4 files changed, 34 insertions, 4 deletions

diff --git a/src_testbed/box2d_backend.rs b/src_testbed/box2d_backend.rs
index f448a6f..2d4ef29 100644
--- a/src_testbed/box2d_backend.rs
+++ b/src_testbed/box2d_backend.rs
@@ -174,6 +174,14 @@ impl Box2dWorld {
             b2_shape.set_radius(b.radius);
             b2_shape.set_position(center);
             body.create_fixture(&b2_shape, &mut fixture_def);
+        } else if let Some(p) = shape.as_convex_polygon() {
+            let vertices: Vec<_> = p
+                .points()
+                .iter()
+                .map(|p| na_vec_to_b2_vec(p.coords))
+                .collect();
+            let b2_shape = b2::PolygonShape::new_with(&vertices);
+            body.create_fixture(&b2_shape, &mut fixture_def);
         } else if let Some(c) = shape.as_cuboid() {
             let b2_shape = b2::PolygonShape::new_box(c.half_extents.x, c.half_extents.y);
             body.create_fixture(&b2_shape, &mut fixture_def);
diff --git a/src_testbed/engine.rs b/src_testbed/engine.rs
index b1ecc8b..a1fd74e 100644
--- a/src_testbed/engine.rs
+++ b/src_testbed/engine.rs
@@ -344,6 +344,15 @@ impl GraphicsManager {
             )))
         }
 
+        #[cfg(feature = "dim2")]
+        if let Some(convex_polygon) = shape
+            .as_convex_polygon()
+            .or(shape.as_round_convex_polygon().map(|r| &r.base_shape))
+        {
+            let vertices = convex_polygon.points().to_vec();
+            out.push(Node::Convex(Convex::new(handle, vertices, color, window)))
+        }
+
         #[cfg(feature = "dim3")]
         if let Some(convex_polyhedron) = shape
             .as_convex_polyhedron()
diff --git a/src_testbed/nphysics_backend.rs b/src_testbed/nphysics_backend.rs
index 4384480..224b5d3 100644
--- a/src_testbed/nphysics_backend.rs
+++ b/src_testbed/nphysics_backend.rs
@@ -1,3 +1,5 @@
+#[cfg(feature = "dim2")]
+use ncollide::shape::ConvexPolygon;
 use ncollide::shape::{Ball, Capsule, Cuboid, HeightField, ShapeHandle};
 use nphysics::force_generator::DefaultForceGeneratorSet;
 use nphysics::joint::{
@@ -144,6 +146,7 @@ impl NPhysicsWorld {
         self.mechanical_world
             .integration_parameters
             .set_dt(params.dt());
+        self.mechanical_world.integration_parameters.warmstart_coeff = params.warmstart_coeff;
 
         counters.step_started();
         self.mechanical_world.step(
@@ -175,12 +178,15 @@ fn nphysics_collider_from_rapier_collider(
     collider: &Collider,
     is_dynamic: bool,
 ) -> Option<ColliderDesc<f32>> {
-    let margin = ColliderDesc::<f32>::default_margin();
+    let mut margin = ColliderDesc::<f32>::default_margin();
     let mut pos = *collider.position_wrt_parent();
     let shape = collider.shape();
 
     let shape = if let Some(cuboid) = shape.as_cuboid() {
         ShapeHandle::new(Cuboid::new(cuboid.half_extents.map(|e| e - margin)))
+    } else if let Some(cuboid) = shape.as_round_cuboid() {
+        margin = cuboid.border_radius;
+        ShapeHandle::new(Cuboid::new(cuboid.base_shape.half_extents))
     } else if let Some(ball) = shape.as_ball() {
         ShapeHandle::new(Ball::new(ball.radius - margin))
     } else if let Some(capsule) = shape.as_capsule() {
@@ -208,7 +214,12 @@ fn nphysics_collider_from_rapier_collider(
         }
 
         #[cfg(feature = "dim2")]
-        {
+        if let Some(polygon) = shape.as_round_convex_polygon() {
+            margin = polygon.border_radius;
+            ShapeHandle::new(ConvexPolygon::try_from_points(polygon.base_shape.points()).unwrap())
+        } else if let Some(polygon) = shape.as_convex_polygon() {
+            ShapeHandle::new(ConvexPolygon::try_from_points(polygon.points()).unwrap())
+        } else {
             return None;
         }
     };
@@ -219,6 +230,7 @@ fn nphysics_collider_from_rapier_collider(
         ColliderDesc::new(shape)
             .position(pos)
             .density(density)
-            .sensor(collider.is_sensor()),
+            .sensor(collider.is_sensor())
+            .margin(margin),
     )
 }
diff --git a/src_testbed/objects/heightfield.rs b/src_testbed/objects/heightfield.rs
index dbf14ad..fed168d 100644
--- a/src_testbed/objects/heightfield.rs
+++ b/src_testbed/objects/heightfield.rs
@@ -10,7 +10,6 @@ use rapier::math::Point;
 #[cfg(feature = "dim3")]
 use rapier::math::Vector;
 use std::cell::RefCell;
-use std::rc::Rc;
 
 pub struct HeightField {
     color: Point3<f32>,
@@ -52,6 +51,8 @@ impl HeightField {
         color: Point3<f32>,
         window: &mut Window,
     ) -> HeightField {
+        use std::rc::Rc;
+
         let (vertices, indices) = heightfield.to_trimesh();
         let indices = indices.into_iter().map(|i| na::convert(i)).collect();
         let mesh = Mesh::new(vertices, indices, None, None, false);