From 865ce8a8e5301b23ca474adaaffe8b43e725803e Mon Sep 17 00:00:00 2001 From: Crozet Sébastien Date: Tue, 20 Oct 2020 11:55:33 +0200 Subject: Collider shape: use a trait-object instead of an enum. --- src/geometry/collider.rs | 367 ++++++++++++++++++++++------------------------- 1 file changed, 172 insertions(+), 195 deletions(-) (limited to 'src/geometry/collider.rs') diff --git a/src/geometry/collider.rs b/src/geometry/collider.rs index fe42bd7..c6cf6d0 100644 --- a/src/geometry/collider.rs +++ b/src/geometry/collider.rs @@ -3,172 +3,186 @@ use crate::dynamics::{MassProperties, RigidBodyHandle, RigidBodySet}; use crate::geometry::PolygonalFeatureMap; use crate::geometry::{ Ball, Capsule, ColliderGraphIndex, Contact, Cuboid, Cylinder, HeightField, InteractionGraph, - Polygon, Proximity, Ray, RayIntersection, Triangle, Trimesh, + Polygon, Proximity, Ray, RayIntersection, Shape, ShapeType, Triangle, Trimesh, }; use crate::math::{AngVector, Isometry, Point, Rotation, Vector}; +use downcast_rs::{impl_downcast, DowncastSync}; +use erased_serde::Serialize; use na::Point3; use ncollide::bounding_volume::{HasBoundingVolume, AABB}; use ncollide::query::RayCast; use num::Zero; +use std::any::Any; +use std::ops::Deref; +use std::sync::Arc; +/// The shape of a collider. #[derive(Clone)] -#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))] -/// An enum grouping all the possible shape of a collider. -pub enum Shape { - /// A ball shape. - Ball(Ball), - /// A convex polygon shape. - Polygon(Polygon), - /// A cuboid shape. - Cuboid(Cuboid), - /// A capsule shape. - Capsule(Capsule), - /// A triangle shape. - Triangle(Triangle), - /// A triangle mesh shape. - Trimesh(Trimesh), - /// A heightfield shape. - HeightField(HeightField), - #[cfg(feature = "dim3")] - /// A cylindrical shape. - Cylinder(Cylinder), -} +pub struct ColliderShape(pub Arc); -impl Shape { - /// Gets a reference to the underlying ball shape, if `self` is one. - pub fn as_ball(&self) -> Option<&Ball> { - match self { - Shape::Ball(b) => Some(b), - _ => None, - } +impl Deref for ColliderShape { + type Target = Shape; + fn deref(&self) -> &Shape { + &*self.0 } +} - /// Gets a reference to the underlying polygon shape, if `self` is one. - pub fn as_polygon(&self) -> Option<&Polygon> { - match self { - Shape::Polygon(p) => Some(p), - _ => None, - } +impl ColliderShape { + /// Initialize a ball shape defined by its radius. + pub fn ball(radius: f32) -> Self { + ColliderShape(Arc::new(Ball::new(radius))) } - /// Gets a reference to the underlying cuboid shape, if `self` is one. - pub fn as_cuboid(&self) -> Option<&Cuboid> { - match self { - Shape::Cuboid(c) => Some(c), - _ => None, - } + /// 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: f32, radius: f32) -> Self { + ColliderShape(Arc::new(Cylinder::new(half_height, radius))) } - /// Gets a reference to the underlying capsule shape, if `self` is one. - pub fn as_capsule(&self) -> Option<&Capsule> { - match self { - Shape::Capsule(c) => Some(c), - _ => None, - } + /// Initialize a cuboid shape defined by its half-extents. + pub fn cuboid(half_extents: Vector) -> Self { + ColliderShape(Arc::new(Cuboid::new(half_extents))) } - /// Gets a reference to the underlying triangle mesh shape, if `self` is one. - pub fn as_trimesh(&self) -> Option<&Trimesh> { - match self { - Shape::Trimesh(c) => Some(c), - _ => None, - } + /// Initialize a capsule shape aligned with the `y` axis. + pub fn capsule(half_height: f32, radius: f32) -> Self { + ColliderShape(Arc::new(Capsule::new(half_height, radius))) } - /// Gets a reference to the underlying heightfield shape, if `self` is one. - pub fn as_heightfield(&self) -> Option<&HeightField> { - match self { - Shape::HeightField(h) => Some(h), - _ => None, - } + /// Initializes a triangle shape. + pub fn triangle(a: Point, b: Point, c: Point) -> Self { + ColliderShape(Arc::new(Triangle::new(a, b, c))) } - /// Gets a reference to the underlying triangle shape, if `self` is one. - pub fn as_triangle(&self) -> Option<&Triangle> { - match self { - Shape::Triangle(c) => Some(c), - _ => None, - } + /// Initializes a triangle mesh shape defined by its vertex and index buffers. + pub fn trimesh(vertices: Vec>, indices: Vec>) -> Self { + ColliderShape(Arc::new(Trimesh::new(vertices, indices))) } - /// Gets a reference to the underlying cylindrical shape, if `self` is one. - pub fn as_cylinder(&self) -> Option<&Cylinder> { - match self { - Shape::Cylinder(c) => Some(c), - _ => None, - } + /// 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, scale: Vector) -> Self { + ColliderShape(Arc::new(HeightField::new(heights, scale))) } - /// gets a reference to this shape seen as a PolygonalFeatureMap. + /// 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 as_polygonal_feature_map(&self) -> Option<&dyn PolygonalFeatureMap> { - match self { - Shape::Triangle(t) => Some(t), - Shape::Cuboid(c) => Some(c), - Shape::Cylinder(c) => Some(c), - _ => None, - } + pub fn heightfield(heights: na::DMatrix, scale: Vector) -> Self { + ColliderShape(Arc::new(HeightField::new(heights, scale))) } +} - /// Computes the axis-aligned bounding box of this shape. - pub fn compute_aabb(&self, position: &Isometry) -> AABB { - match self { - Shape::Ball(ball) => ball.bounding_volume(position), - Shape::Polygon(poly) => poly.aabb(position), - Shape::Capsule(caps) => caps.aabb(position), - Shape::Cuboid(cuboid) => cuboid.bounding_volume(position), - Shape::Triangle(triangle) => triangle.bounding_volume(position), - Shape::Trimesh(trimesh) => trimesh.aabb(position), - Shape::HeightField(heightfield) => heightfield.bounding_volume(position), - Shape::Cylinder(cylinder) => cylinder.bounding_volume(position), +#[cfg(feature = "serde-serialize")] +impl serde::Serialize for ColliderShape { + fn serialize(&self, serializer: S) -> Result + 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.", + )) } } +} - /// Computes the first intersection point between a ray in this collider. - /// - /// Some shapes are not supported yet and will always return `None`. - /// - /// # Parameters - /// - `position`: the position of this shape. - /// - `ray`: the ray to cast. - /// - `max_toi`: the maximum time-of-impact that can be reported by this cast. This effectively - /// limits the length of the ray to `ray.dir.norm() * max_toi`. Use `f32::MAX` for an unbounded ray. - pub fn cast_ray( - &self, - position: &Isometry, - ray: &Ray, - max_toi: f32, - ) -> Option { - match self { - Shape::Ball(ball) => ball.toi_and_normal_with_ray(position, ray, max_toi, true), - Shape::Polygon(_poly) => None, - Shape::Capsule(caps) => { - let pos = position * caps.transform_wrt_y(); - let caps = ncollide::shape::Capsule::new(caps.half_height(), caps.radius); - caps.toi_and_normal_with_ray(&pos, ray, max_toi, true) +#[cfg(feature = "serde-serialize")] +impl<'de> serde::Deserialize<'de> for ColliderShape { + fn deserialize(deserializer: D) -> Result + 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") } - Shape::Cuboid(cuboid) => cuboid.toi_and_normal_with_ray(position, ray, max_toi, true), - #[cfg(feature = "dim2")] - Shape::Triangle(_) | Shape::Trimesh(_) => { - // This is not implemented yet in 2D. - None - } - #[cfg(feature = "dim3")] - Shape::Triangle(triangle) => { - triangle.toi_and_normal_with_ray(position, ray, max_toi, true) - } - #[cfg(feature = "dim3")] - Shape::Trimesh(trimesh) => { - trimesh.toi_and_normal_with_ray(position, ray, max_toi, true) - } - Shape::HeightField(heightfield) => { - heightfield.toi_and_normal_with_ray(position, ray, max_toi, true) - } - #[cfg(feature = "dim3")] - Shape::Cylinder(cylinder) => { - cylinder.toi_and_normal_with_ray(position, ray, max_toi, true) + + fn visit_seq(self, mut seq: A) -> Result + 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))?; + + let shape = match ShapeType::from_i32(tag) { + Some(ShapeType::Ball) => { + let shape: Ball = seq + .next_element()? + .ok_or_else(|| serde::de::Error::invalid_length(0, &self))?; + Arc::new(shape) as Arc + } + Some(ShapeType::Polygon) => { + unimplemented!() + // let shape: Polygon = seq + // .next_element()? + // .ok_or_else(|| serde::de::Error::invalid_length(0, &self))?; + // Arc::new(shape) as Arc + } + Some(ShapeType::Cuboid) => { + let shape: Cuboid = seq + .next_element()? + .ok_or_else(|| serde::de::Error::invalid_length(0, &self))?; + Arc::new(shape) as Arc + } + Some(ShapeType::Capsule) => { + let shape: Capsule = seq + .next_element()? + .ok_or_else(|| serde::de::Error::invalid_length(0, &self))?; + Arc::new(shape) as Arc + } + Some(ShapeType::Triangle) => { + let shape: Triangle = seq + .next_element()? + .ok_or_else(|| serde::de::Error::invalid_length(0, &self))?; + Arc::new(shape) as Arc + } + Some(ShapeType::Trimesh) => { + let shape: Trimesh = seq + .next_element()? + .ok_or_else(|| serde::de::Error::invalid_length(0, &self))?; + Arc::new(shape) as Arc + } + Some(ShapeType::HeightField) => { + let shape: HeightField = seq + .next_element()? + .ok_or_else(|| serde::de::Error::invalid_length(0, &self))?; + Arc::new(shape) as Arc + } + #[cfg(feature = "dim3")] + Some(ShapeType::Cylinder) => { + let shape: Cylinder = seq + .next_element()? + .ok_or_else(|| serde::de::Error::invalid_length(0, &self))?; + Arc::new(shape) as Arc + } + None => { + return Err(serde::de::Error::custom( + "found invalid shape type to deserialize", + )) + } + }; + + Ok(ColliderShape(shape)) } } + + deserializer.deserialize_struct("ColliderShape", &["tag", "inner"], Visitor {}) } } @@ -177,7 +191,7 @@ impl Shape { /// /// To build a new collider, use the `ColliderBuilder` structure. pub struct Collider { - shape: Shape, + shape: ColliderShape, density: f32, is_sensor: bool, pub(crate) parent: RigidBodyHandle, @@ -245,7 +259,7 @@ impl Collider { /// The geometric shape of this collider. pub fn shape(&self) -> &Shape { - &self.shape + &*self.shape.0 } /// Compute the axis-aligned bounding box of this collider. @@ -261,23 +275,7 @@ impl Collider { /// Compute the local-space mass properties of this collider. pub fn mass_properties(&self) -> MassProperties { - match &self.shape { - Shape::Ball(ball) => MassProperties::from_ball(self.density, ball.radius), - #[cfg(feature = "dim2")] - Shape::Polygon(p) => MassProperties::from_polygon(self.density, p.vertices()), - #[cfg(feature = "dim3")] - Shape::Polygon(_p) => unimplemented!(), - Shape::Cuboid(c) => MassProperties::from_cuboid(self.density, c.half_extents), - Shape::Capsule(caps) => { - MassProperties::from_capsule(self.density, caps.a, caps.b, caps.radius) - } - Shape::Triangle(_) | Shape::Trimesh(_) | Shape::HeightField(_) => { - MassProperties::zero() - } - Shape::Cylinder(c) => { - MassProperties::from_cylinder(self.density, c.half_height, c.radius) - } - } + self.shape.mass_properties(self.density) } } @@ -286,7 +284,7 @@ impl Collider { #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))] pub struct ColliderBuilder { /// The shape of the collider to be built. - pub shape: Shape, + pub shape: ColliderShape, /// The density of the collider to be built. density: Option, /// The friction coefficient of the collider to be built. @@ -301,7 +299,7 @@ pub struct ColliderBuilder { impl ColliderBuilder { /// Initialize a new collider builder with the given shape. - pub fn new(shape: Shape) -> Self { + pub fn new(shape: ColliderShape) -> Self { Self { shape, density: None, @@ -320,102 +318,81 @@ impl ColliderBuilder { /// Initialize a new collider builder with a ball shape defined by its radius. pub fn ball(radius: f32) -> Self { - Self::new(Shape::Ball(Ball::new(radius))) + Self::new(ColliderShape::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: f32, radius: f32) -> Self { - Self::new(Shape::Cylinder(Cylinder::new(half_height, radius))) + Self::new(ColliderShape::cylinder(half_height, 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 { - let cuboid = Cuboid { - half_extents: Vector::new(hx, hy), - }; - - Self::new(Shape::Cuboid(cuboid)) - - /* - use crate::math::Point; - let vertices = vec![ - Point::new(hx, -hy), - Point::new(hx, hy), - Point::new(-hx, hy), - Point::new(-hx, -hy), - ]; - let normals = vec![Vector::x(), Vector::y(), -Vector::x(), -Vector::y()]; - let polygon = Polygon::new(vertices, normals); - - Self::new(Shape::Polygon(polygon)) - */ + Self::new(ColliderShape::cuboid(Vector::new(hx, hy))) } /// Initialize a new collider builder with a capsule shape aligned with the `x` axis. pub fn capsule_x(half_height: f32, radius: f32) -> Self { - let capsule = Capsule::new_x(half_height, radius); - Self::new(Shape::Capsule(capsule)) + #[cfg(feature = "dim2")] + let rot = -std::f32::consts::FRAC_PI_2; + #[cfg(feature = "dim3")] + let rot = Vector::z() * -std::f32::consts::FRAC_PI_2; + Self::new(ColliderShape::capsule(half_height, radius)) + .position(Isometry::new(na::zero(), rot)) } /// Initialize a new collider builder with a capsule shape aligned with the `y` axis. pub fn capsule_y(half_height: f32, radius: f32) -> Self { - let capsule = Capsule::new_y(half_height, radius); - Self::new(Shape::Capsule(capsule)) + Self::new(ColliderShape::capsule(half_height, radius)) } /// Initialize a new collider builder with a capsule shape aligned with the `z` axis. #[cfg(feature = "dim3")] pub fn capsule_z(half_height: f32, radius: f32) -> Self { - let capsule = Capsule::new_z(half_height, radius); - Self::new(Shape::Capsule(capsule)) + let rot = Vector::x() * std::f32::consts::FRAC_PI_2; + Self::new(ColliderShape::capsule(half_height, radius)) + .position(Isometry::new(na::zero(), rot)) } /// Initialize a new collider builder with a cuboid shape defined by its half-extents. #[cfg(feature = "dim3")] pub fn cuboid(hx: f32, hy: f32, hz: f32) -> Self { - let cuboid = Cuboid { - half_extents: Vector::new(hx, hy, hz), - }; - - Self::new(Shape::Cuboid(cuboid)) + Self::new(ColliderShape::cuboid(Vector::new(hx, hy, hz))) } /// Initializes a collider builder with a segment shape. /// /// A segment shape is modeled by a capsule with a 0 radius. pub fn segment(a: Point, b: Point) -> Self { - let capsule = Capsule::new(a, b, 0.0); - Self::new(Shape::Capsule(capsule)) + let (pos, half_height) = crate::utils::segment_to_capsule(&a, &b); + Self::new(ColliderShape::capsule(half_height, 0.0)).position(pos) } /// Initializes a collider builder with a triangle shape. pub fn triangle(a: Point, b: Point, c: Point) -> Self { - let triangle = Triangle::new(a, b, c); - Self::new(Shape::Triangle(triangle)) + Self::new(ColliderShape::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>, indices: Vec>) -> Self { - let trimesh = Trimesh::new(vertices, indices); - Self::new(Shape::Trimesh(trimesh)) + Self::new(ColliderShape::trimesh(vertices, indices)) } /// 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, scale: Vector) -> Self { - let heightfield = HeightField::new(heights, scale); - Self::new(Shape::HeightField(heightfield)) + Self::new(ColliderShape::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, scale: Vector) -> Self { - let heightfield = HeightField::new(heights, scale); - Self::new(Shape::HeightField(heightfield)) + Self::new(ColliderShape::heightfield(heights, scale)) } /// The default friction coefficient used by the collider builder. -- cgit