From 3da333f11c93898808eb9233c0cf333743bbf906 Mon Sep 17 00:00:00 2001
From: Crozet Sébastien <developer@crozet.re>
Date: Mon, 26 Oct 2020 15:12:10 +0100
Subject: Fix testbed compilation with other backends.

---
 src_testbed/nphysics_backend.rs | 48 ++++++++++++++++++++++++-----------------
 1 file changed, 28 insertions(+), 20 deletions(-)

(limited to 'src_testbed/nphysics_backend.rs')

diff --git a/src_testbed/nphysics_backend.rs b/src_testbed/nphysics_backend.rs
index c2a7fb1..b449c44 100644
--- a/src_testbed/nphysics_backend.rs
+++ b/src_testbed/nphysics_backend.rs
@@ -177,28 +177,36 @@ fn nphysics_collider_from_rapier_collider(
 ) -> Option<ColliderDesc<f32>> {
     let margin = ColliderDesc::<f32>::default_margin();
     let mut pos = *collider.position_wrt_parent();
-
-    let shape = match collider.shape() {
-        Shape::Cuboid(cuboid) => {
-            ShapeHandle::new(Cuboid::new(cuboid.half_extents.map(|e| e - margin)))
+    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(ball) = shape.as_ball() {
+        ShapeHandle::new(Ball::new(ball.radius - margin))
+    } else if let Some(capsule) = shape.as_capsule() {
+        ShapeHandle::new(Capsule::new(capsule.half_height, capsule.radius))
+    } else if let Some(heightfield) = shape.as_heightfield() {
+        ShapeHandle::new(heightfield.clone())
+    } else {
+        #[cfg(feature = "dim3")]
+        if let Some(trimesh) = shape.as_trimesh() {
+            ShapeHandle::new(TriMesh::new(
+                trimesh.vertices().to_vec(),
+                trimesh
+                    .indices()
+                    .iter()
+                    .map(|idx| na::convert(*idx))
+                    .collect(),
+                None,
+            ))
+        } else {
+            return None;
         }
-        Shape::Ball(ball) => ShapeHandle::new(Ball::new(ball.radius - margin)),
-        Shape::Capsule(capsule) => {
-            pos *= capsule.transform_wrt_y();
-            ShapeHandle::new(Capsule::new(capsule.half_height(), capsule.radius))
+
+        #[cfg(feature = "dim2")]
+        {
+            return None;
         }
-        Shape::HeightField(heightfield) => ShapeHandle::new(heightfield.clone()),
-        #[cfg(feature = "dim3")]
-        Shape::Trimesh(trimesh) => ShapeHandle::new(TriMesh::new(
-            trimesh.vertices().to_vec(),
-            trimesh
-                .indices()
-                .iter()
-                .map(|idx| na::convert(*idx))
-                .collect(),
-            None,
-        )),
-        _ => return None,
     };
 
     let density = if is_dynamic { collider.density() } else { 0.0 };
-- 
cgit 


From 2b628f9580a826722346983ef42672d4e8dd8053 Mon Sep 17 00:00:00 2001
From: Crozet Sébastien <developer@crozet.re>
Date: Mon, 26 Oct 2020 15:58:30 +0100
Subject: Redefine capsules as a segment with a radius, allowing us to reuse
 the pfm_pfm_contact generator for it.

---
 src_testbed/nphysics_backend.rs | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

(limited to 'src_testbed/nphysics_backend.rs')

diff --git a/src_testbed/nphysics_backend.rs b/src_testbed/nphysics_backend.rs
index b449c44..a2b0331 100644
--- a/src_testbed/nphysics_backend.rs
+++ b/src_testbed/nphysics_backend.rs
@@ -184,7 +184,8 @@ fn nphysics_collider_from_rapier_collider(
     } else if let Some(ball) = shape.as_ball() {
         ShapeHandle::new(Ball::new(ball.radius - margin))
     } else if let Some(capsule) = shape.as_capsule() {
-        ShapeHandle::new(Capsule::new(capsule.half_height, capsule.radius))
+        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())
     } else {
-- 
cgit 


From 08930b1238c90bec16db84c50ac4ea7c9a1e0a5b Mon Sep 17 00:00:00 2001
From: Crozet Sébastien <developer@crozet.re>
Date: Mon, 26 Oct 2020 16:36:07 +0100
Subject: Fix multiple warnings.

---
 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 a2b0331..3a0e487 100644
--- a/src_testbed/nphysics_backend.rs
+++ b/src_testbed/nphysics_backend.rs
@@ -12,7 +12,7 @@ use rapier::counters::Counters;
 use rapier::dynamics::{
     IntegrationParameters, JointParams, JointSet, RigidBodyHandle, RigidBodySet,
 };
-use rapier::geometry::{Collider, ColliderSet, Shape};
+use rapier::geometry::{Collider, ColliderSet};
 use rapier::math::Vector;
 use std::collections::HashMap;
 #[cfg(feature = "dim3")]
-- 
cgit