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/mod.rs | 1 + src_testbed/objects/node.rs | 23 ++++++--------- src_testbed/objects/polyline.rs | 64 +++++++++++++++++------------------------ 3 files changed, 35 insertions(+), 53 deletions(-) (limited to 'src_testbed/objects') diff --git a/src_testbed/objects/mod.rs b/src_testbed/objects/mod.rs index e4d7bc4..8e12dbe 100644 --- a/src_testbed/objects/mod.rs +++ b/src_testbed/objects/mod.rs @@ -7,6 +7,7 @@ pub mod cylinder; pub mod heightfield; pub mod mesh; pub mod node; +pub mod polyline; //pub mod plane; //#[cfg(feature = "dim2")] //pub mod polyline; diff --git a/src_testbed/objects/node.rs b/src_testbed/objects/node.rs index d1de799..64c8ad4 100644 --- a/src_testbed/objects/node.rs +++ b/src_testbed/objects/node.rs @@ -5,8 +5,7 @@ use crate::objects::convex::Convex; use crate::objects::heightfield::HeightField; use crate::objects::mesh::Mesh; //use crate::objects::plane::Plane; -//#[cfg(feature = "dim2")] -//use crate::objects::polyline::Polyline; +use crate::objects::polyline::Polyline; use kiss3d::window::Window; use na::Point3; @@ -26,8 +25,7 @@ pub enum Node { Box(Box), HeightField(HeightField), Capsule(Capsule), - // #[cfg(feature = "dim2")] - // Polyline(Polyline), + Polyline(Polyline), Mesh(Mesh), Convex(Convex), Cylinder(Cylinder), @@ -42,8 +40,7 @@ impl Node { Node::Box(ref mut n) => n.select(), Node::Capsule(ref mut n) => n.select(), Node::HeightField(ref mut n) => n.select(), - // #[cfg(feature = "dim2")] - // Node::Polyline(ref mut n) => n.select(), + Node::Polyline(ref mut n) => n.select(), Node::Mesh(ref mut n) => n.select(), Node::Convex(ref mut n) => n.select(), Node::Cylinder(ref mut n) => n.select(), @@ -58,8 +55,7 @@ impl Node { Node::Box(ref mut n) => n.unselect(), Node::Capsule(ref mut n) => n.unselect(), Node::HeightField(ref mut n) => n.unselect(), - // #[cfg(feature = "dim2")] - // Node::Polyline(ref mut n) => n.unselect(), + Node::Polyline(ref mut n) => n.unselect(), Node::Mesh(ref mut n) => n.unselect(), Node::Convex(ref mut n) => n.unselect(), Node::Cylinder(ref mut n) => n.unselect(), @@ -74,8 +70,7 @@ impl Node { Node::Box(ref mut n) => n.update(colliders), Node::Capsule(ref mut n) => n.update(colliders), Node::HeightField(ref mut n) => n.update(colliders), - // #[cfg(feature = "dim2")] - // Node::Polyline(ref mut n) => n.update(colliders), + Node::Polyline(ref mut n) => n.update(colliders), Node::Mesh(ref mut n) => n.update(colliders), Node::Convex(ref mut n) => n.update(colliders), Node::Cylinder(ref mut n) => n.update(colliders), @@ -86,7 +81,7 @@ impl Node { #[cfg(feature = "dim2")] pub fn draw(&mut self, window: &mut Window) { match *self { - // Node::Polyline(ref mut n) => n.draw(_window), + Node::Polyline(ref mut n) => n.draw(window), Node::HeightField(ref mut n) => n.draw(window), // Node::Plane(ref mut n) => n.draw(_window), _ => {} @@ -139,8 +134,7 @@ impl Node { Node::Box(ref n) => n.object(), Node::Capsule(ref n) => n.object(), Node::HeightField(ref n) => n.object(), - // #[cfg(feature = "dim2")] - // Node::Polyline(ref n) => n.object(), + Node::Polyline(ref n) => n.object(), Node::Mesh(ref n) => n.object(), Node::Convex(ref n) => n.object(), Node::Cylinder(ref n) => n.object(), @@ -155,8 +149,7 @@ impl Node { Node::Box(ref mut n) => n.set_color(color), Node::Capsule(ref mut n) => n.set_color(color), Node::HeightField(ref mut n) => n.set_color(color), - // #[cfg(feature = "dim2")] - // Node::Polyline(ref mut n) => n.set_color(color), + Node::Polyline(ref mut n) => n.set_color(color), Node::Mesh(ref mut n) => n.set_color(color), Node::Convex(ref mut n) => n.set_color(color), Node::Cylinder(ref mut n) => n.set_color(color), 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