From 9bf1321f8f1d2e116f44c2461a53f302c4ef4171 Mon Sep 17 00:00:00 2001
From: Crozet Sébastien <developer@crozet.re>
Date: Tue, 8 Dec 2020 17:31:49 +0100
Subject: Outsource the contact manifold, SAT, and some shapes.

---
 src/geometry/polygon.rs | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

(limited to 'src/geometry/polygon.rs')

diff --git a/src/geometry/polygon.rs b/src/geometry/polygon.rs
index d07cfd9..0bc3e56 100644
--- a/src/geometry/polygon.rs
+++ b/src/geometry/polygon.rs
@@ -1,7 +1,7 @@
 #![allow(dead_code)] // TODO: remove this once we support polygons.
 
 use crate::math::{Isometry, Point, Vector};
-use ncollide::bounding_volume::AABB;
+use buckler::bounding_volume::AABB;
 
 #[derive(Clone)]
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
@@ -27,7 +27,7 @@ impl Polygon {
     }
 
     /// Compute the axis-aligned bounding box of the polygon.
-    pub fn aabb(&self, pos: &Isometry<f32>) -> AABB<f32> {
+    pub fn aabb(&self, pos: &Isometry<f32>) -> AABB {
         let p0 = pos * self.vertices[0];
         let mut mins = p0;
         let mut maxs = p0;
-- 
cgit 


From e231bacec608fa5efd24f7a876572927dbd6c9c4 Mon Sep 17 00:00:00 2001
From: Crozet Sébastien <developer@crozet.re>
Date: Thu, 17 Dec 2020 10:24:36 +0100
Subject: Move all the contact manifold computations out of Rapier.

---
 src/geometry/polygon.rs | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

(limited to 'src/geometry/polygon.rs')

diff --git a/src/geometry/polygon.rs b/src/geometry/polygon.rs
index 0bc3e56..15cf005 100644
--- a/src/geometry/polygon.rs
+++ b/src/geometry/polygon.rs
@@ -1,7 +1,7 @@
 #![allow(dead_code)] // TODO: remove this once we support polygons.
 
 use crate::math::{Isometry, Point, Vector};
-use buckler::bounding_volume::AABB;
+use eagl::bounding_volume::AABB;
 
 #[derive(Clone)]
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
-- 
cgit 


From 8fe2df126a279a435cc544b150aadf8f7b757868 Mon Sep 17 00:00:00 2001
From: Crozet Sébastien <developer@crozet.re>
Date: Thu, 17 Dec 2020 18:37:16 +0100
Subject: Remove some irrelevant code.

---
 src/geometry/polygon.rs | 78 -------------------------------------------------
 1 file changed, 78 deletions(-)
 delete mode 100644 src/geometry/polygon.rs

(limited to 'src/geometry/polygon.rs')

diff --git a/src/geometry/polygon.rs b/src/geometry/polygon.rs
deleted file mode 100644
index 15cf005..0000000
--- a/src/geometry/polygon.rs
+++ /dev/null
@@ -1,78 +0,0 @@
-#![allow(dead_code)] // TODO: remove this once we support polygons.
-
-use crate::math::{Isometry, Point, Vector};
-use eagl::bounding_volume::AABB;
-
-#[derive(Clone)]
-#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
-/// A convex planar polygon.
-pub struct Polygon {
-    pub(crate) vertices: Vec<Point<f32>>,
-    pub(crate) normals: Vec<Vector<f32>>,
-}
-
-impl Polygon {
-    /// Builds a new polygon from a set of vertices and normals.
-    ///
-    /// The vertices must be ordered in such a way that two consecutive
-    /// vertices determines an edge of the polygon. For example `vertices[0], vertices[1]`
-    /// is an edge, `vertices[1], vertices[2]` is the next edge, etc. The last edge will
-    /// be `vertices[vertices.len() - 1], vertices[0]`.
-    /// The vertices must be given in counter-clockwise order.
-    /// The vertices must form a convex polygon.
-    ///
-    /// One normal must be provided per edge and mut point towards the outside of the polygon.
-    pub fn new(vertices: Vec<Point<f32>>, normals: Vec<Vector<f32>>) -> Self {
-        Self { vertices, normals }
-    }
-
-    /// Compute the axis-aligned bounding box of the polygon.
-    pub fn aabb(&self, pos: &Isometry<f32>) -> AABB {
-        let p0 = pos * self.vertices[0];
-        let mut mins = p0;
-        let mut maxs = p0;
-
-        for pt in &self.vertices[1..] {
-            let pt = pos * pt;
-            mins = mins.inf(&pt);
-            maxs = maxs.sup(&pt);
-        }
-
-        AABB::new(mins.into(), maxs.into())
-    }
-
-    /// The vertices of this polygon.
-    pub fn vertices(&self) -> &[Point<f32>] {
-        &self.vertices
-    }
-
-    pub(crate) fn support_point(&self, dir: &Vector<f32>) -> usize {
-        let mut best_dot = -f32::MAX;
-        let mut best_i = 0;
-
-        for (i, pt) in self.vertices.iter().enumerate() {
-            let dot = pt.coords.dot(&dir);
-            if dot > best_dot {
-                best_dot = dot;
-                best_i = i;
-            }
-        }
-
-        best_i
-    }
-
-    pub(crate) fn support_face(&self, dir: &Vector<f32>) -> usize {
-        let mut max_dot = -f32::MAX;
-        let mut max_dot_i = 0;
-
-        for (i, normal) in self.normals.iter().enumerate() {
-            let dot = normal.dot(dir);
-            if dot > max_dot {
-                max_dot = dot;
-                max_dot_i = i;
-            }
-        }
-
-        max_dot_i
-    }
-}
-- 
cgit