diff options
Diffstat (limited to 'src/geometry/collider.rs')
| -rw-r--r-- | src/geometry/collider.rs | 17 |
1 files changed, 9 insertions, 8 deletions
diff --git a/src/geometry/collider.rs b/src/geometry/collider.rs index 236fd5a..43f8294 100644 --- a/src/geometry/collider.rs +++ b/src/geometry/collider.rs @@ -2,7 +2,7 @@ use crate::dynamics::{CoefficientCombineRule, MassProperties, RigidBodyHandle}; use crate::geometry::{InteractionGroups, SAPProxyIndex, SharedShape, SolverFlags}; use crate::math::{AngVector, Isometry, Point, Real, Rotation, Vector, DIM}; use crate::parry::transformation::vhacd::VHACDParameters; -use parry::bounding_volume::AABB; +use parry::bounding_volume::{BoundingVolume, AABB}; use parry::shape::Shape; bitflags::bitflags! { @@ -62,7 +62,7 @@ pub struct Collider { pub(crate) parent: RigidBodyHandle, pub(crate) delta: Isometry<Real>, pub(crate) position: Isometry<Real>, - pub(crate) predicted_position: Isometry<Real>, + pub(crate) prev_position: Isometry<Real>, /// The friction coefficient of this collider. pub friction: Real, /// The restitution coefficient of this collider. @@ -139,11 +139,12 @@ impl Collider { self.shape.compute_aabb(&self.position) } - // pub(crate) fn compute_aabb_with_prediction(&self) -> AABB { - // let aabb1 = self.shape.compute_aabb(&self.position); - // let aabb2 = self.shape.compute_aabb(&self.predicted_position); - // aabb1.merged(&aabb2) - // } + /// Compute the axis-aligned bounding box of this collider. + pub fn compute_swept_aabb(&self, next_position: &Isometry<Real>) -> AABB { + let aabb1 = self.shape.compute_aabb(&self.position); + let aabb2 = self.shape.compute_aabb(next_position); + aabb1.merged(&aabb2) + } /// Compute the local-space mass properties of this collider. pub fn mass_properties(&self) -> MassProperties { @@ -595,8 +596,8 @@ impl ColliderBuilder { flags, solver_flags, parent: RigidBodyHandle::invalid(), + prev_position: Isometry::identity(), position: Isometry::identity(), - predicted_position: Isometry::identity(), proxy_index: crate::INVALID_U32, collision_groups: self.collision_groups, solver_groups: self.solver_groups, |