From 00da4aaa42cc921bbd8c469b45c5c1e304f46260 Mon Sep 17 00:00:00 2001
From: Crozet Sébastien <developer@crozet.re>
Date: Tue, 5 Jan 2021 15:34:48 +0100
Subject: Add compound shape support.

---
 src_testbed/objects/capsule.rs | 7 +++++--
 1 file changed, 5 insertions(+), 2 deletions(-)

(limited to 'src_testbed/objects/capsule.rs')

diff --git a/src_testbed/objects/capsule.rs b/src_testbed/objects/capsule.rs
index 23160be..197d1e8 100644
--- a/src_testbed/objects/capsule.rs
+++ b/src_testbed/objects/capsule.rs
@@ -1,6 +1,6 @@
 use crate::objects::node::{self, GraphicsNode};
 use kiss3d::window;
-use na::Point3;
+use na::{Isometry3, Point3};
 use rapier::geometry::{self, ColliderHandle, ColliderSet};
 use rapier::math::Isometry;
 
@@ -9,11 +9,13 @@ pub struct Capsule {
     base_color: Point3<f32>,
     gfx: GraphicsNode,
     collider: ColliderHandle,
+    delta: Isometry3<f32>,
 }
 
 impl Capsule {
     pub fn new(
         collider: ColliderHandle,
+        delta: Isometry3<f32>,
         capsule: &geometry::Capsule,
         color: Point3<f32>,
         window: &mut window::Window,
@@ -30,6 +32,7 @@ impl Capsule {
             base_color: color,
             gfx: node,
             collider,
+            delta,
         };
 
         res.gfx.set_color(color.x, color.y, color.z);
@@ -50,7 +53,7 @@ impl Capsule {
             colliders,
             self.collider,
             &self.color,
-            &Isometry::identity(),
+            &self.delta,
         );
     }
 
-- 
cgit 


From d1ed279c4e70c46928c84cf9b7f4a1db539fd7cb Mon Sep 17 00:00:00 2001
From: Crozet Sébastien <developer@crozet.re>
Date: Wed, 6 Jan 2021 12:22:46 +0100
Subject: Tesbted physx backend: add heightfield, trimesh, and convex mesh
 support.

---
 src_testbed/objects/capsule.rs | 1 -
 1 file changed, 1 deletion(-)

(limited to 'src_testbed/objects/capsule.rs')

diff --git a/src_testbed/objects/capsule.rs b/src_testbed/objects/capsule.rs
index 197d1e8..d1bfd52 100644
--- a/src_testbed/objects/capsule.rs
+++ b/src_testbed/objects/capsule.rs
@@ -2,7 +2,6 @@ use crate::objects::node::{self, GraphicsNode};
 use kiss3d::window;
 use na::{Isometry3, Point3};
 use rapier::geometry::{self, ColliderHandle, ColliderSet};
-use rapier::math::Isometry;
 
 pub struct Capsule {
     color: Point3<f32>,
-- 
cgit 


From 261ed1ebed04fb594f612b66811350f63b73f104 Mon Sep 17 00:00:00 2001
From: Crozet Sébastien <developer@crozet.re>
Date: Wed, 6 Jan 2021 12:53:26 +0100
Subject: Fix 2D compilation.

---
 src_testbed/objects/capsule.rs | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

(limited to 'src_testbed/objects/capsule.rs')

diff --git a/src_testbed/objects/capsule.rs b/src_testbed/objects/capsule.rs
index d1bfd52..46a67ca 100644
--- a/src_testbed/objects/capsule.rs
+++ b/src_testbed/objects/capsule.rs
@@ -1,20 +1,21 @@
 use crate::objects::node::{self, GraphicsNode};
 use kiss3d::window;
-use na::{Isometry3, Point3};
+use na::Point3;
 use rapier::geometry::{self, ColliderHandle, ColliderSet};
+use rapier::math::Isometry;
 
 pub struct Capsule {
     color: Point3<f32>,
     base_color: Point3<f32>,
     gfx: GraphicsNode,
     collider: ColliderHandle,
-    delta: Isometry3<f32>,
+    delta: Isometry<f32>,
 }
 
 impl Capsule {
     pub fn new(
         collider: ColliderHandle,
-        delta: Isometry3<f32>,
+        delta: Isometry<f32>,
         capsule: &geometry::Capsule,
         color: Point3<f32>,
         window: &mut window::Window,
-- 
cgit 


From d69b5876f35a6d67e164e5e6dc5719413f53c4f5 Mon Sep 17 00:00:00 2001
From: Crozet Sébastien <developer@crozet.re>
Date: Wed, 20 Jan 2021 17:03:36 +0100
Subject: Fix velocity constraints for ball joints involving bodies with
 non-uniform angular inertia.

Fix #86
---
 src_testbed/objects/capsule.rs | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

(limited to 'src_testbed/objects/capsule.rs')

diff --git a/src_testbed/objects/capsule.rs b/src_testbed/objects/capsule.rs
index 46a67ca..3d3e88f 100644
--- a/src_testbed/objects/capsule.rs
+++ b/src_testbed/objects/capsule.rs
@@ -32,7 +32,7 @@ impl Capsule {
             base_color: color,
             gfx: node,
             collider,
-            delta,
+            delta: delta * capsule.transform_wrt_y(),
         };
 
         res.gfx.set_color(color.x, color.y, color.z);
-- 
cgit