self.material.restitution_combine_rule = rule; + self.restitution.combine_rule = rule; } /// Sets the total force magnitude beyond which a contact force event can be emitted. @@ -179,63 +179,63 @@ impl Collider { } /// Sets the translational part of this collider's position. - pub fn set_translation(&mut self, translation: Vector<Real>) { + pub fn set_translation(&mut self, translation: Vector) { self.changes.insert(ColliderChanges::POSITION); - self.pos.0.translation.vector = translation; + *self.pos.0.translation.as_vector_mut() = translation; } /// Sets the rotational part of this collider's position. - pub fn set_rotation(&mut self, rotation: Rotation<Real>) { + pub fn set_rotation(&mut self, rotation: Rotation) { self.changes.insert(ColliderChanges::POSITION); self.pos.0.rotation = rotation; } /// Sets the position of this collider. - pub fn set_position(&mut self, position: Isometry<Real>) { + pub fn set_position(&mut self, position: Isometry) { self.changes.insert(ColliderChanges::POSITION); self.pos.0 = position; } /// The world-space position of this collider. - pub fn position(&self) -> &Isometry<Real> { + pub fn position(&self) -> &Isometry { &self.pos } /// The translational part of this collider's position. - pub fn translation(&self) -> &Vector<Real> { - &self.pos.0.translation.vector + pub fn translation(&self) -> Vector { + self.pos.0.translation.into_vector() } /// The rotational part of this collider's position. - pub fn rotation(&self) -> &Rotation<Real> { + pub fn rotation(&self) -> &Rotation { &self.pos.0.rotation } /// The position of this collider with respect to the body it is attached to. - pub fn position_wrt_parent(&self) -> Option<&Isometry<Real>> { + pub fn position_wrt_parent(&self) -> Option<&Isometry> { self.parent.as_ref().map(|p| &p.pos_wrt_parent) } /// Sets the translational part of this collider's translation relative to its parent rigid-body. - pub fn set_translation_wrt_parent(&mut self, translation: Vector<Real>) { + pub fn set_translation_wrt_parent(&mut self, translation: Vector) { if let Some(parent) = self.parent.as_mut() { self.changes.insert(ColliderChanges::PARENT); - parent.pos_wrt_parent.translation.vector = translation; + *parent.pos_wrt_parent.translation.as_vector_mut() = translation; } } /// Sets the rotational part of this collider's rotaiton relative to its parent rigid-body. - pub fn set_rotation_wrt_parent(&mut self, rotation: AngVector<Real>) { + pub fn set_rotation_wrt_parent(&mut self, rotation: AngVector) { if let Some(parent) = self.parent.as_mut() { self.changes.insert(ColliderChanges::PARENT); - parent.pos_wrt_parent.rotation = Rotation::new(rotation); + parent.pos_wrt_parent.rotation = Rotation::from_scaled_axis(rotation.into()); } } /// Sets the position of this collider with respect to its parent rigid-body. /// /// Does nothing if the collider is not attached to a rigid-body. - pub fn set_position_wrt_parent(&mut self, pos_wrt_parent: Isometry<Real>) { + pub fn set_position_wrt_parent(&mut self, pos_wrt_parent: Isometry) { if let Some(parent) = self.parent.as_mut() { self.changes.insert(ColliderChanges::PARENT); parent.pos_wrt_parent = pos_wrt_parent; @@ -268,11 +268,6 @@ impl Collider { } } - /// The material (friction and restitution properties) of this collider. - pub fn material(&self) -> &ColliderMaterial { - &self.material - } - /// The volume (or surface in 2D) of this collider. pub fn volume(&self) -> Real { self.shape.mass_properties(1.0).mass() @@ -281,12 +276,12 @@ impl Collider { /// The density of this collider. pub fn density(&self) -> Real { match &self.mprops { - ColliderMassProps::Density(density) => *density, - ColliderMassProps::Mass(mass) => { + ColliderMassProperties::Density(density) => *density, + ColliderMassProperties::Mass(mass) => { let inv_volume = self.shape.mass_properties(1.0).inv_mass; mass * inv_volume } - ColliderMassProps::MassProperties(mprops) => { + ColliderMassProperties::MassProperties(mprops) => { let inv_volume = self.shape.mass_properties(1.0).inv_mass; mprops.mass() * inv_volume } @@ -296,9 +291,9 @@ impl Collider { /// The mass of this collider. pub fn mass(&self) -> Real { match &self.mprops { - ColliderMassProps::Density(density) => self.shape.mass_properties(*density).mass(), - ColliderMassProps::Mass(mass) => *mass, - ColliderMassProps::MassProperties(mprops) => mprops.mass(), + ColliderMassProperties::Density(density) => self.shape.mass_properties(*density).mass(), + ColliderMassProperties::Mass(mass) => *mass, + ColliderMassProperties::MassProperties(mprops) => mprops.mass(), } } @@ -312,7 +307,7 @@ impl Collider { /// The mass and angular inertia of this collider will be computed automatically based on its /// shape. pub fn set_density(&mut self, density: Real) { - self.do_set_mass_properties(ColliderMassProps::Density(density)); + self.do_set_mass_properties(ColliderMassProperties::Density(density)); } /// Sets the mass of this collider. @@ -325,7 +320,7 @@ impl Collider { /// The angular inertia of this collider will be computed automatically based on its shape /// and this mass value. pub fn set_mass(&mut self, mass: Real) { - self.do_set_mass_properties(ColliderMassProps::Mass(mass)); + self.do_set_mass_properties(ColliderMassProperties::Mass(mass)); } /// Sets the mass properties of this collider. @@ -335,10 +330,12 @@ impl Collider { /// [`ColliderBuilder::mass`], or [`ColliderBuilder::mass_properties`] /// for this collider. pub fn set_mass_properties(&mut self, mass_properties: MassProperties) { - self.do_set_mass_properties(ColliderMassProps::MassProperties(Box::new(mass_properties))) + self.do_set_mass_properties(ColliderMassProperties::MassProperties(Box::new( + mass_properties, + ))) } - fn do_set_mass_properties(&mut self, mprops: ColliderMassProps) { + fn do_set_mass_properties(&mut self, mprops: ColliderMassProperties) { if mprops != self.mprops { self.changes |= ColliderChanges::LOCAL_MASS_PROPERTIES; self.mprops = mprops; @@ -378,7 +375,7 @@ impl Collider { /// Compute the axis-aligned bounding box of this collider moving from its current position /// to the given `next_position` - pub fn compute_swept_aabb(&self, next_position: &Isometry<Real>) -> Aabb { + pub fn compute_swept_aabb(&self, next_position: &Isometry) -> Aabb { self.shape.compute_swept_aabb(&self.pos, next_position) } @@ -401,7 +398,7 @@ pub struct ColliderBuilder { /// The shape of the collider to be built. pub shape: SharedShape, /// Controls the way the collider’s mass-properties are computed. - pub mass_properties: ColliderMassProps, + pub mass_properties: ColliderMassProperties, /// The friction coefficient of the collider to be built. pub friction: Real, /// The rule used to combine two friction coefficients. @@ -411,7 +408,7 @@ pub struct ColliderBuilder { /// The rule used to combine two restitution coefficients. pub restitution_combine_rule: CoefficientCombineRule, /// The position of this collider. - pub position: Isometry<Real>, + pub position: Isometry, /// Is this collider a sensor? pub is_sensor: bool, /// Contact pairs enabled for this collider. @@ -437,7 +434,7 @@ impl ColliderBuilder { pub fn new(shape: SharedShape) -> Self { Self { shape, - mass_properties: ColliderMassProps::default(), + mass_properties: ColliderMassProperties::default(), friction: Self::default_friction(), restitution: 0.0, position: Isometry::identity(), @@ -456,7 +453,7 @@ impl ColliderBuilder { } /// Initialize a new collider builder with a compound shape. - pub fn compound(shapes: Vec<(Isometry<Real>, SharedShape)>) -> Self { + pub fn compound(shapes: Vec<(Isometry, SharedShape)>) -> Self { Self::new(SharedShape::compound(shapes)) } @@ -467,7 +464,7 @@ impl ColliderBuilder { /// Initialize a new collider build with a half-space shape defined by the outward normal /// of its planar boundary. - pub fn halfspace(outward_normal: Unit<Vector<Real>>) -> Self { + pub fn halfspace(outward_normal: UnitVector) -> Self { Self::new(SharedShape::halfspace(outward_normal)) } @@ -548,39 +545,34 @@ impl ColliderBuilder { } /// Initializes a collider builder with a segment shape. - pub fn segment(a: Point<Real>, b: Point<Real>) -> Self { + pub fn segment(a: Point, b: Point) -> Self { Self::new(SharedShape::segment(a, b)) } /// Initializes a collider builder with a triangle shape. - pub fn triangle(a: Point<Real>, b: Point<Real>, c: Point<Real>) -> Self { + pub fn triangle(a: Point, b: Point, c: Point) -> Self { Self::new(SharedShape::triangle(a, b, c)) } /// Initializes a collider builder with a triangle shape with round corners. - pub fn round_triangle( - a: Point<Real>, - b: Point<Real>, - c: Point<Real>, - border_radius: Real, - ) -> Self { + pub fn round_triangle(a: Point, b: Point, c: Point, border_radius: Real) -> Self { Self::new(SharedShape::round_triangle(a, b, c, border_radius)) } /// Initializes a collider builder with a polyline shape defined by its vertex and index buffers. - pub fn polyline(vertices: Vec<Point<Real>>, indices: Option<Vec<[u32; 2]>>) -> Self { + pub fn polyline(vertices: Vec<Point>, indices: Option<Vec<[u32; 2]>>) -> Self { Self::new(SharedShape::polyline(vertices, indices)) } /// Initializes a collider builder with a triangle mesh shape defined by its vertex and index buffers. - pub fn trimesh(vertices: Vec<Point<Real>>, indices: Vec<[u32; 3]>) -> Self { + pub fn trimesh(vertices: Vec<Point>, indices: Vec<[u32; 3]>) -> Self { Self::new(SharedShape::trimesh(vertices, indices)) } /// Initializes a collider builder with a triangle mesh shape defined by its vertex and index buffers and /// flags controlling its pre-processing. pub fn trimesh_with_flags( - vertices: Vec<Point<Real>>, + vertices: Vec<Point>, indices: Vec<[u32; 3]>, flags: TriMeshFlags, ) -> Self { @@ -589,14 +581,14 @@ impl ColliderBuilder { /// Initializes a collider builder with 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 { + pub fn convex_decomposition(vertices: &[Point], indices: &[[u32; DIM]]) -> Self { Self::new(SharedShape::convex_decomposition(vertices, indices)) } /// Initializes a collider builder with 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>], + vertices: &[Point], indices: &[[u32; DIM]], border_radius: Real, ) -> Self { @@ -610,7 +602,7 @@ impl ColliderBuilder { /// Initializes a collider builder with 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>], + vertices: &[Point], indices: &[[u32; DIM]], params: &VHACDParameters, ) -> Self { @@ -622,7 +614,7 @@ impl ColliderBuilder { /// Initializes a collider builder with 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>], + vertices: &[Point], indices: &[[u32; DIM]], params: &VHACDParameters, border_radius: Real, @@ -637,14 +629,14 @@ impl ColliderBuilder { /// Initializes a new collider builder with a 2D convex polygon or 3D convex polyhedron /// obtained after computing the convex-hull of the given points. - pub fn convex_hull(points: &[Point<Real>]) -> Option<Self> { + pub fn convex_hull(points: &[Point]) -> Option<Self> { SharedShape::convex_hull(points).map(Self::new) } /// Initializes a new collider builder with a round 2D convex polygon or 3D convex polyhedron /// obtained after computing the convex-hull of the given points. The shape is dilated /// by a sphere of radius `border_radius`. - pub fn round_convex_hull(points: &[Point<Real>], border_radius: Real) -> Option<Self> { + pub fn round_convex_hull(points: &[Point], border_radius: Real) -> Option<Self> { SharedShape::round_convex_hull(points, border_radius).map(Self::new) } @@ -652,7 +644,7 @@ impl ColliderBuilder { /// given polyline assumed to be convex (no convex-hull will be automatically /// computed). #[cfg(feature = "dim2")] - pub fn convex_polyline(points: Vec<Point<Real>>) -> Option<Self> { + pub fn convex_polyline(points: Vec<Point>) -> Option<Self> { SharedShape::convex_polyline(points).map(Self::new) } @@ -660,7 +652,7 @@ impl ColliderBuilder { /// given polyline assumed to be convex (no convex-hull will be automatically /// computed). The polygon shape is dilated by a sphere of radius `border_radius`. #[cfg(feature = "dim2")] - pub fn round_convex_polyline(points: Vec<Point<Real>>, border_radius: Real) -> Option<Self> { + pub fn round_convex_polyline(points: Vec<Point>, border_radius: Real) -> Option<Self> { SharedShape::round_convex_polyline(points, border_radius).map(Self::new) } @@ -668,7 +660,7 @@ impl ColliderBuilder { /// given triangle-mesh assumed to be convex (no convex-hull will be automatically /// computed). #[cfg(feature = "dim3")] - pub fn convex_mesh(points: Vec<Point<Real>>, indices: &[[u32; 3]]) -> Option<Self> { + pub fn convex_mesh(points: Vec<Point>, indices: &[[u32; 3]]) -> Option<Self> { SharedShape::convex_mesh(points, indices).map(Self::new) } @@ -677,7 +669,7 @@ impl ColliderBuilder { /// computed). The triangle mesh shape is dilated by a sphere of radius `border_radius`. #[cfg(feature = "dim3")] pub fn round_convex_mesh( - points: Vec<Point<Real>>, + points: Vec<Point>, indices: &[[u32; 3]], border_radius: Real, ) -> Option<Self> { @@ -687,14 +679,14 @@ impl ColliderBuilder { /// 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<Real>, scale: Vector<Real>) -> Self { + pub fn heightfield(heights: na::DVector<Real>, scale: Vector) -> Self { Self::new(SharedShape::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<Real>, scale: Vector<Real>) -> Self { + pub fn heightfield(heights: na::DMatrix<Real>, scale: Vector) -> Self { Self::new(SharedShape::heightfield(heights, scale)) } @@ -788,7 +780,7 @@ impl ColliderBuilder { /// The mass and angular inertia of this collider will be computed automatically based on its /// shape. pub fn density(mut self, density: Real) -> Self { - self.mass_properties = ColliderMassProps::Density(density); + self.mass_properties = ColliderMassProperties::Density(density); self } @@ -800,7 +792,7 @@ impl ColliderBuilder { /// The angular inertia of this collider will be computed automatically based on its shape /// and this mass value. pub fn mass(mut self, mass: Real) -> Self { - self.mass_properties = ColliderMassProps::Mass(mass); + self.mass_properties = ColliderMassProperties::Mass(mass); self } @@ -809,7 +801,7 @@ impl ColliderBuilder { /// This will be overridden by a call to [`Self::density`] or [`Self::mass`] so it only /// makes sense to call either [`Self::density`] or [`Self::mass`] or [`Self::mass_properties`]. pub fn mass_properties(mut self, mass_properties: MassProperties) -> Self { - self.mass_properties = ColliderMassProps::MassProperties(Box::new(mass_properties)); + self.mass_properties = ColliderMassProperties::MassProperties(Box::new(mass_properties)); self } @@ -823,8 +815,8 @@ impl ColliderBuilder { /// /// If the collider will be attached to a rigid-body, this sets the translation relative to the /// rigid-body it will be attached to. - pub fn translation(mut self, translation: Vector<Real>) -> Self { - self.position.translation.vector = translation; + pub fn translation(mut self, translation: Vector) -> Self { + *self.position.translation.as_vector_mut() = translation; self } @@ -832,8 +824,8 @@ impl ColliderBuilder { /// /// If the collider will be attached to a rigid-body, this sets the orientation relative to the /// rigid-body it will be attached to. - pub fn rotation(mut self, angle: AngVector<Real>) -> Self { - self.position.rotation = Rotation::new(angle); + pub fn rotation(mut self, angle: AngVector) -> Self { + self.position.rotation = Rotation::from_scaled_axis(angle.into()); self } @@ -841,7 +833,7 @@ impl ColliderBuilder { /// /// If the collider will be attached to a rigid-body, this sets the position relative /// to the rigid-body it will be attached to. - pub fn position(mut self, pos: Isometry<Real>) -> Self { + pub fn position(mut self, pos: Isometry) -> Self { self.position = pos; self } @@ -849,14 +841,14 @@ impl ColliderBuilder { /// Sets the initial position (translation and orientation) of the collider to be created, /// relative to the rigid-body it is attached to. #[deprecated(note = "Use `.position` instead.")] - pub fn position_wrt_parent(mut self, pos: Isometry<Real>) -> Self { + pub fn position_wrt_parent(mut self, pos: Isometry) -> Self { self.position = pos; self } /// Set the position of this collider in the local-space of the rigid-body it is attached to. #[deprecated(note = "Use `.position` instead.")] - pub fn delta(mut self, delta: Isometry<Real>) -> Self { + pub fn delta(mut self, delta: Isometry) -> Self { self.position = delta; self } @@ -870,11 +862,13 @@ impl ColliderBuilder { /// Builds a new collider attached to the given rigid-body. pub fn build(&self) -> Collider { let shape = self.shape.clone(); - let material = ColliderMaterial { - friction: self.friction, - restitution: self.restitution, - friction_combine_rule: self.friction_combine_rule, - restitution_combine_rule: self.restitution_combine_rule, + let friction = Friction { + coefficient: self.friction, + combine_rule: self.friction_combine_rule, + }; + let restitution = Restitution { + coefficient: self.restitution, + combine_rule: self.restitution_combine_rule, }; let flags = ColliderFlags { collision_groups: self.collision_groups, @@ -900,7 +894,8 @@ impl ColliderBuilder { Collider { shape, mprops: self.mass_properties.clone(), - material, + friction, + restitution, parent: None, changes, pos, |