diff options
Diffstat (limited to 'src/geometry/collider.rs')
| -rw-r--r-- | src/geometry/collider.rs | 493 |
1 files changed, 254 insertions, 239 deletions
diff --git a/src/geometry/collider.rs b/src/geometry/collider.rs index c04be35..fa2da68 100644 --- a/src/geometry/collider.rs +++ b/src/geometry/collider.rs @@ -1,190 +1,43 @@ -use crate::dynamics::{MassProperties, RigidBodyHandle, RigidBodySet}; -use crate::geometry::{ - Ball, Capsule, Cuboid, HeightField, InteractionGroups, Segment, Shape, ShapeType, Triangle, - Trimesh, -}; -#[cfg(feature = "dim3")] -use crate::geometry::{Cone, Cylinder, RoundCylinder}; -use crate::math::{AngVector, Isometry, Point, Rotation, Vector}; -use na::Point3; -use ncollide::bounding_volume::AABB; -use std::ops::Deref; -use std::sync::Arc; - -// TODO: move this to its own file. -/// The shape of a collider. -#[derive(Clone)] -pub struct ColliderShape(pub Arc<dyn Shape>); - -impl Deref for ColliderShape { - type Target = dyn Shape; - fn deref(&self) -> &dyn Shape { - &*self.0 +use crate::dynamics::{CoefficientCombineRule, MassProperties, RigidBodyHandle}; +use crate::geometry::{InteractionGroups, SharedShape}; +use crate::math::{AngVector, Isometry, Point, Real, Rotation, Vector, DIM}; +use crate::parry::transformation::vhacd::VHACDParameters; +use parry::bounding_volume::AABB; +use parry::shape::Shape; + +bitflags::bitflags! { + #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))] + /// Flags affecting the behavior of the constraints solver for a given contact manifold. + pub(crate) struct ColliderFlags: u8 { + const SENSOR = 1 << 0; + const FRICTION_COMBINE_RULE_01 = 1 << 1; + const FRICTION_COMBINE_RULE_10 = 1 << 2; + const RESTITUTION_COMBINE_RULE_01 = 1 << 3; + const RESTITUTION_COMBINE_RULE_10 = 1 << 4; } } -impl ColliderShape { - /// Initialize a ball shape defined by its radius. - pub fn ball(radius: f32) -> Self { - ColliderShape(Arc::new(Ball::new(radius))) - } - - /// 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))) - } - - /// Initialize a rounded cylindrical shape defined by its half-height - /// (along along the y axis), its radius, and its roundedness (the - /// radius of the sphere used for dilating the cylinder). - #[cfg(feature = "dim3")] - pub fn round_cylinder(half_height: f32, radius: f32, border_radius: f32) -> Self { - ColliderShape(Arc::new(RoundCylinder::new( - half_height, - radius, - border_radius, - ))) - } - - /// Initialize a cone shape defined by its half-height - /// (along along the y axis) and its basis radius. - #[cfg(feature = "dim3")] - pub fn cone(half_height: f32, radius: f32) -> Self { - ColliderShape(Arc::new(Cone::new(half_height, radius))) - } - - /// Initialize a cuboid shape defined by its half-extents. - pub fn cuboid(half_extents: Vector<f32>) -> Self { - ColliderShape(Arc::new(Cuboid::new(half_extents))) - } - - /// 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))) +impl ColliderFlags { + pub fn is_sensor(self) -> bool { + self.contains(ColliderFlags::SENSOR) } - /// Initialize a segment shape from its endpoints. - pub fn segment(a: Point<f32>, b: Point<f32>) -> Self { - ColliderShape(Arc::new(Segment::new(a, b))) + pub fn friction_combine_rule_value(self) -> u8 { + (self.bits & 0b0000_0110) >> 1 } - /// 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))) + pub fn restitution_combine_rule_value(self) -> u8 { + (self.bits & 0b0001_1000) >> 3 } - /// 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))) - } - - /// 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))) - } - - /// 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 heightfield(heights: na::DMatrix<f32>, scale: Vector<f32>) -> Self { - ColliderShape(Arc::new(HeightField::new(heights, scale))) - } -} - -#[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.", - )) - } + pub fn with_friction_combine_rule(mut self, rule: CoefficientCombineRule) -> Self { + self.bits = (self.bits & !0b0000_0110) | ((rule as u8) << 1); + self } -} -#[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") - } - - 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))?; - - fn deser<'de, A, S: Shape + serde::Deserialize<'de>>( - seq: &mut A, - ) -> Result<Arc<dyn Shape>, A::Error> - where - A: serde::de::SeqAccess<'de>, - { - let shape: S = seq.next_element()?.ok_or_else(|| { - serde::de::Error::custom("Failed to deserialize builtin shape.") - })?; - Ok(Arc::new(shape) as Arc<dyn Shape>) - } - - let shape = match ShapeType::from_i32(tag) { - Some(ShapeType::Ball) => deser::<A, Ball>(&mut seq)?, - 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) => 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")] - Some(ShapeType::Cylinder) => deser::<A, Cylinder>(&mut seq)?, - #[cfg(feature = "dim3")] - Some(ShapeType::Cone) => deser::<A, Cone>(&mut seq)?, - #[cfg(feature = "dim3")] - Some(ShapeType::RoundCylinder) => deser::<A, RoundCylinder>(&mut seq)?, - None => { - return Err(serde::de::Error::custom( - "found invalid shape type to deserialize", - )) - } - }; - - Ok(ColliderShape(shape)) - } - } - - deserializer.deserialize_struct("ColliderShape", &["tag", "inner"], Visitor {}) + pub fn with_restitution_combine_rule(mut self, rule: CoefficientCombineRule) -> Self { + self.bits = (self.bits & !0b0001_1000) | ((rule as u8) << 3); + self } } @@ -194,17 +47,17 @@ impl<'de> serde::Deserialize<'de> for ColliderShape { /// /// To build a new collider, use the `ColliderBuilder` structure. pub struct Collider { - shape: ColliderShape, - density: f32, - is_sensor: bool, + shape: SharedShape, + density: Real, + pub(crate) flags: ColliderFlags, pub(crate) parent: RigidBodyHandle, - pub(crate) delta: Isometry<f32>, - pub(crate) position: Isometry<f32>, - pub(crate) predicted_position: Isometry<f32>, + pub(crate) delta: Isometry<Real>, + pub(crate) position: Isometry<Real>, + pub(crate) predicted_position: Isometry<Real>, /// The friction coefficient of this collider. - pub friction: f32, + pub friction: Real, /// The restitution coefficient of this collider. - pub restitution: f32, + pub restitution: Real, pub(crate) collision_groups: InteractionGroups, pub(crate) solver_groups: InteractionGroups, pub(crate) proxy_index: usize, @@ -214,7 +67,7 @@ pub struct Collider { impl Collider { pub(crate) fn reset_internal_references(&mut self) { - self.parent = RigidBodySet::invalid_handle(); + self.parent = RigidBodyHandle::invalid(); self.proxy_index = crate::INVALID_USIZE; } @@ -225,27 +78,27 @@ impl Collider { /// Is this collider a sensor? pub fn is_sensor(&self) -> bool { - self.is_sensor + self.flags.is_sensor() } #[doc(hidden)] - pub fn set_position_debug(&mut self, position: Isometry<f32>) { + pub fn set_position_debug(&mut self, position: Isometry<Real>) { self.position = position; } /// The position of this collider expressed in the local-space of the rigid-body it is attached to. #[deprecated(note = "use `.position_wrt_parent()` instead.")] - pub fn delta(&self) -> &Isometry<f32> { + pub fn delta(&self) -> &Isometry<Real> { &self.delta } /// The world-space position of this collider. - pub fn position(&self) -> &Isometry<f32> { + pub fn position(&self) -> &Isometry<Real> { &self.position } /// The position of this collider wrt the body it is attached to. - pub fn position_wrt_parent(&self) -> &Isometry<f32> { + pub fn position_wrt_parent(&self) -> &Isometry<Real> { &self.delta } @@ -260,7 +113,7 @@ impl Collider { } /// The density of this collider. - pub fn density(&self) -> f32 { + pub fn density(&self) -> Real { self.density } @@ -270,11 +123,11 @@ impl Collider { } /// Compute the axis-aligned bounding box of this collider. - pub fn compute_aabb(&self) -> AABB<f32> { + pub fn compute_aabb(&self) -> AABB { self.shape.compute_aabb(&self.position) } - // pub(crate) fn compute_aabb_with_prediction(&self) -> AABB<f32> { + // 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) @@ -291,15 +144,19 @@ impl Collider { #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))] pub struct ColliderBuilder { /// The shape of the collider to be built. - pub shape: ColliderShape, + pub shape: SharedShape, /// The density of the collider to be built. - density: Option<f32>, + density: Option<Real>, /// The friction coefficient of the collider to be built. - pub friction: f32, + pub friction: Real, + /// The rule used to combine two friction coefficients. + pub friction_combine_rule: CoefficientCombineRule, /// The restitution coefficient of the collider to be built. - pub restitution: f32, + pub restitution: Real, + /// The rule used to combine two restitution coefficients. + pub restitution_combine_rule: CoefficientCombineRule, /// The position of this collider relative to the local frame of the rigid-body it is attached to. - pub delta: Isometry<f32>, + pub delta: Isometry<Real>, /// Is this collider a sensor? pub is_sensor: bool, /// The user-data of the collider being built. @@ -312,7 +169,7 @@ pub struct ColliderBuilder { impl ColliderBuilder { /// Initialize a new collider builder with the given shape. - pub fn new(shape: ColliderShape) -> Self { + pub fn new(shape: SharedShape) -> Self { Self { shape, density: None, @@ -323,33 +180,40 @@ impl ColliderBuilder { user_data: 0, collision_groups: InteractionGroups::all(), solver_groups: InteractionGroups::all(), + friction_combine_rule: CoefficientCombineRule::Average, + restitution_combine_rule: CoefficientCombineRule::Average, } } /// The density of the collider being built. - pub fn get_density(&self) -> f32 { + pub fn get_density(&self) -> Real { let default_density = if self.is_sensor { 0.0 } else { 1.0 }; self.density.unwrap_or(default_density) } + /// Initialize a new collider builder with a compound shape. + pub fn compound(shapes: Vec<(Isometry<Real>, SharedShape)>) -> Self { + Self::new(SharedShape::compound(shapes)) + } + /// Initialize a new collider builder with a ball shape defined by its radius. - pub fn ball(radius: f32) -> Self { - Self::new(ColliderShape::ball(radius)) + pub fn ball(radius: Real) -> Self { + Self::new(SharedShape::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(ColliderShape::cylinder(half_height, radius)) + pub fn cylinder(half_height: Real, radius: Real) -> Self { + Self::new(SharedShape::cylinder(half_height, radius)) } /// Initialize a new collider builder with a rounded cylindrical shape defined by its half-height /// (along along the y axis), its radius, and its roundedness (the /// radius of the sphere used for dilating the cylinder). #[cfg(feature = "dim3")] - pub fn round_cylinder(half_height: f32, radius: f32, border_radius: f32) -> Self { - Self::new(ColliderShape::round_cylinder( + pub fn round_cylinder(half_height: Real, radius: Real, border_radius: Real) -> Self { + Self::new(SharedShape::round_cylinder( half_height, radius, border_radius, @@ -359,72 +223,206 @@ impl ColliderBuilder { /// Initialize a new collider builder with a cone shape defined by its half-height /// (along along the y axis) and its basis radius. #[cfg(feature = "dim3")] - pub fn cone(half_height: f32, radius: f32) -> Self { - Self::new(ColliderShape::cone(half_height, radius)) + pub fn cone(half_height: Real, radius: Real) -> Self { + Self::new(SharedShape::cone(half_height, radius)) + } + + /// Initialize a new collider builder with a rounded cone shape defined by its half-height + /// (along along the y axis), its radius, and its roundedness (the + /// radius of the sphere used for dilating the cylinder). + #[cfg(feature = "dim3")] + pub fn round_cone(half_height: Real, radius: Real, border_radius: Real) -> Self { + Self::new(SharedShape::round_cone(half_height, radius, border_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 { - Self::new(ColliderShape::cuboid(Vector::new(hx, hy))) + pub fn cuboid(hx: Real, hy: Real) -> Self { + Self::new(SharedShape::cuboid(hx, hy)) + } + + /// Initialize a new collider builder with a round cuboid shape defined by its half-extents + /// and border radius. + #[cfg(feature = "dim2")] + pub fn round_cuboid(hx: Real, hy: Real, border_radius: Real) -> Self { + Self::new(SharedShape::round_cuboid(hx, hy, border_radius)) } /// Initialize a new collider builder with a capsule shape aligned with the `x` axis. - pub fn capsule_x(half_height: f32, radius: f32) -> Self { + pub fn capsule_x(half_height: Real, radius: Real) -> Self { let p = Point::from(Vector::x() * half_height); - Self::new(ColliderShape::capsule(-p, p, radius)) + Self::new(SharedShape::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 { + pub fn capsule_y(half_height: Real, radius: Real) -> Self { let p = Point::from(Vector::y() * half_height); - Self::new(ColliderShape::capsule(-p, p, radius)) + Self::new(SharedShape::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 { + pub fn capsule_z(half_height: Real, radius: Real) -> Self { let p = Point::from(Vector::z() * half_height); - Self::new(ColliderShape::capsule(-p, p, radius)) + Self::new(SharedShape::capsule(-p, p, radius)) } /// 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 { - Self::new(ColliderShape::cuboid(Vector::new(hx, hy, hz))) + pub fn cuboid(hx: Real, hy: Real, hz: Real) -> Self { + Self::new(SharedShape::cuboid(hx, hy, hz)) + } + + /// Initialize a new collider builder with a round cuboid shape defined by its half-extents + /// and border radius. + #[cfg(feature = "dim3")] + pub fn round_cuboid(hx: Real, hy: Real, hz: Real, border_radius: Real) -> Self { + Self::new(SharedShape::round_cuboid(hx, hy, hz, border_radius)) } /// Initializes a collider builder with a segment shape. - pub fn segment(a: Point<f32>, b: Point<f32>) -> Self { - Self::new(ColliderShape::segment(a, b)) + pub fn segment(a: Point<Real>, b: Point<Real>) -> Self { + Self::new(SharedShape::segment(a, b)) } /// Initializes a collider builder with a triangle shape. - pub fn triangle(a: Point<f32>, b: Point<f32>, c: Point<f32>) -> Self { - Self::new(ColliderShape::triangle(a, b, c)) + pub fn triangle(a: Point<Real>, b: Point<Real>, c: Point<Real>) -> 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 { + 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 { + 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<f32>>, indices: Vec<Point3<u32>>) -> Self { - Self::new(ColliderShape::trimesh(vertices, indices)) + pub fn trimesh(vertices: Vec<Point<Real>>, indices: Vec<[u32; 3]>) -> Self { + Self::new(SharedShape::trimesh(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. + pub fn convex_decomposition(vertices: &[Point<Real>], 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>], + indices: &[[u32; DIM]], + border_radius: Real, + ) -> Self { + Self::new(SharedShape::round_convex_decomposition( + vertices, + indices, + border_radius, + )) + } + + /// 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>], + indices: &[[u32; DIM]], + params: &VHACDParameters, + ) -> Self { + Self::new(SharedShape::convex_decomposition_with_params( + vertices, indices, params, + )) + } + + /// 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>], + indices: &[[u32; DIM]], + params: &VHACDParameters, + border_radius: Real, + ) -> Self { + Self::new(SharedShape::round_convex_decomposition_with_params( + vertices, + indices, + params, + border_radius, + )) + } + + /// 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> { + SharedShape::convex_hull(points).map(|cp| Self::new(cp)) + } + + /// 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> { + SharedShape::round_convex_hull(points, border_radius).map(|cp| Self::new(cp)) + } + + /// Creates a new collider builder that is a convex polygon formed by the + /// 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> { + SharedShape::convex_polyline(points).map(|cp| Self::new(cp)) + } + + /// Creates a new collider builder that is a round convex polygon formed by the + /// 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> { + SharedShape::round_convex_polyline(points, border_radius).map(|cp| Self::new(cp)) + } + + /// Creates a new collider builder that is a convex polyhedron formed by the + /// 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> { + SharedShape::convex_mesh(points, indices).map(|cp| Self::new(cp)) + } + + /// Creates a new collider builder that is a round convex polyhedron formed by the + /// given triangle-mesh assumed to be convex (no convex-hull will be automatically + /// 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>>, + indices: &[[u32; 3]], + border_radius: Real, + ) -> Option<Self> { + SharedShape::round_convex_mesh(points, indices, border_radius).map(|cp| Self::new(cp)) } /// 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 { - Self::new(ColliderShape::heightfield(heights, scale)) + pub fn heightfield(heights: na::DVector<Real>, scale: Vector<Real>) -> 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<f32>, scale: Vector<f32>) -> Self { - Self::new(ColliderShape::heightfield(heights, scale)) + pub fn heightfield(heights: na::DMatrix<Real>, scale: Vector<Real>) -> Self { + Self::new(SharedShape::heightfield(heights, scale)) } /// The default friction coefficient used by the collider builder. - pub fn default_friction() -> f32 { + pub fn default_friction() -> Real { 0.5 } @@ -459,19 +457,31 @@ impl ColliderBuilder { } /// Sets the friction coefficient of the collider this builder will build. - pub fn friction(mut self, friction: f32) -> Self { + pub fn friction(mut self, friction: Real) -> Self { self.friction = friction; self } + /// Sets the rule to be used to combine two friction coefficients in a contact. + pub fn friction_combine_rule(mut self, rule: CoefficientCombineRule) -> Self { + self.friction_combine_rule = rule; + self + } + /// Sets the restitution coefficient of the collider this builder will build. - pub fn restitution(mut self, restitution: f32) -> Self { + pub fn restitution(mut self, restitution: Real) -> Self { self.restitution = restitution; self } + /// Sets the rule to be used to combine two restitution coefficients in a contact. + pub fn restitution_combine_rule(mut self, rule: CoefficientCombineRule) -> Self { + self.restitution_combine_rule = rule; + self + } + /// Sets the density of the collider this builder will build. - pub fn density(mut self, density: f32) -> Self { + pub fn density(mut self, density: Real) -> Self { self.density = Some(density); self } @@ -479,7 +489,7 @@ impl ColliderBuilder { /// Sets the initial translation of the collider to be created, /// relative to the rigid-body it is attached to. #[cfg(feature = "dim2")] - pub fn translation(mut self, x: f32, y: f32) -> Self { + pub fn translation(mut self, x: Real, y: Real) -> Self { self.delta.translation.x = x; self.delta.translation.y = y; self @@ -488,7 +498,7 @@ impl ColliderBuilder { /// Sets the initial translation of the collider to be created, /// relative to the rigid-body it is attached to. #[cfg(feature = "dim3")] - pub fn translation(mut self, x: f32, y: f32, z: f32) -> Self { + pub fn translation(mut self, x: Real, y: Real, z: Real) -> Self { self.delta.translation.x = x; self.delta.translation.y = y; self.delta.translation.z = z; @@ -497,21 +507,21 @@ impl ColliderBuilder { /// Sets the initial orientation of the collider to be created, /// relative to the rigid-body it is attached to. - pub fn rotation(mut self, angle: AngVector<f32>) -> Self { + pub fn rotation(mut self, angle: AngVector<Real>) -> Self { self.delta.rotation = Rotation::new(angle); self } /// Sets the initial position (translation and orientation) of the collider to be created, /// relative to the rigid-body it is attached to. - pub fn position(mut self, pos: Isometry<f32>) -> Self { + pub fn position(mut self, pos: Isometry<Real>) -> Self { self.delta = 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<f32>) -> Self { + pub fn delta(mut self, delta: Isometry<Real>) -> Self { self.delta = delta; self } @@ -519,6 +529,11 @@ impl ColliderBuilder { /// Builds a new collider attached to the given rigid-body. pub fn build(&self) -> Collider { let density = self.get_density(); + let mut flags = ColliderFlags::empty(); + flags.set(ColliderFlags::SENSOR, self.is_sensor); + flags = flags + .with_friction_combine_rule(self.friction_combine_rule) + .with_restitution_combine_rule(self.restitution_combine_rule); Collider { shape: self.shape.clone(), @@ -526,8 +541,8 @@ impl ColliderBuilder { friction: self.friction, restitution: self.restitution, delta: self.delta, - is_sensor: self.is_sensor, - parent: RigidBodySet::invalid_handle(), + flags, + parent: RigidBodyHandle::invalid(), position: Isometry::identity(), predicted_position: Isometry::identity(), proxy_index: crate::INVALID_USIZE, |