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-rw-r--r--src/geometry/shape.rs392
1 files changed, 0 insertions, 392 deletions
diff --git a/src/geometry/shape.rs b/src/geometry/shape.rs
deleted file mode 100644
index 66840a0..0000000
--- a/src/geometry/shape.rs
+++ /dev/null
@@ -1,392 +0,0 @@
-use crate::dynamics::MassProperties;
-use crate::geometry::{Ball, Capsule, Cuboid, HeightField, Segment, Triangle, Trimesh};
-use crate::math::Isometry;
-use downcast_rs::{impl_downcast, DowncastSync};
-#[cfg(feature = "serde-serialize")]
-use erased_serde::Serialize;
-use ncollide::bounding_volume::{HasBoundingVolume, AABB};
-use ncollide::query::{PointQuery, RayCast};
-use num::Zero;
-use num_derive::FromPrimitive;
-#[cfg(feature = "dim3")]
-use {
- crate::geometry::{Cone, Cylinder, PolygonalFeatureMap, RoundCylinder},
- ncollide::bounding_volume::BoundingVolume,
-};
-
-#[derive(Copy, Clone, Debug, FromPrimitive)]
-/// Enum representing the type of a shape.
-pub enum ShapeType {
- /// A ball shape.
- Ball = 0,
- /// A convex polygon shape.
- Polygon,
- /// A cuboid shape.
- Cuboid,
- /// A capsule shape.
- Capsule,
- /// A segment shape.
- Segment,
- /// A triangle shape.
- Triangle,
- /// A triangle mesh shape.
- Trimesh,
- /// A heightfield shape.
- HeightField,
- #[cfg(feature = "dim3")]
- /// A cylindrical shape.
- Cylinder,
- #[cfg(feature = "dim3")]
- /// A cylindrical shape.
- Cone,
- // /// A custom shape type.
- // Custom(u8),
- // /// A cuboid with rounded corners.
- // RoundedCuboid,
- // /// A triangle with rounded corners.
- // RoundedTriangle,
- // /// A triangle-mesh with rounded corners.
- // RoundedTrimesh,
- // /// An heightfield with rounded corners.
- // RoundedHeightField,
- /// A cylinder with rounded corners.
- #[cfg(feature = "dim3")]
- RoundCylinder,
- // /// A cone with rounded corners.
- // RoundedCone,
-}
-
-/// Trait implemented by shapes usable by Rapier.
-pub trait Shape: RayCast<f32> + PointQuery<f32> + DowncastSync {
- /// Convert this shape as a serializable entity.
- #[cfg(feature = "serde-serialize")]
- fn as_serialize(&self) -> Option<&dyn Serialize> {
- None
- }
-
- // TODO: add a compute_local_aabb method?
-
- /// Computes the AABB of this shape.
- fn compute_aabb(&self, position: &Isometry<f32>) -> AABB<f32>;
-
- /// Compute the mass-properties of this shape given its uniform density.
- fn mass_properties(&self, density: f32) -> MassProperties;
-
- /// Gets the type tag of this shape.
- fn shape_type(&self) -> ShapeType;
-
- /// Converts this shape to a polygonal feature-map, if it is one.
- #[cfg(feature = "dim3")]
- fn as_polygonal_feature_map(&self) -> Option<(&dyn PolygonalFeatureMap, f32)> {
- None
- }
-
- // fn as_rounded(&self) -> Option<&Rounded<Box<AnyShape>>> {
- // None
- // }
-}
-
-impl_downcast!(sync Shape);
-
-impl dyn Shape {
- /// Converts this abstract shape to a ball, if it is one.
- pub fn as_ball(&self) -> Option<&Ball> {
- self.downcast_ref()
- }
-
- /// Converts this abstract shape to a cuboid, if it is one.
- pub fn as_cuboid(&self) -> Option<&Cuboid> {
- self.downcast_ref()
- }
-
- /// Converts this abstract shape to a capsule, if it is one.
- pub fn as_capsule(&self) -> Option<&Capsule> {
- self.downcast_ref()
- }
-
- /// Converts this abstract shape to a triangle, if it is one.
- pub fn as_triangle(&self) -> Option<&Triangle> {
- self.downcast_ref()
- }
-
- /// Converts this abstract shape to a triangle mesh, if it is one.
- pub fn as_trimesh(&self) -> Option<&Trimesh> {
- self.downcast_ref()
- }
-
- /// Converts this abstract shape to a heightfield, if it is one.
- pub fn as_heightfield(&self) -> Option<&HeightField> {
- self.downcast_ref()
- }
-
- /// Converts this abstract shape to a cylinder, if it is one.
- #[cfg(feature = "dim3")]
- pub fn as_cylinder(&self) -> Option<&Cylinder> {
- self.downcast_ref()
- }
-
- /// Converts this abstract shape to a cone, if it is one.
- #[cfg(feature = "dim3")]
- pub fn as_cone(&self) -> Option<&Cone> {
- self.downcast_ref()
- }
-
- /// Converts this abstract shape to a cone, if it is one.
- #[cfg(feature = "dim3")]
- pub fn as_round_cylinder(&self) -> Option<&RoundCylinder> {
- self.downcast_ref()
- }
-}
-
-impl Shape for Ball {
- #[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::from_ball(density, self.radius)
- }
-
- fn shape_type(&self) -> ShapeType {
- ShapeType::Ball
- }
-}
-
-// impl Shape for Polygon {
-// #[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.aabb(position)
-// }
-//
-// fn mass_properties(&self, _density: f32) -> MassProperties {
-// unimplemented!()
-// }
-//
-// fn shape_type(&self) -> ShapeType {
-// ShapeType::Polygon
-// }
-// }
-
-impl Shape for Cuboid {
- #[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::from_cuboid(density, self.half_extents)
- }
-
- fn shape_type(&self) -> ShapeType {
- ShapeType::Cuboid
- }
-
- #[cfg(feature = "dim3")]
- fn as_polygonal_feature_map(&self) -> Option<(&dyn PolygonalFeatureMap, f32)> {
- Some((self as &dyn PolygonalFeatureMap, 0.0))
- }
-}
-
-impl Shape for Capsule {
- #[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.aabb(position)
- }
-
- fn mass_properties(&self, density: f32) -> MassProperties {
- MassProperties::from_capsule(density, self.segment.a, self.segment.b, self.radius)
- }
-
- fn shape_type(&self) -> ShapeType {
- ShapeType::Capsule
- }
-
- #[cfg(feature = "dim3")]
- fn as_polygonal_feature_map(&self) -> Option<(&dyn PolygonalFeatureMap, f32)> {
- Some((&self.segment as &dyn PolygonalFeatureMap, self.radius))
- }
-}
-
-impl Shape for Triangle {
- #[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::Triangle
- }
-
- #[cfg(feature = "dim3")]
- fn as_polygonal_feature_map(&self) -> Option<(&dyn PolygonalFeatureMap, f32)> {
- Some((self as &dyn PolygonalFeatureMap, 0.0))
- }
-}
-
-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> {
- Some(self as &dyn Serialize)
- }
-
- fn compute_aabb(&self, position: &Isometry<f32>) -> AABB<f32> {
- self.aabb(position)
- }
-
- fn mass_properties(&self, _density: f32) -> MassProperties {
- MassProperties::zero()
- }
-
- fn shape_type(&self) -> ShapeType {
- ShapeType::Trimesh
- }
-}
-
-impl Shape for HeightField {
- #[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::HeightField
- }
-}
-
-#[cfg(feature = "dim3")]
-impl Shape for Cylinder {
- #[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::from_cylinder(density, self.half_height, self.radius)
- }
-
- fn shape_type(&self) -> ShapeType {
- ShapeType::Cylinder
- }
-
- #[cfg(feature = "dim3")]
- fn as_polygonal_feature_map(&self) -> Option<(&dyn PolygonalFeatureMap, f32)> {
- Some((self as &dyn PolygonalFeatureMap, 0.0))
- }
-}
-
-#[cfg(feature = "dim3")]
-impl Shape for Cone {
- #[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::from_cone(density, self.half_height, self.radius)
- }
-
- fn shape_type(&self) -> ShapeType {
- ShapeType::Cone
- }
-
- #[cfg(feature = "dim3")]
- fn as_polygonal_feature_map(&self) -> Option<(&dyn PolygonalFeatureMap, f32)> {
- Some((self as &dyn PolygonalFeatureMap, 0.0))
- }
-}
-
-#[cfg(feature = "dim3")]
-impl Shape for RoundCylinder {
- #[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.cylinder
- .compute_aabb(position)
- .loosened(self.border_radius)
- }
-
- fn mass_properties(&self, density: f32) -> MassProperties {
- // We ignore the margin here.
- self.cylinder.mass_properties(density)
- }
-
- fn shape_type(&self) -> ShapeType {
- ShapeType::RoundCylinder
- }
-
- #[cfg(feature = "dim3")]
- fn as_polygonal_feature_map(&self) -> Option<(&dyn PolygonalFeatureMap, f32)> {
- Some((
- &self.cylinder as &dyn PolygonalFeatureMap,
- self.border_radius,
- ))
- }
-}
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