diff options
Diffstat (limited to 'src')
| -rw-r--r-- | src/geometry/collider.rs | 70 | ||||
| -rw-r--r-- | src/geometry/collider_shape.rs | 381 | ||||
| -rw-r--r-- | src/geometry/mod.rs | 3 |
3 files changed, 34 insertions, 420 deletions
diff --git a/src/geometry/collider.rs b/src/geometry/collider.rs index 4ad3295..6403031 100644 --- a/src/geometry/collider.rs +++ b/src/geometry/collider.rs @@ -1,6 +1,6 @@ use crate::cdl::transformation::vhacd::VHACDParameters; use crate::dynamics::{CoefficientCombineRule, MassProperties, RigidBodyHandle}; -use crate::geometry::{ColliderShape, InteractionGroups}; +use crate::geometry::{InteractionGroups, SharedShape}; use crate::math::{AngVector, Isometry, Point, Real, Rotation, Vector, DIM}; use cdl::bounding_volume::AABB; use cdl::shape::Shape; @@ -47,7 +47,7 @@ impl ColliderFlags { /// /// To build a new collider, use the `ColliderBuilder` structure. pub struct Collider { - shape: ColliderShape, + shape: SharedShape, density: Real, pub(crate) flags: ColliderFlags, pub(crate) parent: RigidBodyHandle, @@ -144,7 +144,7 @@ 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<Real>, /// The friction coefficient of the collider to be built. @@ -169,7 +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, @@ -191,20 +191,20 @@ impl ColliderBuilder { self.density.unwrap_or(default_density) } - pub fn compound(shapes: Vec<(Isometry<Real>, ColliderShape)>) -> Self { - Self::new(ColliderShape::compound(shapes)) + 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: Real) -> Self { - Self::new(ColliderShape::ball(radius)) + 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: Real, radius: Real) -> Self { - Self::new(ColliderShape::cylinder(half_height, radius)) + Self::new(SharedShape::cylinder(half_height, radius)) } /// Initialize a new collider builder with a rounded cylindrical shape defined by its half-height @@ -212,7 +212,7 @@ impl ColliderBuilder { /// radius of the sphere used for dilating the cylinder). #[cfg(feature = "dim3")] pub fn round_cylinder(half_height: Real, radius: Real, border_radius: Real) -> Self { - Self::new(ColliderShape::round_cylinder( + Self::new(SharedShape::round_cylinder( half_height, radius, border_radius, @@ -223,7 +223,7 @@ impl ColliderBuilder { /// (along along the y axis) and its basis radius. #[cfg(feature = "dim3")] pub fn cone(half_height: Real, radius: Real) -> Self { - Self::new(ColliderShape::cone(half_height, radius)) + Self::new(SharedShape::cone(half_height, radius)) } /// Initialize a new collider builder with a rounded cone shape defined by its half-height @@ -231,77 +231,73 @@ impl ColliderBuilder { /// 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(ColliderShape::round_cone( - half_height, - radius, - border_radius, - )) + 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: Real, hy: Real) -> Self { - Self::new(ColliderShape::cuboid(hx, hy)) + 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(ColliderShape::round_cuboid(hx, hy, border_radius)) + 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: 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: 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: 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: Real, hy: Real, hz: Real) -> Self { - Self::new(ColliderShape::cuboid(hx, hy, hz)) + 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(ColliderShape::round_cuboid(hx, hy, hz, border_radius)) + Self::new(SharedShape::round_cuboid(hx, hy, hz, border_radius)) } /// Initializes a collider builder with a segment shape. pub fn segment(a: Point<Real>, b: Point<Real>) -> Self { - Self::new(ColliderShape::segment(a, b)) + 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 { - Self::new(ColliderShape::triangle(a, b, c)) + Self::new(SharedShape::triangle(a, b, c)) } /// 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 { - Self::new(ColliderShape::trimesh(vertices, indices)) + 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(ColliderShape::convex_decomposition(vertices, indices)) + Self::new(SharedShape::convex_decomposition(vertices, indices)) } /// Initializes a collider builder with a compound shape obtained from the decomposition of @@ -311,7 +307,7 @@ impl ColliderBuilder { indices: &[[u32; DIM]], border_radius: Real, ) -> Self { - Self::new(ColliderShape::round_convex_decomposition( + Self::new(SharedShape::round_convex_decomposition( vertices, indices, border_radius, @@ -325,7 +321,7 @@ impl ColliderBuilder { indices: &[[u32; DIM]], params: &VHACDParameters, ) -> Self { - Self::new(ColliderShape::convex_decomposition_with_params( + Self::new(SharedShape::convex_decomposition_with_params( vertices, indices, params, )) } @@ -338,7 +334,7 @@ impl ColliderBuilder { params: &VHACDParameters, border_radius: Real, ) -> Self { - Self::new(ColliderShape::round_convex_decomposition_with_params( + Self::new(SharedShape::round_convex_decomposition_with_params( vertices, indices, params, @@ -347,26 +343,26 @@ impl ColliderBuilder { } pub fn convex_hull(points: &[Point<Real>]) -> Option<Self> { - ColliderShape::convex_hull(points).map(|cp| Self::new(cp)) + SharedShape::convex_hull(points).map(|cp| Self::new(cp)) } pub fn round_convex_hull(points: &[Point<Real>], border_radius: Real) -> Option<Self> { - ColliderShape::round_convex_hull(points, border_radius).map(|cp| Self::new(cp)) + SharedShape::round_convex_hull(points, border_radius).map(|cp| Self::new(cp)) } #[cfg(feature = "dim2")] pub fn convex_polyline(points: Vec<Point<Real>>) -> Option<Self> { - ColliderShape::convex_polyline(points).map(|cp| Self::new(cp)) + SharedShape::convex_polyline(points).map(|cp| Self::new(cp)) } #[cfg(feature = "dim2")] pub fn round_convex_polyline(points: Vec<Point<Real>>, border_radius: Real) -> Option<Self> { - ColliderShape::round_convex_polyline(points, border_radius).map(|cp| Self::new(cp)) + SharedShape::round_convex_polyline(points, border_radius).map(|cp| Self::new(cp)) } #[cfg(feature = "dim3")] pub fn convex_mesh(points: Vec<Point<Real>>, indices: &[[u32; 3]]) -> Option<Self> { - ColliderShape::convex_mesh(points, indices).map(|cp| Self::new(cp)) + SharedShape::convex_mesh(points, indices).map(|cp| Self::new(cp)) } #[cfg(feature = "dim3")] @@ -375,21 +371,21 @@ impl ColliderBuilder { indices: &[[u32; 3]], border_radius: Real, ) -> Option<Self> { - ColliderShape::round_convex_mesh(points, indices, border_radius).map(|cp| Self::new(cp)) + 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<Real>, scale: Vector<Real>) -> Self { - Self::new(ColliderShape::heightfield(heights, scale)) + 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 { - Self::new(ColliderShape::heightfield(heights, scale)) + Self::new(SharedShape::heightfield(heights, scale)) } /// The default friction coefficient used by the collider builder. diff --git a/src/geometry/collider_shape.rs b/src/geometry/collider_shape.rs deleted file mode 100644 index ed91b82..0000000 --- a/src/geometry/collider_shape.rs +++ /dev/null @@ -1,381 +0,0 @@ -use crate::cdl::transformation::vhacd::{VHACDParameters, VHACD}; -use crate::math::{Isometry, Point, Real, Vector, DIM}; -use cdl::shape::{ - Ball, Capsule, Compound, Cuboid, HalfSpace, HeightField, RoundCuboid, RoundShape, - RoundTriangle, Segment, Shape, ShapeType, TriMesh, Triangle, -}; -#[cfg(feature = "dim3")] -use cdl::shape::{ - Cone, ConvexPolyhedron, Cylinder, RoundCone, RoundConvexPolyhedron, RoundCylinder, -}; -#[cfg(feature = "dim2")] -use cdl::shape::{ConvexPolygon, RoundConvexPolygon}; -use std::ops::Deref; -use std::sync::Arc; - -/// 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 - } -} - -impl ColliderShape { - /// Initialize a compound shape defined by its subshapes. - pub fn compound(shapes: Vec<(Isometry<Real>, ColliderShape)>) -> Self { - let raw_shapes = shapes.into_iter().map(|s| (s.0, s.1 .0)).collect(); - let compound = Compound::new(raw_shapes); - ColliderShape(Arc::new(compound)) - } - - /// Initialize a ball shape defined by its radius. - pub fn ball(radius: Real) -> 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: Real, radius: Real) -> 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: Real, radius: Real, border_radius: Real) -> Self { - ColliderShape(Arc::new(RoundShape { - 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: Real, radius: Real, border_radius: Real) -> Self { - ColliderShape(Arc::new(RoundShape { - base_shape: Cone::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: Real, radius: Real) -> Self { - ColliderShape(Arc::new(Cone::new(half_height, radius))) - } - - /// Initialize a cuboid shape defined by its half-extents. - #[cfg(feature = "dim2")] - pub fn cuboid(hx: Real, hy: Real) -> Self { - ColliderShape(Arc::new(Cuboid::new(Vector::new(hx, hy)))) - } - - /// Initialize 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 { - ColliderShape(Arc::new(RoundShape { - base_shape: Cuboid::new(Vector::new(hx, hy)), - border_radius, - })) - } - - /// Initialize a cuboid shape defined by its half-extents. - #[cfg(feature = "dim3")] - pub fn cuboid(hx: Real, hy: Real, hz: Real) -> Self { - ColliderShape(Arc::new(Cuboid::new(Vector::new(hx, hy, hz)))) - } - - /// Initialize 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 { - ColliderShape(Arc::new(RoundShape { - base_shape: Cuboid::new(Vector::new(hx, hy, hz)), - border_radius, - })) - } - - /// Initialize a capsule shape from its endpoints and radius. - pub fn capsule(a: Point<Real>, b: Point<Real>, radius: Real) -> Self { - ColliderShape(Arc::new(Capsule::new(a, b, radius))) - } - - /// Initialize a segment shape from its endpoints. - pub fn segment(a: Point<Real>, b: Point<Real>) -> Self { - ColliderShape(Arc::new(Segment::new(a, b))) - } - - /// Initializes a triangle shape. - pub fn triangle(a: Point<Real>, b: Point<Real>, c: Point<Real>) -> Self { - ColliderShape(Arc::new(Triangle::new(a, b, c))) - } - - /// Initializes a triangle mesh shape defined by its vertex and index buffers. - pub fn trimesh(vertices: Vec<Point<Real>>, indices: Vec<[u32; 3]>) -> Self { - ColliderShape(Arc::new(TriMesh::new(vertices, indices))) - } - - /// Initializes 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::convex_decomposition_with_params(vertices, indices, &VHACDParameters::default()) - } - - /// Initializes 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::round_convex_decomposition_with_params( - vertices, - indices, - &VHACDParameters::default(), - border_radius, - ) - } - - /// Initializes 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 { - let mut parts = vec![]; - let decomp = VHACD::decompose(params, &vertices, &indices, true); - - #[cfg(feature = "dim2")] - for vertices in decomp.compute_exact_convex_hulls(&vertices, &indices) { - if let Some(convex) = Self::convex_polyline(vertices) { - parts.push((Isometry::identity(), convex)); - } - } - - #[cfg(feature = "dim3")] - for (vertices, indices) in decomp.compute_exact_convex_hulls(&vertices, &indices) { - if let Some(convex) = Self::convex_mesh(vertices, &indices) { - parts.push((Isometry::identity(), convex)); - } - } - - Self::compound(parts) - } - - /// Initializes 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 { - let mut parts = vec![]; - let decomp = VHACD::decompose(params, &vertices, &indices, true); - - #[cfg(feature = "dim2")] - for vertices in decomp.compute_exact_convex_hulls(&vertices, &indices) { - if let Some(convex) = Self::round_convex_polyline(vertices, border_radius) { - parts.push((Isometry::identity(), convex)); - } - } - - #[cfg(feature = "dim3")] - for (vertices, indices) in decomp.compute_exact_convex_hulls(&vertices, &indices) { - if let Some(convex) = Self::round_convex_mesh(vertices, &indices, border_radius) { - parts.push((Isometry::identity(), convex)); - } - } - - Self::compound(parts) - } - - pub fn convex_hull(points: &[Point<Real>]) -> Option<Self> { - #[cfg(feature = "dim2")] - return ConvexPolygon::from_convex_hull(points).map(|ch| ColliderShape(Arc::new(ch))); - #[cfg(feature = "dim3")] - return ConvexPolyhedron::from_convex_hull(points).map(|ch| ColliderShape(Arc::new(ch))); - } - - #[cfg(feature = "dim2")] - pub fn convex_polyline(points: Vec<Point<Real>>) -> Option<Self> { - ConvexPolygon::from_convex_polyline(points).map(|ch| ColliderShape(Arc::new(ch))) - } - - #[cfg(feature = "dim3")] - pub fn convex_mesh(points: Vec<Point<Real>>, indices: &[[u32; 3]]) -> Option<Self> { - ConvexPolyhedron::from_convex_mesh(points, indices).map(|ch| ColliderShape(Arc::new(ch))) - } - - pub fn round_convex_hull(points: &[Point<Real>], border_radius: Real) -> Option<Self> { - #[cfg(feature = "dim2")] - return ConvexPolygon::from_convex_hull(points).map(|ch| { - ColliderShape(Arc::new(RoundShape { - base_shape: ch, - border_radius, - })) - }); - #[cfg(feature = "dim3")] - return ConvexPolyhedron::from_convex_hull(points).map(|ch| { - ColliderShape(Arc::new(RoundShape { - base_shape: ch, - border_radius, - })) - }); - } - - #[cfg(feature = "dim2")] - pub fn round_convex_polyline(points: Vec<Point<Real>>, border_radius: Real) -> Option<Self> { - ConvexPolygon::from_convex_polyline(points).map(|ch| { - ColliderShape(Arc::new(RoundShape { - base_shape: ch, - border_radius, - })) - }) - } - - #[cfg(feature = "dim3")] - pub fn round_convex_mesh( - points: Vec<Point<Real>>, - indices: &[[u32; 3]], - border_radius: Real, - ) -> Option<Self> { - ConvexPolyhedron::from_convex_mesh(points, indices).map(|ch| { - ColliderShape(Arc::new(RoundShape { - 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")] - pub fn heightfield(heights: na::DVector<Real>, scale: Vector<Real>) -> 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<Real>, scale: Vector<Real>) -> 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.", - )) - } - } -} - -#[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::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)?, - 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 = "dim2")] - Some(ShapeType::ConvexPolygon) => deser::<A, ConvexPolygon>(&mut seq)?, - #[cfg(feature = "dim2")] - Some(ShapeType::RoundConvexPolygon) => { - deser::<A, RoundConvexPolygon>(&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)? - } - Some(ShapeType::Compound) => { - return Err(serde::de::Error::custom( - "found invalid shape type to deserialize", - )) - } - None => { - return Err(serde::de::Error::custom( - "found invalid shape type to deserialize", - )) - } - }; - - Ok(ColliderShape(shape)) - } - } - - deserializer.deserialize_struct("ColliderShape", &["tag", "inner"], Visitor {}) - } -} diff --git a/src/geometry/mod.rs b/src/geometry/mod.rs index 75fbb75..9323ffc 100644 --- a/src/geometry/mod.rs +++ b/src/geometry/mod.rs @@ -3,7 +3,6 @@ pub use self::broad_phase_multi_sap::BroadPhase; pub use self::collider::{Collider, ColliderBuilder}; pub use self::collider_set::{ColliderHandle, ColliderSet}; -pub use self::collider_shape::ColliderShape; pub use self::contact_pair::{ContactData, ContactManifoldData}; pub use self::contact_pair::{ContactPair, SolverContact, SolverFlags}; pub use self::interaction_graph::{ @@ -43,6 +42,7 @@ pub type Ray = cdl::query::Ray; pub type RayIntersection = cdl::query::RayIntersection; /// The the projection of a point on a collider. pub type PointProjection = cdl::query::PointProjection; +pub use cdl::shape::SharedShape; #[derive(Copy, Clone, Hash, Debug)] /// Events occurring when two collision objects start or stop being in contact (or penetration). @@ -99,7 +99,6 @@ pub(crate) fn default_query_dispatcher() -> std::sync::Arc<dyn cdl::query::Query mod broad_phase_multi_sap; mod collider; mod collider_set; -mod collider_shape; mod contact_pair; mod interaction_graph; mod interaction_groups; |