From 9bf1321f8f1d2e116f44c2461a53f302c4ef4171 Mon Sep 17 00:00:00 2001 From: Crozet Sébastien Date: Tue, 8 Dec 2020 17:31:49 +0100 Subject: Outsource the contact manifold, SAT, and some shapes. --- src_testbed/objects/polyline.rs | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'src_testbed/objects/polyline.rs') diff --git a/src_testbed/objects/polyline.rs b/src_testbed/objects/polyline.rs index 77841ae..efb5e95 100644 --- a/src_testbed/objects/polyline.rs +++ b/src_testbed/objects/polyline.rs @@ -1,6 +1,6 @@ +use buckler2d::shape; use kiss3d::window::Window; use na::{Isometry2, Point2, Point3}; -use ncollide2d::shape; use nphysics2d::object::{ColliderAnchor, DefaultColliderHandle, DefaultColliderSet}; pub struct Polyline { -- cgit From e231bacec608fa5efd24f7a876572927dbd6c9c4 Mon Sep 17 00:00:00 2001 From: Crozet Sébastien Date: Thu, 17 Dec 2020 10:24:36 +0100 Subject: Move all the contact manifold computations out of Rapier. --- src_testbed/objects/polyline.rs | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'src_testbed/objects/polyline.rs') diff --git a/src_testbed/objects/polyline.rs b/src_testbed/objects/polyline.rs index efb5e95..62edc69 100644 --- a/src_testbed/objects/polyline.rs +++ b/src_testbed/objects/polyline.rs @@ -1,4 +1,4 @@ -use buckler2d::shape; +use eagl2d::shape; use kiss3d::window::Window; use na::{Isometry2, Point2, Point3}; use nphysics2d::object::{ColliderAnchor, DefaultColliderHandle, DefaultColliderSet}; -- cgit From 8fe2df126a279a435cc544b150aadf8f7b757868 Mon Sep 17 00:00:00 2001 From: Crozet Sébastien Date: Thu, 17 Dec 2020 18:37:16 +0100 Subject: Remove some irrelevant code. --- src_testbed/objects/polyline.rs | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'src_testbed/objects/polyline.rs') diff --git a/src_testbed/objects/polyline.rs b/src_testbed/objects/polyline.rs index 62edc69..a7422b3 100644 --- a/src_testbed/objects/polyline.rs +++ b/src_testbed/objects/polyline.rs @@ -1,4 +1,4 @@ -use eagl2d::shape; +use cdl2d::shape; use kiss3d::window::Window; use na::{Isometry2, Point2, Point3}; use nphysics2d::object::{ColliderAnchor, DefaultColliderHandle, DefaultColliderSet}; -- cgit From 8f7220f03d3c23574b9ece09d81d32e862f1b5c6 Mon Sep 17 00:00:00 2001 From: Crozet Sébastien Date: Sun, 24 Jan 2021 11:13:44 +0100 Subject: Rename cdl to parry. --- src_testbed/objects/polyline.rs | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'src_testbed/objects/polyline.rs') diff --git a/src_testbed/objects/polyline.rs b/src_testbed/objects/polyline.rs index a7422b3..cdc0f21 100644 --- a/src_testbed/objects/polyline.rs +++ b/src_testbed/objects/polyline.rs @@ -1,7 +1,7 @@ -use cdl2d::shape; use kiss3d::window::Window; use na::{Isometry2, Point2, Point3}; use nphysics2d::object::{ColliderAnchor, DefaultColliderHandle, DefaultColliderSet}; +use parry2d::shape; pub struct Polyline { color: Point3, -- cgit From 23a86c294e48da9c3aad82284a09791aabfeb88d Mon Sep 17 00:00:00 2001 From: Crozet Sébastien Date: Tue, 26 Jan 2021 16:41:21 +0100 Subject: Allow using polylines as a collider shape. --- src_testbed/objects/polyline.rs | 64 +++++++++++++++++------------------------ 1 file changed, 26 insertions(+), 38 deletions(-) (limited to 'src_testbed/objects/polyline.rs') diff --git a/src_testbed/objects/polyline.rs b/src_testbed/objects/polyline.rs index cdc0f21..98a8f24 100644 --- a/src_testbed/objects/polyline.rs +++ b/src_testbed/objects/polyline.rs @@ -1,38 +1,32 @@ use kiss3d::window::Window; -use na::{Isometry2, Point2, Point3}; -use nphysics2d::object::{ColliderAnchor, DefaultColliderHandle, DefaultColliderSet}; -use parry2d::shape; +use na::Point3; +use rapier::geometry::{ColliderHandle, ColliderSet}; +use rapier::math::{Isometry, Point}; pub struct Polyline { color: Point3, base_color: Point3, - vertices: Vec>, - indices: Vec>, - collider: DefaultColliderHandle, - pos: Isometry2, + vertices: Vec>, + indices: Vec<[u32; 2]>, + collider: ColliderHandle, + pos: Isometry, } impl Polyline { pub fn new( - collider: DefaultColliderHandle, - colliders: &DefaultColliderSet, - _: Isometry2, - vertices: Vec>, - indices: Vec>, + collider: ColliderHandle, + vertices: Vec>, + indices: Vec<[u32; 2]>, color: Point3, - _: &mut Window, ) -> Polyline { - let mut res = Polyline { + Polyline { color, - pos: Isometry2::identity(), + pos: Isometry::identity(), base_color: color, vertices, indices, collider, - }; - - res.update(colliders); - res + } } pub fn select(&mut self) { @@ -48,32 +42,26 @@ impl Polyline { self.base_color = color; } - pub fn update(&mut self, colliders: &DefaultColliderSet) { - // Update if some deformation occurred. - // FIXME: don't update if it did not move. - if let Some(c) = colliders.get(self.collider) { - self.pos = *c.position(); - if let ColliderAnchor::OnDeformableBody { .. } = c.anchor() { - let shape = c.shape().as_shape::>().unwrap(); - self.vertices = shape.points().to_vec(); - self.indices.clear(); - - for e in shape.edges() { - self.indices.push(e.indices); - } - } - } + pub fn update(&mut self, colliders: &ColliderSet) { + self.pos = colliders + .get(self.collider) + .map(|c| *c.position()) + .unwrap_or(Isometry::identity()); } - pub fn object(&self) -> DefaultColliderHandle { + pub fn object(&self) -> ColliderHandle { self.collider } pub fn draw(&mut self, window: &mut Window) { for idx in &self.indices { - let p1 = self.pos * self.vertices[idx.x]; - let p2 = self.pos * self.vertices[idx.y]; - window.draw_planar_line(&p1, &p2, &self.color) + let p1 = self.pos * self.vertices[idx[0] as usize]; + let p2 = self.pos * self.vertices[idx[1] as usize]; + + #[cfg(feature = "dim2")] + window.draw_planar_line(&p1, &p2, &self.color); + #[cfg(feature = "dim3")] + window.draw_line(&p1, &p2, &self.color); } } } -- cgit