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/objects/heightfield.rs | 17 ++++++++++-------
 src_testbed/objects/polyline.rs    |  2 +-
 2 files changed, 11 insertions(+), 8 deletions(-)

(limited to 'src_testbed/objects')

diff --git a/src_testbed/objects/heightfield.rs b/src_testbed/objects/heightfield.rs
index 0815592..977bcca 100644
--- a/src_testbed/objects/heightfield.rs
+++ b/src_testbed/objects/heightfield.rs
@@ -1,15 +1,16 @@
 #[cfg(feature = "dim3")]
 use crate::objects::node::{self, GraphicsNode};
+use buckler::shape;
+use kiss3d::resource::Mesh;
 use kiss3d::window::Window;
 use na::{self, Point3};
-use ncollide::shape;
-#[cfg(feature = "dim3")]
-use ncollide::transformation::ToTriMesh;
 use rapier::geometry::{ColliderHandle, ColliderSet};
 #[cfg(feature = "dim2")]
 use rapier::math::Point;
 #[cfg(feature = "dim3")]
 use rapier::math::Vector;
+use std::cell::RefCell;
+use std::rc::Rc;
 
 pub struct HeightField {
     color: Point3<f32>,
@@ -25,7 +26,7 @@ impl HeightField {
     #[cfg(feature = "dim2")]
     pub fn new(
         collider: ColliderHandle,
-        heightfield: &shape::HeightField<f32>,
+        heightfield: &shape::HeightField,
         color: Point3<f32>,
         _: &mut Window,
     ) -> HeightField {
@@ -47,16 +48,18 @@ impl HeightField {
     #[cfg(feature = "dim3")]
     pub fn new(
         collider: ColliderHandle,
-        heightfield: &shape::HeightField<f32>,
+        heightfield: &shape::HeightField,
         color: Point3<f32>,
         window: &mut Window,
     ) -> HeightField {
-        let mesh = heightfield.to_trimesh(());
+        let (vertices, indices) = heightfield.to_trimesh();
+        let indices = indices.into_iter().map(|i| na::convert(i)).collect();
+        let mesh = Mesh::new(vertices, indices, None, None, false);
 
         let mut res = HeightField {
             color,
             base_color: color,
-            gfx: window.add_trimesh(mesh, Vector::repeat(1.0)),
+            gfx: window.add_mesh(Rc::new(RefCell::new(mesh)), Vector::repeat(1.0)),
             collider: collider,
         };
 
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 <developer@crozet.re>
Date: Thu, 17 Dec 2020 10:24:36 +0100
Subject: Move all the contact manifold computations out of Rapier.

---
 src_testbed/objects/heightfield.rs | 2 +-
 src_testbed/objects/polyline.rs    | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

(limited to 'src_testbed/objects')

diff --git a/src_testbed/objects/heightfield.rs b/src_testbed/objects/heightfield.rs
index 977bcca..a631b71 100644
--- a/src_testbed/objects/heightfield.rs
+++ b/src_testbed/objects/heightfield.rs
@@ -1,6 +1,6 @@
 #[cfg(feature = "dim3")]
 use crate::objects::node::{self, GraphicsNode};
-use buckler::shape;
+use eagl::shape;
 use kiss3d::resource::Mesh;
 use kiss3d::window::Window;
 use na::{self, Point3};
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 <developer@crozet.re>
Date: Thu, 17 Dec 2020 18:37:16 +0100
Subject: Remove some irrelevant code.

---
 src_testbed/objects/heightfield.rs | 2 +-
 src_testbed/objects/polyline.rs    | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

(limited to 'src_testbed/objects')

diff --git a/src_testbed/objects/heightfield.rs b/src_testbed/objects/heightfield.rs
index a631b71..dbf14ad 100644
--- a/src_testbed/objects/heightfield.rs
+++ b/src_testbed/objects/heightfield.rs
@@ -1,6 +1,6 @@
 #[cfg(feature = "dim3")]
 use crate::objects::node::{self, GraphicsNode};
-use eagl::shape;
+use cdl::shape;
 use kiss3d::resource::Mesh;
 use kiss3d::window::Window;
 use na::{self, Point3};
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 486fbd972f7951edf2d576c7c6bcbd02dcc28011 Mon Sep 17 00:00:00 2001
From: Crozet Sébastien <developer@crozet.re>
Date: Mon, 21 Dec 2020 16:01:22 +0100
Subject: Add example for 3D convex polyhedron.

---
 src_testbed/objects/convex.rs | 9 ++++++++-
 1 file changed, 8 insertions(+), 1 deletion(-)

(limited to 'src_testbed/objects')

diff --git a/src_testbed/objects/convex.rs b/src_testbed/objects/convex.rs
index 0347144..9f0983d 100644
--- a/src_testbed/objects/convex.rs
+++ b/src_testbed/objects/convex.rs
@@ -19,13 +19,20 @@ impl Convex {
     pub fn new(
         body: ColliderHandle,
         vertices: Vec<Point<f32>>,
+        #[cfg(feature = "dim3")] indices: Vec<Point<u32>>,
         color: Point3<f32>,
         window: &mut Window,
     ) -> Convex {
         #[cfg(feature = "dim2")]
         let node = window.add_convex_polygon(vertices, Vector::from_element(1.0));
         #[cfg(feature = "dim3")]
-        let node = unimplemented!();
+        let node = {
+            use std::cell::RefCell;
+            use std::rc::Rc;
+            let is = indices.into_iter().map(na::convert).collect();
+            let mesh = kiss3d::resource::Mesh::new(vertices, is, None, None, false);
+            window.add_mesh(Rc::new(RefCell::new(mesh)), na::Vector3::from_element(1.0))
+        };
 
         let mut res = Convex {
             color,
-- 
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/objects/heightfield.rs | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

(limited to 'src_testbed/objects')

diff --git a/src_testbed/objects/heightfield.rs b/src_testbed/objects/heightfield.rs
index dbf14ad..fed168d 100644
--- a/src_testbed/objects/heightfield.rs
+++ b/src_testbed/objects/heightfield.rs
@@ -10,7 +10,6 @@ use rapier::math::Point;
 #[cfg(feature = "dim3")]
 use rapier::math::Vector;
 use std::cell::RefCell;
-use std::rc::Rc;
 
 pub struct HeightField {
     color: Point3<f32>,
@@ -52,6 +51,8 @@ impl HeightField {
         color: Point3<f32>,
         window: &mut Window,
     ) -> HeightField {
+        use std::rc::Rc;
+
         let (vertices, indices) = heightfield.to_trimesh();
         let indices = indices.into_iter().map(|i| na::convert(i)).collect();
         let mesh = Mesh::new(vertices, indices, None, None, false);
-- 
cgit 


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/ball.rs     | 7 +++++--
 src_testbed/objects/box_node.rs | 7 +++++--
 src_testbed/objects/capsule.rs  | 7 +++++--
 src_testbed/objects/cone.rs     | 7 +++++--
 src_testbed/objects/convex.rs   | 7 +++++--
 src_testbed/objects/cylinder.rs | 7 +++++--
 6 files changed, 30 insertions(+), 12 deletions(-)

(limited to 'src_testbed/objects')

diff --git a/src_testbed/objects/ball.rs b/src_testbed/objects/ball.rs
index f72c284..4df3820 100644
--- a/src_testbed/objects/ball.rs
+++ b/src_testbed/objects/ball.rs
@@ -1,6 +1,6 @@
 use crate::objects::node::{self, GraphicsNode};
 use kiss3d::window::Window;
-use na::Point3;
+use na::{Isometry3, Point3};
 use rapier::geometry::{ColliderHandle, ColliderSet};
 use rapier::math::Isometry;
 
@@ -9,11 +9,13 @@ pub struct Ball {
     base_color: Point3<f32>,
     gfx: GraphicsNode,
     collider: ColliderHandle,
+    delta: Isometry3<f32>,
 }
 
 impl Ball {
     pub fn new(
         collider: ColliderHandle,
+        delta: Isometry3<f32>,
         radius: f32,
         color: Point3<f32>,
         window: &mut Window,
@@ -28,6 +30,7 @@ impl Ball {
             base_color: color,
             gfx: node,
             collider,
+            delta,
         };
 
         // res.gfx.set_texture_from_file(&Path::new("media/kitten.png"), "kitten");
@@ -55,7 +58,7 @@ impl Ball {
             colliders,
             self.collider,
             &self.color,
-            &Isometry::identity(),
+            &self.delta,
         );
     }
 
diff --git a/src_testbed/objects/box_node.rs b/src_testbed/objects/box_node.rs
index 493ffba..4235ef1 100644
--- a/src_testbed/objects/box_node.rs
+++ b/src_testbed/objects/box_node.rs
@@ -1,6 +1,6 @@
 use crate::objects::node::{self, GraphicsNode};
 use kiss3d::window;
-use na::Point3;
+use na::{Isometry3, Point3};
 use rapier::geometry::{ColliderHandle, ColliderSet};
 use rapier::math::{Isometry, Vector};
 
@@ -9,11 +9,13 @@ pub struct Box {
     base_color: Point3<f32>,
     gfx: GraphicsNode,
     collider: ColliderHandle,
+    delta: Isometry3<f32>,
 }
 
 impl Box {
     pub fn new(
         collider: ColliderHandle,
+        delta: Isometry3<f32>,
         half_extents: Vector<f32>,
         color: Point3<f32>,
         window: &mut window::Window,
@@ -29,6 +31,7 @@ impl Box {
             base_color: color,
             gfx: node,
             collider,
+            delta,
         };
 
         res.gfx.set_color(color.x, color.y, color.z);
@@ -55,7 +58,7 @@ impl Box {
             colliders,
             self.collider,
             &self.color,
-            &Isometry::identity(),
+            &self.delta,
         );
     }
 
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,
         );
     }
 
diff --git a/src_testbed/objects/cone.rs b/src_testbed/objects/cone.rs
index 58b014f..89a6b47 100644
--- a/src_testbed/objects/cone.rs
+++ b/src_testbed/objects/cone.rs
@@ -1,6 +1,6 @@
 use crate::objects::node::{self, GraphicsNode};
 use kiss3d::window::Window;
-use na::Point3;
+use na::{Isometry3, Point3};
 use rapier::geometry::{ColliderHandle, ColliderSet};
 use rapier::math::Isometry;
 
@@ -9,11 +9,13 @@ pub struct Cone {
     base_color: Point3<f32>,
     gfx: GraphicsNode,
     collider: ColliderHandle,
+    delta: Isometry3<f32>,
 }
 
 impl Cone {
     pub fn new(
         collider: ColliderHandle,
+        delta: Isometry3<f32>,
         half_height: f32,
         radius: f32,
         color: Point3<f32>,
@@ -29,6 +31,7 @@ impl Cone {
             base_color: color,
             gfx: node,
             collider,
+            delta,
         };
 
         // res.gfx.set_texture_from_file(&Path::new("media/kitten.png"), "kitten");
@@ -56,7 +59,7 @@ impl Cone {
             colliders,
             self.collider,
             &self.color,
-            &Isometry::identity(),
+            &self.delta,
         );
     }
 
diff --git a/src_testbed/objects/convex.rs b/src_testbed/objects/convex.rs
index 9f0983d..b0e0bbb 100644
--- a/src_testbed/objects/convex.rs
+++ b/src_testbed/objects/convex.rs
@@ -5,7 +5,7 @@ use crate::math::Vector;
 use crate::math::{Isometry, Point};
 use crate::objects::node::{self, GraphicsNode};
 use kiss3d::window::Window;
-use na::Point3;
+use na::{Isometry3, Point3};
 use rapier::geometry::{ColliderHandle, ColliderSet};
 
 pub struct Convex {
@@ -13,11 +13,13 @@ pub struct Convex {
     base_color: Point3<f32>,
     gfx: GraphicsNode,
     body: ColliderHandle,
+    delta: Isometry3<f32>,
 }
 
 impl Convex {
     pub fn new(
         body: ColliderHandle,
+        delta: Isometry3<f32>,
         vertices: Vec<Point<f32>>,
         #[cfg(feature = "dim3")] indices: Vec<Point<u32>>,
         color: Point3<f32>,
@@ -39,6 +41,7 @@ impl Convex {
             base_color: color,
             gfx: node,
             body,
+            delta,
         };
 
         // res.gfx.set_texture_from_file(&Path::new("media/kitten.png"), "kitten");
@@ -66,7 +69,7 @@ impl Convex {
             colliders,
             self.body,
             &self.color,
-            &Isometry::identity(),
+            &self.delta,
         );
     }
 
diff --git a/src_testbed/objects/cylinder.rs b/src_testbed/objects/cylinder.rs
index 01a6737..a2ed102 100644
--- a/src_testbed/objects/cylinder.rs
+++ b/src_testbed/objects/cylinder.rs
@@ -1,6 +1,6 @@
 use crate::objects::node::{self, GraphicsNode};
 use kiss3d::window::Window;
-use na::Point3;
+use na::{Isometry3, Point3};
 use rapier::geometry::{ColliderHandle, ColliderSet};
 use rapier::math::Isometry;
 
@@ -9,11 +9,13 @@ pub struct Cylinder {
     base_color: Point3<f32>,
     gfx: GraphicsNode,
     collider: ColliderHandle,
+    delta: Isometry3<f32>,
 }
 
 impl Cylinder {
     pub fn new(
         collider: ColliderHandle,
+        delta: Isometry3<f32>,
         half_height: f32,
         radius: f32,
         color: Point3<f32>,
@@ -29,6 +31,7 @@ impl Cylinder {
             base_color: color,
             gfx: node,
             collider,
+            delta,
         };
 
         // res.gfx.set_texture_from_file(&Path::new("media/kitten.png"), "kitten");
@@ -56,7 +59,7 @@ impl Cylinder {
             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/ball.rs     | 1 -
 src_testbed/objects/box_node.rs | 2 +-
 src_testbed/objects/capsule.rs  | 1 -
 src_testbed/objects/cone.rs     | 1 -
 src_testbed/objects/cylinder.rs | 1 -
 5 files changed, 1 insertion(+), 5 deletions(-)

(limited to 'src_testbed/objects')

diff --git a/src_testbed/objects/ball.rs b/src_testbed/objects/ball.rs
index 4df3820..c352b3a 100644
--- a/src_testbed/objects/ball.rs
+++ b/src_testbed/objects/ball.rs
@@ -2,7 +2,6 @@ use crate::objects::node::{self, GraphicsNode};
 use kiss3d::window::Window;
 use na::{Isometry3, Point3};
 use rapier::geometry::{ColliderHandle, ColliderSet};
-use rapier::math::Isometry;
 
 pub struct Ball {
     color: Point3<f32>,
diff --git a/src_testbed/objects/box_node.rs b/src_testbed/objects/box_node.rs
index 4235ef1..1a72247 100644
--- a/src_testbed/objects/box_node.rs
+++ b/src_testbed/objects/box_node.rs
@@ -2,7 +2,7 @@ use crate::objects::node::{self, GraphicsNode};
 use kiss3d::window;
 use na::{Isometry3, Point3};
 use rapier::geometry::{ColliderHandle, ColliderSet};
-use rapier::math::{Isometry, Vector};
+use rapier::math::Vector;
 
 pub struct Box {
     color: Point3<f32>,
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>,
diff --git a/src_testbed/objects/cone.rs b/src_testbed/objects/cone.rs
index 89a6b47..70a74a1 100644
--- a/src_testbed/objects/cone.rs
+++ b/src_testbed/objects/cone.rs
@@ -2,7 +2,6 @@ use crate::objects::node::{self, GraphicsNode};
 use kiss3d::window::Window;
 use na::{Isometry3, Point3};
 use rapier::geometry::{ColliderHandle, ColliderSet};
-use rapier::math::Isometry;
 
 pub struct Cone {
     color: Point3<f32>,
diff --git a/src_testbed/objects/cylinder.rs b/src_testbed/objects/cylinder.rs
index a2ed102..e18eb06 100644
--- a/src_testbed/objects/cylinder.rs
+++ b/src_testbed/objects/cylinder.rs
@@ -2,7 +2,6 @@ use crate::objects::node::{self, GraphicsNode};
 use kiss3d::window::Window;
 use na::{Isometry3, Point3};
 use rapier::geometry::{ColliderHandle, ColliderSet};
-use rapier::math::Isometry;
 
 pub struct Cylinder {
     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/ball.rs        |  7 ++++---
 src_testbed/objects/box_node.rs    |  8 ++++----
 src_testbed/objects/capsule.rs     |  7 ++++---
 src_testbed/objects/cone.rs        |  7 ++++---
 src_testbed/objects/convex.rs      |  6 +++---
 src_testbed/objects/cylinder.rs    |  7 ++++---
 src_testbed/objects/heightfield.rs | 11 ++++++-----
 7 files changed, 29 insertions(+), 24 deletions(-)

(limited to 'src_testbed/objects')

diff --git a/src_testbed/objects/ball.rs b/src_testbed/objects/ball.rs
index c352b3a..df43341 100644
--- a/src_testbed/objects/ball.rs
+++ b/src_testbed/objects/ball.rs
@@ -1,20 +1,21 @@
 use crate::objects::node::{self, GraphicsNode};
 use kiss3d::window::Window;
-use na::{Isometry3, Point3};
+use na::Point3;
 use rapier::geometry::{ColliderHandle, ColliderSet};
+use rapier::math::Isometry;
 
 pub struct Ball {
     color: Point3<f32>,
     base_color: Point3<f32>,
     gfx: GraphicsNode,
     collider: ColliderHandle,
-    delta: Isometry3<f32>,
+    delta: Isometry<f32>,
 }
 
 impl Ball {
     pub fn new(
         collider: ColliderHandle,
-        delta: Isometry3<f32>,
+        delta: Isometry<f32>,
         radius: f32,
         color: Point3<f32>,
         window: &mut Window,
diff --git a/src_testbed/objects/box_node.rs b/src_testbed/objects/box_node.rs
index 1a72247..0586d77 100644
--- a/src_testbed/objects/box_node.rs
+++ b/src_testbed/objects/box_node.rs
@@ -1,21 +1,21 @@
 use crate::objects::node::{self, GraphicsNode};
 use kiss3d::window;
-use na::{Isometry3, Point3};
+use na::Point3;
 use rapier::geometry::{ColliderHandle, ColliderSet};
-use rapier::math::Vector;
+use rapier::math::{Isometry, Vector};
 
 pub struct Box {
     color: Point3<f32>,
     base_color: Point3<f32>,
     gfx: GraphicsNode,
     collider: ColliderHandle,
-    delta: Isometry3<f32>,
+    delta: Isometry<f32>,
 }
 
 impl Box {
     pub fn new(
         collider: ColliderHandle,
-        delta: Isometry3<f32>,
+        delta: Isometry<f32>,
         half_extents: Vector<f32>,
         color: Point3<f32>,
         window: &mut window::Window,
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,
diff --git a/src_testbed/objects/cone.rs b/src_testbed/objects/cone.rs
index 70a74a1..7aa2039 100644
--- a/src_testbed/objects/cone.rs
+++ b/src_testbed/objects/cone.rs
@@ -1,20 +1,21 @@
 use crate::objects::node::{self, GraphicsNode};
 use kiss3d::window::Window;
-use na::{Isometry3, Point3};
+use na::Point3;
 use rapier::geometry::{ColliderHandle, ColliderSet};
+use rapier::math::Isometry;
 
 pub struct Cone {
     color: Point3<f32>,
     base_color: Point3<f32>,
     gfx: GraphicsNode,
     collider: ColliderHandle,
-    delta: Isometry3<f32>,
+    delta: Isometry<f32>,
 }
 
 impl Cone {
     pub fn new(
         collider: ColliderHandle,
-        delta: Isometry3<f32>,
+        delta: Isometry<f32>,
         half_height: f32,
         radius: f32,
         color: Point3<f32>,
diff --git a/src_testbed/objects/convex.rs b/src_testbed/objects/convex.rs
index b0e0bbb..3f68367 100644
--- a/src_testbed/objects/convex.rs
+++ b/src_testbed/objects/convex.rs
@@ -5,7 +5,7 @@ use crate::math::Vector;
 use crate::math::{Isometry, Point};
 use crate::objects::node::{self, GraphicsNode};
 use kiss3d::window::Window;
-use na::{Isometry3, Point3};
+use na::Point3;
 use rapier::geometry::{ColliderHandle, ColliderSet};
 
 pub struct Convex {
@@ -13,13 +13,13 @@ pub struct Convex {
     base_color: Point3<f32>,
     gfx: GraphicsNode,
     body: ColliderHandle,
-    delta: Isometry3<f32>,
+    delta: Isometry<f32>,
 }
 
 impl Convex {
     pub fn new(
         body: ColliderHandle,
-        delta: Isometry3<f32>,
+        delta: Isometry<f32>,
         vertices: Vec<Point<f32>>,
         #[cfg(feature = "dim3")] indices: Vec<Point<u32>>,
         color: Point3<f32>,
diff --git a/src_testbed/objects/cylinder.rs b/src_testbed/objects/cylinder.rs
index e18eb06..ff4dc72 100644
--- a/src_testbed/objects/cylinder.rs
+++ b/src_testbed/objects/cylinder.rs
@@ -1,20 +1,21 @@
 use crate::objects::node::{self, GraphicsNode};
 use kiss3d::window::Window;
-use na::{Isometry3, Point3};
+use na::Point3;
 use rapier::geometry::{ColliderHandle, ColliderSet};
+use rapier::math::Isometry;
 
 pub struct Cylinder {
     color: Point3<f32>,
     base_color: Point3<f32>,
     gfx: GraphicsNode,
     collider: ColliderHandle,
-    delta: Isometry3<f32>,
+    delta: Isometry<f32>,
 }
 
 impl Cylinder {
     pub fn new(
         collider: ColliderHandle,
-        delta: Isometry3<f32>,
+        delta: Isometry<f32>,
         half_height: f32,
         radius: f32,
         color: Point3<f32>,
diff --git a/src_testbed/objects/heightfield.rs b/src_testbed/objects/heightfield.rs
index fed168d..a2999b7 100644
--- a/src_testbed/objects/heightfield.rs
+++ b/src_testbed/objects/heightfield.rs
@@ -1,15 +1,16 @@
-#[cfg(feature = "dim3")]
-use crate::objects::node::{self, GraphicsNode};
 use cdl::shape;
-use kiss3d::resource::Mesh;
 use kiss3d::window::Window;
 use na::{self, Point3};
 use rapier::geometry::{ColliderHandle, ColliderSet};
 #[cfg(feature = "dim2")]
 use rapier::math::Point;
 #[cfg(feature = "dim3")]
-use rapier::math::Vector;
-use std::cell::RefCell;
+use {
+    crate::objects::node::{self, GraphicsNode},
+    kiss3d::resource::Mesh,
+    rapier::math::Vector,
+    std::cell::RefCell,
+};
 
 pub struct HeightField {
     color: Point3<f32>,
-- 
cgit 


From e2006599a8fa90090393ff4fed326ee78fd7c0b7 Mon Sep 17 00:00:00 2001
From: Crozet Sébastien <developer@crozet.re>
Date: Wed, 20 Jan 2021 15:15:03 +0100
Subject: Add 3D convex decomposition example.

---
 src_testbed/objects/convex.rs | 13 +++++++++++--
 1 file changed, 11 insertions(+), 2 deletions(-)

(limited to 'src_testbed/objects')

diff --git a/src_testbed/objects/convex.rs b/src_testbed/objects/convex.rs
index 3f68367..51b1cb4 100644
--- a/src_testbed/objects/convex.rs
+++ b/src_testbed/objects/convex.rs
@@ -31,8 +31,17 @@ impl Convex {
         let node = {
             use std::cell::RefCell;
             use std::rc::Rc;
-            let is = indices.into_iter().map(na::convert).collect();
-            let mesh = kiss3d::resource::Mesh::new(vertices, is, None, None, false);
+            let mut mesh_vertices = Vec::new();
+            let mut mesh_indices = Vec::new();
+            for idx in indices {
+                let i = mesh_vertices.len() as u16;
+                mesh_vertices.push(vertices[idx.x as usize]);
+                mesh_vertices.push(vertices[idx.y as usize]);
+                mesh_vertices.push(vertices[idx.z as usize]);
+                mesh_indices.push(Point3::new(i, i + 1, i + 2));
+            }
+
+            let mesh = kiss3d::resource::Mesh::new(mesh_vertices, mesh_indices, None, None, false);
             window.add_mesh(Rc::new(RefCell::new(mesh)), na::Vector3::from_element(1.0))
         };
 
-- 
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/objects/convex.rs      | 8 ++++----
 src_testbed/objects/heightfield.rs | 5 ++++-
 src_testbed/objects/mesh.rs        | 7 +++++--
 3 files changed, 13 insertions(+), 7 deletions(-)

(limited to 'src_testbed/objects')

diff --git a/src_testbed/objects/convex.rs b/src_testbed/objects/convex.rs
index 51b1cb4..95ef74a 100644
--- a/src_testbed/objects/convex.rs
+++ b/src_testbed/objects/convex.rs
@@ -21,7 +21,7 @@ impl Convex {
         body: ColliderHandle,
         delta: Isometry<f32>,
         vertices: Vec<Point<f32>>,
-        #[cfg(feature = "dim3")] indices: Vec<Point<u32>>,
+        #[cfg(feature = "dim3")] indices: Vec<[u32; 3]>,
         color: Point3<f32>,
         window: &mut Window,
     ) -> Convex {
@@ -35,9 +35,9 @@ impl Convex {
             let mut mesh_indices = Vec::new();
             for idx in indices {
                 let i = mesh_vertices.len() as u16;
-                mesh_vertices.push(vertices[idx.x as usize]);
-                mesh_vertices.push(vertices[idx.y as usize]);
-                mesh_vertices.push(vertices[idx.z as usize]);
+                mesh_vertices.push(vertices[idx[0] as usize]);
+                mesh_vertices.push(vertices[idx[1] as usize]);
+                mesh_vertices.push(vertices[idx[2] as usize]);
                 mesh_indices.push(Point3::new(i, i + 1, i + 2));
             }
 
diff --git a/src_testbed/objects/heightfield.rs b/src_testbed/objects/heightfield.rs
index a2999b7..cb5edf3 100644
--- a/src_testbed/objects/heightfield.rs
+++ b/src_testbed/objects/heightfield.rs
@@ -55,7 +55,10 @@ impl HeightField {
         use std::rc::Rc;
 
         let (vertices, indices) = heightfield.to_trimesh();
-        let indices = indices.into_iter().map(|i| na::convert(i)).collect();
+        let indices = indices
+            .into_iter()
+            .map(|idx| Point3::new(idx[0] as u16, idx[1] as u16, idx[2] as u16))
+            .collect();
         let mesh = Mesh::new(vertices, indices, None, None, false);
 
         let mut res = HeightField {
diff --git a/src_testbed/objects/mesh.rs b/src_testbed/objects/mesh.rs
index 5187a8b..5505de3 100644
--- a/src_testbed/objects/mesh.rs
+++ b/src_testbed/objects/mesh.rs
@@ -17,12 +17,15 @@ impl Mesh {
     pub fn new(
         collider: ColliderHandle,
         vertices: Vec<Point<f32>>,
-        indices: Vec<Point3<u32>>,
+        indices: Vec<[u32; 3]>,
         color: Point3<f32>,
         window: &mut window::Window,
     ) -> Mesh {
         let vs = vertices;
-        let is = indices.into_iter().map(na::convert).collect();
+        let is = indices
+            .into_iter()
+            .map(|idx| Point3::new(idx[0] as u16, idx[1] as u16, idx[2] as u16))
+            .collect();
 
         let mesh;
         let gfx;
-- 
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')

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 


From 8f7220f03d3c23574b9ece09d81d32e862f1b5c6 Mon Sep 17 00:00:00 2001
From: Crozet Sébastien <developer@crozet.re>
Date: Sun, 24 Jan 2021 11:13:44 +0100
Subject: Rename cdl to parry.

---
 src_testbed/objects/heightfield.rs | 2 +-
 src_testbed/objects/polyline.rs    | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

(limited to 'src_testbed/objects')

diff --git a/src_testbed/objects/heightfield.rs b/src_testbed/objects/heightfield.rs
index cb5edf3..913a732 100644
--- a/src_testbed/objects/heightfield.rs
+++ b/src_testbed/objects/heightfield.rs
@@ -1,6 +1,6 @@
-use cdl::shape;
 use kiss3d::window::Window;
 use na::{self, Point3};
+use parry::shape;
 use rapier::geometry::{ColliderHandle, ColliderSet};
 #[cfg(feature = "dim2")]
 use rapier::math::Point;
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<f32>,
-- 
cgit 


From 23a86c294e48da9c3aad82284a09791aabfeb88d Mon Sep 17 00:00:00 2001
From: Crozet Sébastien <developer@crozet.re>
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<f32>,
     base_color: Point3<f32>,
-    vertices: Vec<Point2<f32>>,
-    indices: Vec<Point2<usize>>,
-    collider: DefaultColliderHandle,
-    pos: Isometry2<f32>,
+    vertices: Vec<Point<f32>>,
+    indices: Vec<[u32; 2]>,
+    collider: ColliderHandle,
+    pos: Isometry<f32>,
 }
 
 impl Polyline {
     pub fn new(
-        collider: DefaultColliderHandle,
-        colliders: &DefaultColliderSet<f32>,
-        _: Isometry2<f32>,
-        vertices: Vec<Point2<f32>>,
-        indices: Vec<Point2<usize>>,
+        collider: ColliderHandle,
+        vertices: Vec<Point<f32>>,
+        indices: Vec<[u32; 2]>,
         color: Point3<f32>,
-        _: &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<f32>) {
-        // 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::<shape::Polyline<f32>>().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 


From a3324f85131215613b7a8acb60d9ee9517cc803d Mon Sep 17 00:00:00 2001
From: Crozet Sébastien <developer@crozet.re>
Date: Tue, 26 Jan 2021 16:58:58 +0100
Subject: Fix compilation of the 3D testbed.

---
 src_testbed/objects/node.rs | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

(limited to 'src_testbed/objects')

diff --git a/src_testbed/objects/node.rs b/src_testbed/objects/node.rs
index 64c8ad4..1bc491f 100644
--- a/src_testbed/objects/node.rs
+++ b/src_testbed/objects/node.rs
@@ -104,8 +104,9 @@ impl Node {
             Node::Convex(ref n) => Some(n.scene_node()),
             Node::Cylinder(ref n) => Some(n.scene_node()),
             Node::Cone(ref n) => Some(n.scene_node()),
+            Node::Polyline(_) => None,
             #[cfg(feature = "dim2")]
-            _ => None,
+            Node::HeightField(_) => None,
         }
     }
 
@@ -122,8 +123,9 @@ impl Node {
             Node::Convex(ref mut n) => Some(n.scene_node_mut()),
             Node::Cylinder(ref mut n) => Some(n.scene_node_mut()),
             Node::Cone(ref mut n) => Some(n.scene_node_mut()),
+            Node::Polyline(_) => None,
             #[cfg(feature = "dim2")]
-            _ => None,
+            Node::HeightField(_) => None,
         }
     }
 
-- 
cgit