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_testbed/nphysics_backend.rs | 7 +++++--
 1 file changed, 5 insertions(+), 2 deletions(-)

(limited to 'src_testbed/nphysics_backend.rs')

diff --git a/src_testbed/nphysics_backend.rs b/src_testbed/nphysics_backend.rs
index e112c22..4384480 100644
--- a/src_testbed/nphysics_backend.rs
+++ b/src_testbed/nphysics_backend.rs
@@ -1,4 +1,4 @@
-use ncollide::shape::{Ball, Capsule, Cuboid, ShapeHandle};
+use ncollide::shape::{Ball, Capsule, Cuboid, HeightField, ShapeHandle};
 use nphysics::force_generator::DefaultForceGeneratorSet;
 use nphysics::joint::{
     DefaultJointConstraintSet, FixedConstraint, PrismaticConstraint, RevoluteConstraint,
@@ -187,7 +187,10 @@ fn nphysics_collider_from_rapier_collider(
         pos *= capsule.transform_wrt_y();
         ShapeHandle::new(Capsule::new(capsule.half_height(), capsule.radius))
     } else if let Some(heightfield) = shape.as_heightfield() {
-        ShapeHandle::new(heightfield.clone())
+        let heights = heightfield.heights();
+        let scale = heightfield.scale();
+        let heightfield = HeightField::new(heights.clone(), *scale);
+        ShapeHandle::new(heightfield)
     } else {
         #[cfg(feature = "dim3")]
         if let Some(trimesh) = shape.as_trimesh() {
-- 
cgit 


From 8d925a02ef97844bc937584a9095c1396daeee35 Mon Sep 17 00:00:00 2001
From: Crozet Sébastien <developer@crozet.re>
Date: Sun, 27 Dec 2020 18:14:22 +0100
Subject: Add convex polygons support.

---
 src_testbed/nphysics_backend.rs | 18 +++++++++++++++---
 1 file changed, 15 insertions(+), 3 deletions(-)

(limited to 'src_testbed/nphysics_backend.rs')

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),
     )
 }
-- 
cgit 


From 28b7866aee68ca844406bea4761d630a7913188d Mon Sep 17 00:00:00 2001
From: Crozet Sébastien <developer@crozet.re>
Date: Wed, 20 Jan 2021 15:40:00 +0100
Subject: Switch to [u32; DIM] instead of Point<u32> for element indices.

---
 src_testbed/nphysics_backend.rs | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

(limited to 'src_testbed/nphysics_backend.rs')

diff --git a/src_testbed/nphysics_backend.rs b/src_testbed/nphysics_backend.rs
index 224b5d3..b2495bd 100644
--- a/src_testbed/nphysics_backend.rs
+++ b/src_testbed/nphysics_backend.rs
@@ -205,7 +205,7 @@ fn nphysics_collider_from_rapier_collider(
                 trimesh
                     .indices()
                     .iter()
-                    .map(|idx| na::convert(*idx))
+                    .map(|idx| na::Point3::new(idx[0] as usize, idx[1] as usize, idx[2] as usize))
                     .collect(),
                 None,
             ))
-- 
cgit