diff options
Diffstat (limited to 'src_testbed')
| -rw-r--r-- | src_testbed/physx_backend.rs | 3 | ||||
| -rw-r--r-- | src_testbed/testbed.rs | 77 |
2 files changed, 51 insertions, 29 deletions
diff --git a/src_testbed/physx_backend.rs b/src_testbed/physx_backend.rs index b06fd7e..8e08a2e 100644 --- a/src_testbed/physx_backend.rs +++ b/src_testbed/physx_backend.rs @@ -196,7 +196,8 @@ impl PhysxWorld { } } else { physx_sys::PxShapeFlags { - mBits: physx_sys::PxShapeFlag::eSIMULATION_SHAPE as u8, + mBits: physx_sys::PxShapeFlag::eSIMULATION_SHAPE as u8 + | physx_sys::PxShapeFlag::eSCENE_QUERY_SHAPE as u8, } }; diff --git a/src_testbed/testbed.rs b/src_testbed/testbed.rs index 92aea5a..ba28a4b 100644 --- a/src_testbed/testbed.rs +++ b/src_testbed/testbed.rs @@ -21,9 +21,9 @@ use na::{self, Point2, Point3, Vector3}; use rapier::dynamics::{ ActivationStatus, IntegrationParameters, JointSet, RigidBodyHandle, RigidBodySet, }; -use rapier::geometry::{BroadPhase, ColliderSet, ContactEvent, NarrowPhase, ProximityEvent}; +use rapier::geometry::{BroadPhase, ColliderSet, ContactEvent, NarrowPhase, ProximityEvent, Ray}; use rapier::math::Vector; -use rapier::pipeline::{ChannelEventCollector, PhysicsPipeline}; +use rapier::pipeline::{ChannelEventCollector, PhysicsPipeline, QueryPipeline}; #[cfg(feature = "fluids")] use salva::{coupling::ColliderCouplingSet, object::FluidHandle, LiquidWorld}; @@ -179,6 +179,7 @@ pub struct PhysicsState { pub colliders: ColliderSet, pub joints: JointSet, pub pipeline: PhysicsPipeline, + pub query_pipeline: QueryPipeline, } impl PhysicsState { @@ -190,6 +191,7 @@ impl PhysicsState { colliders: ColliderSet::new(), joints: JointSet::new(), pipeline: PhysicsPipeline::new(), + query_pipeline: QueryPipeline::new(), } } } @@ -197,6 +199,7 @@ impl PhysicsState { pub struct TestbedState { pub running: RunMode, pub draw_colls: bool, + pub highlighted_body: Option<RigidBodyHandle>, // pub grabbed_object: Option<DefaultBodyPartHandle>, // pub grabbed_object_constraint: Option<DefaultJointConstraintHandle>, pub grabbed_object_plane: (Point3<f32>, Vector3<f32>), @@ -240,7 +243,7 @@ pub struct Testbed { hide_counters: bool, // persistant_contacts: HashMap<ContactId, bool>, font: Rc<Font>, - // cursor_pos: Point2<f32>, + cursor_pos: Point2<f32>, events: PhysicsEvents, event_handler: ChannelEventCollector, ui: Option<TestbedUi>, @@ -301,6 +304,7 @@ impl Testbed { let state = TestbedState { running: RunMode::Running, draw_colls: false, + highlighted_body: None, // grabbed_object: None, // grabbed_object_constraint: None, grabbed_object_plane: (Point3::origin(), na::zero()), @@ -349,7 +353,7 @@ impl Testbed { hide_counters: true, // persistant_contacts: HashMap::new(), font: Font::default(), - // cursor_pos: Point2::new(0.0f32, 0.0), + cursor_pos: Point2::new(0.0f32, 0.0), ui, event_handler, events, @@ -408,6 +412,9 @@ impl Testbed { .set(TestbedActionFlags::RESET_WORLD_GRAPHICS, true); self.time = 0.0; self.state.timestep_id = 0; + self.state.highlighted_body = None; + self.physics.query_pipeline = QueryPipeline::new(); + self.physics.pipeline = PhysicsPipeline::new(); self.physics.pipeline.counters.enable(); #[cfg(all(feature = "dim2", feature = "other-backends"))] @@ -832,6 +839,10 @@ impl Testbed { ); } } + WindowEvent::CursorPos(x, y, _) => { + self.cursor_pos.x = x as f32; + self.cursor_pos.y = y as f32; + } _ => {} } @@ -1146,36 +1157,45 @@ impl Testbed { self.state.grabbed_object = None; self.state.grabbed_object_constraint = None; } - WindowEvent::CursorPos(x, y, modifiers) => { - self.cursor_pos.x = x as f32; - self.cursor_pos.y = y as f32; + _ => {} + } + */ + } - // update the joint - if let Some(joint) = self.state.grabbed_object_constraint { - let size = window.size(); - let (pos, dir) = self - .graphics - .camera() - .unproject(&self.cursor_pos, &na::convert(size)); - let (ref ppos, ref pdir) = self.state.grabbed_object_plane; + #[cfg(feature = "dim2")] + fn highlight_hovered_body(&mut self, window: &Window) { + // Do nothing for now. + } - if let Some(inter) = query::ray_toi_with_plane(ppos, pdir, &Ray::new(pos, dir)) - { - let joint = self - .constraints - .get_mut(joint) - .unwrap() - .downcast_mut::<MouseConstraint<f32, RigidBodyHandle>>() - .unwrap(); - joint.set_anchor_1(pos + dir * inter) - } + #[cfg(feature = "dim3")] + fn highlight_hovered_body(&mut self, window: &Window) { + if let Some(highlighted_body) = self.state.highlighted_body { + if let Some(nodes) = self.graphics.body_nodes_mut(highlighted_body) { + for node in nodes { + node.unselect() } + } + } - event.inhibited = modifiers.contains(Modifiers::Shift); + let size = window.size(); + let (pos, dir) = self + .graphics + .camera() + .unproject(&self.cursor_pos, &na::convert(size)); + let ray = Ray::new(pos, dir); + let hit = self + .physics + .query_pipeline + .cast_ray(&self.physics.colliders, &ray, f32::MAX); + + if let Some((_, collider, _)) = hit { + if self.physics.bodies[collider.parent()].is_dynamic() { + self.state.highlighted_body = Some(collider.parent()); + for node in self.graphics.body_nodes_mut(collider.parent()).unwrap() { + node.select() + } } - _ => {} } - */ } } @@ -1550,6 +1570,7 @@ impl State for Testbed { } } + self.highlight_hovered_body(window); self.graphics.draw(&self.physics.colliders, window); #[cfg(feature = "fluids")] |