diff options
Diffstat (limited to 'src')
| -rw-r--r-- | src/dynamics/solver/parallel_island_solver.rs | 2 | ||||
| -rw-r--r-- | src/geometry/collider.rs | 2 | ||||
| -rw-r--r-- | src/geometry/collider_shape.rs | 16 |
3 files changed, 17 insertions, 3 deletions
diff --git a/src/dynamics/solver/parallel_island_solver.rs b/src/dynamics/solver/parallel_island_solver.rs index 24435db..af8e9c0 100644 --- a/src/dynamics/solver/parallel_island_solver.rs +++ b/src/dynamics/solver/parallel_island_solver.rs @@ -251,7 +251,7 @@ impl ParallelIslandSolver { let dvel = mj_lambdas[rb.active_set_offset]; rb.linvel += dvel.linear; rb.angvel += rb.effective_world_inv_inertia_sqrt.transform_vector(dvel.angular); - rb.integrate(params.dt)); + rb.integrate(params.dt); positions[rb.active_set_offset] = rb.position; } } diff --git a/src/geometry/collider.rs b/src/geometry/collider.rs index 232b246..4ad3295 100644 --- a/src/geometry/collider.rs +++ b/src/geometry/collider.rs @@ -4,8 +4,6 @@ use crate::geometry::{ColliderShape, InteractionGroups}; use crate::math::{AngVector, Isometry, Point, Real, Rotation, Vector, DIM}; use cdl::bounding_volume::AABB; use cdl::shape::Shape; -#[cfg(feature = "dim2")] -use cdl::shape::{ConvexPolygon, RoundConvexPolygon}; bitflags::bitflags! { #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))] diff --git a/src/geometry/collider_shape.rs b/src/geometry/collider_shape.rs index 05067ef..ed91b82 100644 --- a/src/geometry/collider_shape.rs +++ b/src/geometry/collider_shape.rs @@ -154,6 +154,14 @@ impl ColliderShape { 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)); @@ -174,6 +182,14 @@ impl ColliderShape { 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)); |