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/physx_backend.rs | 38 ++++++++++++++++----------------------
 1 file changed, 16 insertions(+), 22 deletions(-)

(limited to 'src_testbed/physx_backend.rs')

diff --git a/src_testbed/physx_backend.rs b/src_testbed/physx_backend.rs
index ec2e2bf..822ad08 100644
--- a/src_testbed/physx_backend.rs
+++ b/src_testbed/physx_backend.rs
@@ -422,27 +422,22 @@ fn physx_collider_from_rapier_collider(
     collider: &Collider,
 ) -> Option<(ColliderDesc, Isometry3<f32>)> {
     let mut local_pose = *collider.position_wrt_parent();
-    let desc = match collider.shape() {
-        Shape::Cuboid(cuboid) => ColliderDesc::Box(
+    let shape = collider.shape();
+
+    let desc = if let Some(cuboid) = shape.as_cuboid() {
+        ColliderDesc::Box(
             cuboid.half_extents.x,
             cuboid.half_extents.y,
             cuboid.half_extents.z,
-        ),
-        Shape::Ball(ball) => ColliderDesc::Sphere(ball.radius),
-        Shape::Capsule(capsule) => {
-            let center = capsule.center();
-            let mut dir = capsule.b - capsule.a;
-
-            if dir.x < 0.0 {
-                dir = -dir;
-            }
-
-            let rot = UnitQuaternion::rotation_between(&Vector3::x(), &dir);
-            local_pose *=
-                Translation3::from(center.coords) * rot.unwrap_or(UnitQuaternion::identity());
-            ColliderDesc::Capsule(capsule.radius, capsule.height())
-        }
-        Shape::Trimesh(trimesh) => ColliderDesc::TriMesh {
+        )
+    } else if let Some(ball) = shape.as_ball() {
+        ColliderDesc::Sphere(ball.radius)
+    } else if let Some(capsule) = shape.as_capsule() {
+        let rot = UnitQuaternion::rotation_between(&Vector3::x(), &Vector3::y());
+        local_pose *= rot.unwrap_or(UnitQuaternion::identity());
+        ColliderDesc::Capsule(capsule.radius, capsule.height())
+    } else if let Some(trimesh) = shape.as_trimesh() {
+        ColliderDesc::TriMesh {
             vertices: trimesh
                 .vertices()
                 .iter()
@@ -450,11 +445,10 @@ fn physx_collider_from_rapier_collider(
                 .collect(),
             indices: trimesh.flat_indices().to_vec(),
             mesh_scale: Vector3::repeat(1.0).into_glam(),
-        },
-        _ => {
-            eprintln!("Creating a shape unknown to the PhysX backend.");
-            return None;
         }
+    } else {
+        eprintln!("Creating a shape unknown to the PhysX backend.");
+        return None;
     };
 
     Some((desc, local_pose))
-- 
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/physx_backend.rs | 11 +++++++++--
 1 file changed, 9 insertions(+), 2 deletions(-)

(limited to 'src_testbed/physx_backend.rs')

diff --git a/src_testbed/physx_backend.rs b/src_testbed/physx_backend.rs
index 822ad08..7db3c4c 100644
--- a/src_testbed/physx_backend.rs
+++ b/src_testbed/physx_backend.rs
@@ -433,8 +433,15 @@ fn physx_collider_from_rapier_collider(
     } else if let Some(ball) = shape.as_ball() {
         ColliderDesc::Sphere(ball.radius)
     } else if let Some(capsule) = shape.as_capsule() {
-        let rot = UnitQuaternion::rotation_between(&Vector3::x(), &Vector3::y());
-        local_pose *= rot.unwrap_or(UnitQuaternion::identity());
+        let center = capsule.center();
+        let mut dir = capsule.segment.b - capsule.segment.a;
+
+        if dir.x < 0.0 {
+            dir = -dir;
+        }
+
+        let rot = UnitQuaternion::rotation_between(&Vector3::x(), &dir);
+        local_pose *= Translation3::from(center.coords) * rot.unwrap_or(UnitQuaternion::identity());
         ColliderDesc::Capsule(capsule.radius, capsule.height())
     } else if let Some(trimesh) = shape.as_trimesh() {
         ColliderDesc::TriMesh {
-- 
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/physx_backend.rs | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

(limited to 'src_testbed/physx_backend.rs')

diff --git a/src_testbed/physx_backend.rs b/src_testbed/physx_backend.rs
index 7db3c4c..74d6af2 100644
--- a/src_testbed/physx_backend.rs
+++ b/src_testbed/physx_backend.rs
@@ -6,7 +6,7 @@ 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::utils::WBasis;
 use std::collections::HashMap;
 
-- 
cgit