diff options
Diffstat (limited to 'src/geometry')
| -rw-r--r-- | src/geometry/collider.rs | 106 |
1 files changed, 99 insertions, 7 deletions
diff --git a/src/geometry/collider.rs b/src/geometry/collider.rs index 46153ac..71f0676 100644 --- a/src/geometry/collider.rs +++ b/src/geometry/collider.rs @@ -1,13 +1,15 @@ -use crate::cdl::shape::HalfSpace; use crate::dynamics::{MassProperties, RigidBodyHandle, RigidBodySet}; use crate::geometry::InteractionGroups; use crate::math::{AngVector, Isometry, Point, Rotation, Vector}; use cdl::bounding_volume::AABB; use cdl::shape::{ - Ball, Capsule, Cuboid, HeightField, Segment, Shape, ShapeType, TriMesh, Triangle, + Ball, Capsule, Cuboid, HalfSpace, HeightField, RoundCuboid, RoundTriangle, Segment, Shape, + ShapeType, ShapeWithBorder, TriMesh, Triangle, }; #[cfg(feature = "dim3")] -use cdl::shape::{Cone, Cylinder, RoundCylinder}; +use cdl::shape::{ + Cone, ConvexPolyhedron, Cylinder, RoundCone, RoundConvexPolyhedron, RoundCylinder, +}; use na::Point3; use std::ops::Deref; use std::sync::Arc; @@ -42,11 +44,21 @@ impl ColliderShape { /// 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, + ColliderShape(Arc::new(ShapeWithBorder { + base_shape: Cylinder::new(half_height, radius), + border_radius, + })) + } + + /// Initialize 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: f32, radius: f32, border_radius: f32) -> Self { + ColliderShape(Arc::new(ShapeWithBorder { + base_shape: Cone::new(half_height, radius), border_radius, - ))) + })) } /// Initialize a cone shape defined by its half-height @@ -81,6 +93,40 @@ impl ColliderShape { ColliderShape(Arc::new(TriMesh::new(vertices, indices))) } + #[cfg(feature = "dim3")] + pub fn convex_hull(points: &[Point<f32>]) -> Option<Self> { + ConvexPolyhedron::from_convex_hull(points).map(|ch| ColliderShape(Arc::new(ch))) + } + + #[cfg(feature = "dim3")] + pub fn convex_mesh(points: Vec<Point<f32>>, indices: &[usize]) -> Option<Self> { + ConvexPolyhedron::from_convex_mesh(points, indices).map(|ch| ColliderShape(Arc::new(ch))) + } + + #[cfg(feature = "dim3")] + pub fn round_convex_hull(points: &[Point<f32>], border_radius: f32) -> Option<Self> { + ConvexPolyhedron::from_convex_hull(points).map(|ch| { + ColliderShape(Arc::new(ShapeWithBorder { + base_shape: ch, + border_radius, + })) + }) + } + + #[cfg(feature = "dim3")] + pub fn round_convex_mesh( + points: Vec<Point<f32>>, + indices: &[usize], + border_radius: f32, + ) -> Option<Self> { + ConvexPolyhedron::from_convex_mesh(points, indices).map(|ch| { + ColliderShape(Arc::new(ShapeWithBorder { + base_shape: ch, + border_radius, + })) + }) + } + /// Initializes an heightfield shape defined by its set of height and a scale /// factor along each coordinate axis. #[cfg(feature = "dim2")] @@ -169,12 +215,22 @@ impl<'de> serde::Deserialize<'de> for ColliderShape { Some(ShapeType::TriMesh) => deser::<A, TriMesh>(&mut seq)?, Some(ShapeType::HeightField) => deser::<A, HeightField>(&mut seq)?, Some(ShapeType::HalfSpace) => deser::<A, HalfSpace>(&mut seq)?, + Some(ShapeType::RoundCuboid) => deser::<A, RoundCuboid>(&mut seq)?, + Some(ShapeType::RoundTriangle) => deser::<A, RoundTriangle>(&mut seq)?, #[cfg(feature = "dim3")] Some(ShapeType::Cylinder) => deser::<A, Cylinder>(&mut seq)?, #[cfg(feature = "dim3")] + Some(ShapeType::ConvexPolyhedron) => deser::<A, ConvexPolyhedron>(&mut seq)?, + #[cfg(feature = "dim3")] Some(ShapeType::Cone) => deser::<A, Cone>(&mut seq)?, #[cfg(feature = "dim3")] Some(ShapeType::RoundCylinder) => deser::<A, RoundCylinder>(&mut seq)?, + #[cfg(feature = "dim3")] + Some(ShapeType::RoundCone) => deser::<A, RoundCone>(&mut seq)?, + #[cfg(feature = "dim3")] + Some(ShapeType::RoundConvexPolyhedron) => { + deser::<A, RoundConvexPolyhedron>(&mut seq)? + } None => { return Err(serde::de::Error::custom( "found invalid shape type to deserialize", @@ -365,6 +421,18 @@ impl ColliderBuilder { Self::new(ColliderShape::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: f32, radius: f32, border_radius: f32) -> Self { + Self::new(ColliderShape::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 { @@ -411,6 +479,30 @@ impl ColliderBuilder { Self::new(ColliderShape::trimesh(vertices, indices)) } + #[cfg(feature = "dim3")] + pub fn convex_hull(points: &[Point<f32>]) -> Option<Self> { + ColliderShape::convex_hull(points).map(|cp| Self::new(cp)) + } + + #[cfg(feature = "dim3")] + pub fn round_convex_hull(points: &[Point<f32>], border_radius: f32) -> Option<Self> { + ColliderShape::round_convex_hull(points, border_radius).map(|cp| Self::new(cp)) + } + + #[cfg(feature = "dim3")] + pub fn convex_mesh(points: Vec<Point<f32>>, indices: &[usize]) -> Option<Self> { + ColliderShape::convex_mesh(points, indices).map(|cp| Self::new(cp)) + } + + #[cfg(feature = "dim3")] + pub fn round_convex_mesh( + points: Vec<Point<f32>>, + indices: &[usize], + border_radius: f32, + ) -> Option<Self> { + ColliderShape::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")] |