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-rw-r--r--src/geometry/broad_phase_multi_sap/broad_phase.rs6
-rw-r--r--src/geometry/broad_phase_multi_sap/broad_phase_pair_event.rs8
-rw-r--r--src/geometry/broad_phase_multi_sap/sap_axis.rs2
-rw-r--r--src/geometry/broad_phase_multi_sap/sap_endpoint.rs2
-rw-r--r--src/geometry/broad_phase_multi_sap/sap_layer.rs36
-rw-r--r--src/geometry/broad_phase_multi_sap/sap_utils.rs18
-rw-r--r--src/geometry/broad_phase_qbvh.rs2
-rw-r--r--src/geometry/collider.rs171
-rw-r--r--src/geometry/collider_components.rs160
-rw-r--r--src/geometry/collider_set.rs95
-rw-r--r--src/geometry/contact_pair.rs27
-rw-r--r--src/geometry/interaction_groups.rs10
-rw-r--r--src/geometry/mod.rs24
-rw-r--r--src/geometry/narrow_phase.rs61
14 files changed, 372 insertions, 250 deletions
diff --git a/src/geometry/broad_phase_multi_sap/broad_phase.rs b/src/geometry/broad_phase_multi_sap/broad_phase.rs
index 9e1bc06..07a5854 100644
--- a/src/geometry/broad_phase_multi_sap/broad_phase.rs
+++ b/src/geometry/broad_phase_multi_sap/broad_phase.rs
@@ -6,7 +6,7 @@ use crate::geometry::{
ColliderBroadPhaseData, ColliderChanges, ColliderHandle, ColliderPosition, ColliderSet,
ColliderShape,
};
-use crate::math::Real;
+use crate::math::*;
use crate::utils::IndexMut2;
use parry::bounding_volume::BoundingVolume;
use parry::utils::hashmap::HashMap;
@@ -361,8 +361,8 @@ impl BroadPhase {
.compute_aabb(co_pos)
.loosened(prediction_distance / 2.0);
- if aabb.mins.coords.iter().any(|e| !e.is_finite())
- || aabb.maxs.coords.iter().any(|e| !e.is_finite())
+ if aabb.mins.as_vector().iter().any(|e| !e.is_finite())
+ || aabb.maxs.as_vector().iter().any(|e| !e.is_finite())
{
// Reject Aabbs with non-finite values.
return false;
diff --git a/src/geometry/broad_phase_multi_sap/broad_phase_pair_event.rs b/src/geometry/broad_phase_multi_sap/broad_phase_pair_event.rs
index 7b489f5..5732fad 100644
--- a/src/geometry/broad_phase_multi_sap/broad_phase_pair_event.rs
+++ b/src/geometry/broad_phase_multi_sap/broad_phase_pair_event.rs
@@ -25,17 +25,17 @@ impl ColliderPair {
}
/// Constructs a pair of artificial handles that are not guaranteed to be valid..
- pub fn zero() -> Self {
+ pub fn invalid() -> Self {
Self {
- collider1: ColliderHandle::from_raw_parts(0, 0),
- collider2: ColliderHandle::from_raw_parts(0, 0),
+ collider1: ColliderHandle::PLACEHOLDER,
+ collider2: ColliderHandle::PLACEHOLDER,
}
}
}
impl Default for ColliderPair {
fn default() -> Self {
- ColliderPair::zero()
+ ColliderPair::invalid()
}
}
diff --git a/src/geometry/broad_phase_multi_sap/sap_axis.rs b/src/geometry/broad_phase_multi_sap/sap_axis.rs
index 2452148..28c0822 100644
--- a/src/geometry/broad_phase_multi_sap/sap_axis.rs
+++ b/src/geometry/broad_phase_multi_sap/sap_axis.rs
@@ -1,7 +1,7 @@
use super::{SAPEndpoint, SAPProxies, NUM_SENTINELS};
use crate::geometry::broad_phase_multi_sap::DELETED_AABB_VALUE;
use crate::geometry::SAPProxyIndex;
-use crate::math::Real;
+use crate::math::*;
use bit_vec::BitVec;
use parry::bounding_volume::BoundingVolume;
use parry::utils::hashmap::HashMap;
diff --git a/src/geometry/broad_phase_multi_sap/sap_endpoint.rs b/src/geometry/broad_phase_multi_sap/sap_endpoint.rs
index a57b8e9..482c046 100644
--- a/src/geometry/broad_phase_multi_sap/sap_endpoint.rs
+++ b/src/geometry/broad_phase_multi_sap/sap_endpoint.rs
@@ -1,5 +1,5 @@
use super::SENTINEL_VALUE;
-use crate::math::Real;
+use crate::math::*;
#[derive(Copy, Clone, Debug, PartialEq)]
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
diff --git a/src/geometry/broad_phase_multi_sap/sap_layer.rs b/src/geometry/broad_phase_multi_sap/sap_layer.rs
index 2266d56..a315cc7 100644
--- a/src/geometry/broad_phase_multi_sap/sap_layer.rs
+++ b/src/geometry/broad_phase_multi_sap/sap_layer.rs
@@ -1,7 +1,7 @@
use super::{SAPProxies, SAPProxy, SAPRegion, SAPRegionPool};
use crate::geometry::broad_phase_multi_sap::DELETED_AABB_VALUE;
use crate::geometry::{Aabb, SAPProxyIndex};
-use crate::math::{Point, Real};
+use crate::math::*;
use parry::bounding_volume::BoundingVolume;
use parry::utils::hashmap::{Entry, HashMap};
@@ -13,9 +13,9 @@ pub(crate) struct SAPLayer {
pub smaller_layer: Option<u8>,
pub larger_layer: Option<u8>,
region_width: Real,
- pub regions: HashMap<Point<i32>, SAPProxyIndex>,
+ pub regions: HashMap<[i32; DIM], SAPProxyIndex>,
#[cfg_attr(feature = "serde-serialize", serde(skip))]
- regions_to_potentially_remove: Vec<Point<i32>>, // Workspace
+ regions_to_potentially_remove: Vec<[i32; DIM]>, // Workspace
#[cfg_attr(feature = "serde-serialize", serde(skip))]
pub created_regions: Vec<SAPProxyIndex>,
}
@@ -188,7 +188,7 @@ impl SAPLayer {
/// of the new region if it did not exist and has been created by this method.
pub fn ensure_region_exists(
&mut self,
- region_key: Point<i32>,
+ region_key: [i32; DIM],
proxies: &mut SAPProxies,
pool: &mut SAPRegionPool,
) -> SAPProxyIndex {
@@ -227,15 +227,15 @@ impl SAPLayer {
#[cfg(feature = "dim2")]
let k_range = 0..1;
#[cfg(feature = "dim3")]
- let k_range = start.z..=end.z;
+ let k_range = start[2]..=end[2];
- for i in start.x..=end.x {
- for j in start.y..=end.y {
+ for i in start[0]..=end[0] {
+ for j in start[1]..=end[1] {
for _k in k_range.clone() {
#[cfg(feature = "dim2")]
- let region_key = Point::new(i, j);
+ let region_key = [i, j];
#[cfg(feature = "dim3")]
- let region_key = Point::new(i, j, _k);
+ let region_key = [i, j, _k];
let region_id = self.ensure_region_exists(region_key, proxies, pool);
let region_proxy = &mut proxies[region_id];
let region = region_proxy.data.as_region_mut();
@@ -273,21 +273,21 @@ impl SAPLayer {
let end = super::point_key(proxy_aabb.maxs, self.region_width);
// Set the Aabb of the proxy to a very large value.
- proxy_aabb.mins.coords.fill(DELETED_AABB_VALUE);
- proxy_aabb.maxs.coords.fill(DELETED_AABB_VALUE);
+ proxy_aabb.mins.as_vector_mut().fill(DELETED_AABB_VALUE);
+ proxy_aabb.maxs.as_vector_mut().fill(DELETED_AABB_VALUE);
#[cfg(feature = "dim2")]
let k_range = 0..1;
#[cfg(feature = "dim3")]
- let k_range = start.z..=end.z;
+ let k_range = start[2]..=end[2];
- for i in start.x..=end.x {
- for j in start.y..=end.y {
+ for i in start[0]..=end[0] {
+ for j in start[1]..=end[1] {
for _k in k_range.clone() {
#[cfg(feature = "dim2")]
- let key = Point::new(i, j);
+ let key = [i, j];
#[cfg(feature = "dim3")]
- let key = Point::new(i, j, _k);
+ let key = [i, j, _k];
if let Some(region_id) = self.regions.get(&key) {
let region = proxies[*region_id].data.as_region_mut();
region.predelete_proxy(proxy_index);
@@ -362,8 +362,8 @@ impl SAPLayer {
// Move the proxy to infinity.
let proxy = &mut proxies[region_id];
- proxy.aabb.mins.coords.fill(DELETED_AABB_VALUE);
- proxy.aabb.maxs.coords.fill(DELETED_AABB_VALUE);
+ proxy.aabb.mins.as_vector_mut().fill(DELETED_AABB_VALUE);
+ proxy.aabb.maxs.as_vector_mut().fill(DELETED_AABB_VALUE);
// Mark the proxy as deleted.
proxies.remove(region_id);
diff --git a/src/geometry/broad_phase_multi_sap/sap_utils.rs b/src/geometry/broad_phase_multi_sap/sap_utils.rs
index 56183eb..ec1f442 100644
--- a/src/geometry/broad_phase_multi_sap/sap_utils.rs
+++ b/src/geometry/broad_phase_multi_sap/sap_utils.rs
@@ -1,4 +1,4 @@
-use crate::math::{Point, Real, Vector};
+use crate::math::*;
use parry::bounding_volume::Aabb;
pub(crate) const NUM_SENTINELS: usize = 1;
@@ -19,19 +19,17 @@ pub(crate) fn sort2(a: u32, b: u32) -> (u32, u32) {
}
}
-pub(crate) fn clamp_point(point: Point<Real>) -> Point<Real> {
+pub(crate) fn clamp_point(point: Point) -> Point {
point.map(|e| na::clamp(e, -MAX_AABB_EXTENT, MAX_AABB_EXTENT))
}
-pub(crate) fn point_key(point: Point<Real>, region_width: Real) -> Point<i32> {
- (point / region_width)
- .coords
- .map(|e| e.floor() as i32)
- .into()
+pub(crate) fn point_key(point: Point, region_width: Real) -> [i32; DIM] {
+ let array: [Real; DIM] = (point / region_width).into_vector().into();
+ array.map(|e| e.floor() as i32)
}
-pub(crate) fn region_aabb(index: Point<i32>, region_width: Real) -> Aabb {
- let mins = index.coords.map(|i| i as Real * region_width).into();
+pub(crate) fn region_aabb(index: [i32; DIM], region_width: Real) -> Aabb {
+ let mins = index.map(|i| i as Real * region_width).into();
let maxs = mins + Vector::repeat(region_width);
Aabb::new(mins, maxs)
}
@@ -43,7 +41,7 @@ pub(crate) fn region_width(depth: i8) -> Real {
/// Computes the depth of the layer the given Aabb should be part of.
///
/// The idea here is that an Aabb should be part of a layer which has
-/// regions large enough so that one Aabb doesn't crosses too many
+/// regions large enough so that one Aabb doesn't cross too many
/// regions. But the regions must also not be too large, otherwise
/// we are loosing the benefits of Multi-SAP.
///
diff --git a/src/geometry/broad_phase_qbvh.rs b/src/geometry/broad_phase_qbvh.rs
index 22ca562..287a7d8 100644
--- a/src/geometry/broad_phase_qbvh.rs
+++ b/src/geometry/broad_phase_qbvh.rs
@@ -56,7 +56,7 @@ impl BroadPhase {
if full_rebuild {
self.qbvh.clear_and_rebuild(
- colliders.iter().map(|(handle, collider)| {
+ colliders.iter_internal().map(|(handle, collider)| {
(
handle,
collider.compute_aabb().loosened(prediction_distance / 2.0),
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,
diff --git a/src/geometry/collider_components.rs b/src/geometry/collider_components.rs
index b71a7ed..f0e413f 100644
--- a/