From faec3d5d46c88e2949179dd2789899e5cf26ed48 Mon Sep 17 00:00:00 2001 From: Crozet Sébastien Date: Mon, 12 Oct 2020 18:33:58 +0200 Subject: Start adding cylinders. --- src_testbed/engine.rs | 9 +++++ src_testbed/objects/cylinder.rs | 74 +++++++++++++++++++++++++++++++++++++++++ src_testbed/objects/mod.rs | 1 + src_testbed/objects/node.rs | 9 +++++ 4 files changed, 93 insertions(+) create mode 100644 src_testbed/objects/cylinder.rs (limited to 'src_testbed') diff --git a/src_testbed/engine.rs b/src_testbed/engine.rs index 217da48..ca2d71f 100644 --- a/src_testbed/engine.rs +++ b/src_testbed/engine.rs @@ -26,6 +26,7 @@ use rapier::geometry::{Collider, ColliderHandle, ColliderSet, Shape}; //#[cfg(feature = "fluids")] //use crate::objects::FluidRenderingMode; use crate::objects::capsule::Capsule; +use crate::objects::cylinder::Cylinder; use crate::objects::mesh::Mesh; use rand::{Rng, SeedableRng}; use rand_pcg::Pcg32; @@ -392,6 +393,14 @@ impl GraphicsManager { color, window, ))), + #[cfg(feature = "dim3")] + Shape::Cylinder(cylinder) => out.push(Node::Cylinder(Cylinder::new( + handle, + cylinder.half_height, + cylinder.radius, + color, + window, + ))), } } diff --git a/src_testbed/objects/cylinder.rs b/src_testbed/objects/cylinder.rs new file mode 100644 index 0000000..01a6737 --- /dev/null +++ b/src_testbed/objects/cylinder.rs @@ -0,0 +1,74 @@ +use crate::objects::node::{self, GraphicsNode}; +use kiss3d::window::Window; +use na::Point3; +use rapier::geometry::{ColliderHandle, ColliderSet}; +use rapier::math::Isometry; + +pub struct Cylinder { + color: Point3, + base_color: Point3, + gfx: GraphicsNode, + collider: ColliderHandle, +} + +impl Cylinder { + pub fn new( + collider: ColliderHandle, + half_height: f32, + radius: f32, + color: Point3, + window: &mut Window, + ) -> Cylinder { + #[cfg(feature = "dim2")] + let node = window.add_rectangle(radius, half_height); + #[cfg(feature = "dim3")] + let node = window.add_cylinder(radius, half_height * 2.0); + + let mut res = Cylinder { + color, + base_color: color, + gfx: node, + collider, + }; + + // res.gfx.set_texture_from_file(&Path::new("media/kitten.png"), "kitten"); + res.gfx.set_color(color.x, color.y, color.z); + res + } + + pub fn select(&mut self) { + self.color = Point3::new(1.0, 0.0, 0.0); + } + + pub fn unselect(&mut self) { + self.color = self.base_color; + } + + pub fn set_color(&mut self, color: Point3) { + self.gfx.set_color(color.x, color.y, color.z); + self.color = color; + self.base_color = color; + } + + pub fn update(&mut self, colliders: &ColliderSet) { + node::update_scene_node( + &mut self.gfx, + colliders, + self.collider, + &self.color, + &Isometry::identity(), + ); + } + + pub fn scene_node(&self) -> &GraphicsNode { + &self.gfx + } + + pub fn scene_node_mut(&mut self) -> &mut GraphicsNode { + &mut self.gfx + } + + pub fn object(&self) -> ColliderHandle { + self.collider + } +} diff --git a/src_testbed/objects/mod.rs b/src_testbed/objects/mod.rs index 82895b3..51db9d4 100644 --- a/src_testbed/objects/mod.rs +++ b/src_testbed/objects/mod.rs @@ -2,6 +2,7 @@ pub mod ball; pub mod box_node; pub mod capsule; pub mod convex; +pub mod cylinder; pub mod heightfield; pub mod mesh; pub mod node; diff --git a/src_testbed/objects/node.rs b/src_testbed/objects/node.rs index 93b5eac..14668e8 100644 --- a/src_testbed/objects/node.rs +++ b/src_testbed/objects/node.rs @@ -10,6 +10,7 @@ use crate::objects::mesh::Mesh; use kiss3d::window::Window; use na::Point3; +use crate::objects::cylinder::Cylinder; use rapier::geometry::{ColliderHandle, ColliderSet}; use rapier::math::Isometry; @@ -28,6 +29,7 @@ pub enum Node { // Polyline(Polyline), Mesh(Mesh), Convex(Convex), + Cylinder(Cylinder), } impl Node { @@ -42,6 +44,7 @@ impl Node { // 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(), } } @@ -56,6 +59,7 @@ impl Node { // 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(), } } @@ -70,6 +74,7 @@ impl Node { // 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), } } @@ -97,6 +102,7 @@ impl Node { Node::HeightField(ref n) => Some(n.scene_node()), Node::Mesh(ref n) => Some(n.scene_node()), Node::Convex(ref n) => Some(n.scene_node()), + Node::Cylinder(ref n) => Some(n.scene_node()), #[cfg(feature = "dim2")] _ => None, } @@ -113,6 +119,7 @@ impl Node { Node::HeightField(ref mut n) => Some(n.scene_node_mut()), Node::Mesh(ref mut n) => Some(n.scene_node_mut()), Node::Convex(ref mut n) => Some(n.scene_node_mut()), + Node::Cylinder(ref mut n) => Some(n.scene_node_mut()), #[cfg(feature = "dim2")] _ => None, } @@ -129,6 +136,7 @@ impl Node { // Node::Polyline(ref n) => n.object(), Node::Mesh(ref n) => n.object(), Node::Convex(ref n) => n.object(), + Node::Cylinder(ref n) => n.object(), } } @@ -143,6 +151,7 @@ impl Node { // 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), } } } -- cgit From 865ce8a8e5301b23ca474adaaffe8b43e725803e Mon Sep 17 00:00:00 2001 From: Crozet Sébastien Date: Tue, 20 Oct 2020 11:55:33 +0200 Subject: Collider shape: use a trait-object instead of an enum. --- src_testbed/engine.rs | 65 ++++++++++++++++++++++++++++++++------------------- 1 file changed, 41 insertions(+), 24 deletions(-) (limited to 'src_testbed') diff --git a/src_testbed/engine.rs b/src_testbed/engine.rs index ca2d71f..ca1a2b8 100644 --- a/src_testbed/engine.rs +++ b/src_testbed/engine.rs @@ -350,33 +350,44 @@ impl GraphicsManager { color: Point3, out: &mut Vec, ) { - match collider.shape() { - Shape::Ball(ball) => { - out.push(Node::Ball(Ball::new(handle, ball.radius, color, window))) - } - Shape::Polygon(poly) => out.push(Node::Convex(Convex::new( - handle, - poly.vertices().to_vec(), - color, - window, - ))), - Shape::Cuboid(cuboid) => out.push(Node::Box(BoxNode::new( + let shape = collider.shape(); + + if let Some(ball) = shape.as_ball() { + out.push(Node::Ball(Ball::new(handle, ball.radius, color, window))) + } + + // Shape::Polygon(poly) => out.push(Node::Convex(Convex::new( + // handle, + // poly.vertices().to_vec(), + // color, + // window, + // ))), + + if let Some(cuboid) = shape.as_cuboid() { + out.push(Node::Box(BoxNode::new( handle, cuboid.half_extents, color, window, - ))), - Shape::Capsule(capsule) => { - out.push(Node::Capsule(Capsule::new(handle, capsule, color, window))) - } - Shape::Triangle(triangle) => out.push(Node::Mesh(Mesh::new( + ))) + } + + if let Some(capsule) = shape.as_capsule() { + out.push(Node::Capsule(Capsule::new(handle, capsule, color, window))) + } + + if let Some(triangle) = shape.as_triangle() { + out.push(Node::Mesh(Mesh::new( handle, vec![triangle.a, triangle.b, triangle.c], vec![Point3::new(0, 1, 2)], color, window, - ))), - Shape::Trimesh(trimesh) => out.push(Node::Mesh(Mesh::new( + ))) + } + + if let Some(trimesh) = shape.as_trimesh() { + out.push(Node::Mesh(Mesh::new( handle, trimesh.vertices().to_vec(), trimesh @@ -386,21 +397,27 @@ impl GraphicsManager { .collect(), color, window, - ))), - Shape::HeightField(heightfield) => out.push(Node::HeightField(HeightField::new( + ))) + } + + if let Some(heightfield) = shape.as_heightfield() { + out.push(Node::HeightField(HeightField::new( handle, heightfield, color, window, - ))), - #[cfg(feature = "dim3")] - Shape::Cylinder(cylinder) => out.push(Node::Cylinder(Cylinder::new( + ))) + } + + #[cfg(feature = "dim3")] + if let Some(cylinder) = shape.as_cylinder() { + out.push(Node::Cylinder(Cylinder::new( handle, cylinder.half_height, cylinder.radius, color, window, - ))), + ))) } } -- cgit From d513c22d33ab44b0048355bcfd1db4173b3f7ece Mon Sep 17 00:00:00 2001 From: Crozet Sébastien Date: Tue, 20 Oct 2020 14:16:01 +0200 Subject: Add cone support. --- src_testbed/engine.rs | 12 +++++++ src_testbed/objects/capsule.rs | 2 +- src_testbed/objects/cone.rs | 74 ++++++++++++++++++++++++++++++++++++++++++ src_testbed/objects/mod.rs | 1 + src_testbed/objects/node.rs | 9 +++++ 5 files changed, 97 insertions(+), 1 deletion(-) create mode 100644 src_testbed/objects/cone.rs (limited to 'src_testbed') diff --git a/src_testbed/engine.rs b/src_testbed/engine.rs index ca1a2b8..1908745 100644 --- a/src_testbed/engine.rs +++ b/src_testbed/engine.rs @@ -26,6 +26,7 @@ use rapier::geometry::{Collider, ColliderHandle, ColliderSet, Shape}; //#[cfg(feature = "fluids")] //use crate::objects::FluidRenderingMode; use crate::objects::capsule::Capsule; +use crate::objects::cone::Cone; use crate::objects::cylinder::Cylinder; use crate::objects::mesh::Mesh; use rand::{Rng, SeedableRng}; @@ -419,6 +420,17 @@ impl GraphicsManager { window, ))) } + + #[cfg(feature = "dim3")] + if let Some(cone) = shape.as_cone() { + out.push(Node::Cone(Cone::new( + handle, + cone.half_height, + cone.radius, + color, + window, + ))) + } } /* diff --git a/src_testbed/objects/capsule.rs b/src_testbed/objects/capsule.rs index 23160be..f285b81 100644 --- a/src_testbed/objects/capsule.rs +++ b/src_testbed/objects/capsule.rs @@ -19,7 +19,7 @@ impl Capsule { window: &mut window::Window, ) -> Capsule { let r = capsule.radius; - let h = capsule.half_height() * 2.0; + let h = capsule.half_height * 2.0; #[cfg(feature = "dim2")] let node = window.add_planar_capsule(r, h); #[cfg(feature = "dim3")] diff --git a/src_testbed/objects/cone.rs b/src_testbed/objects/cone.rs new file mode 100644 index 0000000..58b014f --- /dev/null +++ b/src_testbed/objects/cone.rs @@ -0,0 +1,74 @@ +use crate::objects::node::{self, GraphicsNode}; +use kiss3d::window::Window; +use na::Point3; +use rapier::geometry::{ColliderHandle, ColliderSet}; +use rapier::math::Isometry; + +pub struct Cone { + color: Point3, + base_color: Point3, + gfx: GraphicsNode, + collider: ColliderHandle, +} + +impl Cone { + pub fn new( + collider: ColliderHandle, + half_height: f32, + radius: f32, + color: Point3, + window: &mut Window, + ) -> Cone { + #[cfg(feature = "dim2")] + let node = window.add_rectangle(radius, half_height); + #[cfg(feature = "dim3")] + let node = window.add_cone(radius, half_height * 2.0); + + let mut res = Cone { + color, + base_color: color, + gfx: node, + collider, + }; + + // res.gfx.set_texture_from_file(&Path::new("media/kitten.png"), "kitten"); + res.gfx.set_color(color.x, color.y, color.z); + res + } + + pub fn select(&mut self) { + self.color = Point3::new(1.0, 0.0, 0.0); + } + + pub fn unselect(&mut self) { + self.color = self.base_color; + } + + pub fn set_color(&mut self, color: Point3) { + self.gfx.set_color(color.x, color.y, color.z); + self.color = color; + self.base_color = color; + } + + pub fn update(&mut self, colliders: &ColliderSet) { + node::update_scene_node( + &mut self.gfx, + colliders, + self.collider, + &self.color, + &Isometry::identity(), + ); + } + + pub fn scene_node(&self) -> &GraphicsNode { + &self.gfx + } + + pub fn scene_node_mut(&mut self) -> &mut GraphicsNode { + &mut self.gfx + } + + pub fn object(&self) -> ColliderHandle { + self.collider + } +} diff --git a/src_testbed/objects/mod.rs b/src_testbed/objects/mod.rs index 51db9d4..e4d7bc4 100644 --- a/src_testbed/objects/mod.rs +++ b/src_testbed/objects/mod.rs @@ -1,6 +1,7 @@ pub mod ball; pub mod box_node; pub mod capsule; +pub mod cone; pub mod convex; pub mod cylinder; pub mod heightfield; diff --git a/src_testbed/objects/node.rs b/src_testbed/objects/node.rs index 14668e8..d1de799 100644 --- a/src_testbed/objects/node.rs +++ b/src_testbed/objects/node.rs @@ -10,6 +10,7 @@ use crate::objects::mesh::Mesh; use kiss3d::window::Window; use na::Point3; +use crate::objects::cone::Cone; use crate::objects::cylinder::Cylinder; use rapier::geometry::{ColliderHandle, ColliderSet}; use rapier::math::Isometry; @@ -30,6 +31,7 @@ pub enum Node { Mesh(Mesh), Convex(Convex), Cylinder(Cylinder), + Cone(Cone), } impl Node { @@ -45,6 +47,7 @@ impl Node { Node::Mesh(ref mut n) => n.select(), Node::Convex(ref mut n) => n.select(), Node::Cylinder(ref mut n) => n.select(), + Node::Cone(ref mut n) => n.select(), } } @@ -60,6 +63,7 @@ impl Node { Node::Mesh(ref mut n) => n.unselect(), Node::Convex(ref mut n) => n.unselect(), Node::Cylinder(ref mut n) => n.unselect(), + Node::Cone(ref mut n) => n.unselect(), } } @@ -75,6 +79,7 @@ impl Node { Node::Mesh(ref mut n) => n.update(colliders), Node::Convex(ref mut n) => n.update(colliders), Node::Cylinder(ref mut n) => n.update(colliders), + Node::Cone(ref mut n) => n.update(colliders), } } @@ -103,6 +108,7 @@ impl Node { Node::Mesh(ref n) => Some(n.scene_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()), #[cfg(feature = "dim2")] _ => None, } @@ -120,6 +126,7 @@ impl Node { Node::Mesh(ref mut n) => Some(n.scene_node_mut()), 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()), #[cfg(feature = "dim2")] _ => None, } @@ -137,6 +144,7 @@ impl Node { Node::Mesh(ref n) => n.object(), Node::Convex(ref n) => n.object(), Node::Cylinder(ref n) => n.object(), + Node::Cone(ref n) => n.object(), } } @@ -152,6 +160,7 @@ impl Node { 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), + Node::Cone(ref mut n) => n.set_color(color), } } } -- cgit From 64958470950cd9832a669b1bd5d70a2aeb6a85ef Mon Sep 17 00:00:00 2001 From: Crozet Sébastien Date: Tue, 20 Oct 2020 15:57:54 +0200 Subject: Add rounded cylinder. --- src_testbed/engine.rs | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'src_testbed') diff --git a/src_testbed/engine.rs b/src_testbed/engine.rs index 1908745..7bdc812 100644 --- a/src_testbed/engine.rs +++ b/src_testbed/engine.rs @@ -411,7 +411,7 @@ impl GraphicsManager { } #[cfg(feature = "dim3")] - if let Some(cylinder) = shape.as_cylinder() { + if let Some(cylinder) = shape.as_cylinder().or(shape.as_rounded().map(|r| &r.shape)) { out.push(Node::Cylinder(Cylinder::new( handle, cylinder.half_height, -- cgit From 949e3f5384a366c3bff5415c5db4635e811a580e Mon Sep 17 00:00:00 2001 From: Crozet Sébastien Date: Tue, 20 Oct 2020 16:22:53 +0200 Subject: Fix many warnings. --- src_testbed/engine.rs | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) (limited to 'src_testbed') diff --git a/src_testbed/engine.rs b/src_testbed/engine.rs index 7bdc812..d6edea5 100644 --- a/src_testbed/engine.rs +++ b/src_testbed/engine.rs @@ -9,11 +9,10 @@ use na::Point3; use crate::math::Point; use crate::objects::ball::Ball; use crate::objects::box_node::Box as BoxNode; -use crate::objects::convex::Convex; use crate::objects::heightfield::HeightField; use crate::objects::node::{GraphicsNode, Node}; use rapier::dynamics::{RigidBodyHandle, RigidBodySet}; -use rapier::geometry::{Collider, ColliderHandle, ColliderSet, Shape}; +use rapier::geometry::{Collider, ColliderHandle, ColliderSet}; //use crate::objects::capsule::Capsule; //use crate::objects::convex::Convex; //#[cfg(feature = "fluids")] @@ -26,7 +25,9 @@ use rapier::geometry::{Collider, ColliderHandle, ColliderSet, Shape}; //#[cfg(feature = "fluids")] //use crate::objects::FluidRenderingMode; use crate::objects::capsule::Capsule; +#[cfg(feature = "dim3")] use crate::objects::cone::Cone; +#[cfg(feature = "dim3")] use crate::objects::cylinder::Cylinder; use crate::objects::mesh::Mesh; use rand::{Rng, SeedableRng}; -- cgit From 3da333f11c93898808eb9233c0cf333743bbf906 Mon Sep 17 00:00:00 2001 From: Crozet Sébastien Date: Mon, 26 Oct 2020 15:12:10 +0100 Subject: Fix testbed compilation with other backends. --- src_testbed/box2d_backend.rs | 74 ++++++++++++++++++++--------------------- src_testbed/nphysics_backend.rs | 48 +++++++++++++++----------- src_testbed/physx_backend.rs | 38 +++++++++------------ 3 files changed, 80 insertions(+), 80 deletions(-) (limited to 'src_testbed') diff --git a/src_testbed/box2d_backend.rs b/src_testbed/box2d_backend.rs index c25ff1f..9156c2a 100644 --- a/src_testbed/box2d_backend.rs +++ b/src_testbed/box2d_backend.rs @@ -167,44 +167,42 @@ impl Box2dWorld { fixture_def.is_sensor = collider.is_sensor(); fixture_def.filter = b2::Filter::new(); - match collider.shape() { - Shape::Ball(b) => { - let mut b2_shape = b2::CircleShape::new(); - b2_shape.set_radius(b.radius); - b2_shape.set_position(center); - body.create_fixture(&b2_shape, &mut fixture_def); - } - Shape::Cuboid(c) => { - let b2_shape = b2::PolygonShape::new_box(c.half_extents.x, c.half_extents.y); - body.create_fixture(&b2_shape, &mut fixture_def); - } - Shape::Polygon(poly) => { - let points: Vec<_> = poly - .vertices() - .iter() - .map(|p| collider.position_wrt_parent() * p) - .map(|p| na_vec_to_b2_vec(p.coords)) - .collect(); - let b2_shape = b2::PolygonShape::new_with(&points); - body.create_fixture(&b2_shape, &mut fixture_def); - } - Shape::HeightField(heightfield) => { - let mut segments = heightfield.segments(); - let seg1 = segments.next().unwrap(); - let mut vertices = vec![ - na_vec_to_b2_vec(seg1.a.coords), - na_vec_to_b2_vec(seg1.b.coords), - ]; - - // TODO: this will not handle holes properly. - segments.for_each(|seg| { - vertices.push(na_vec_to_b2_vec(seg.b.coords)); - }); - - let b2_shape = b2::ChainShape::new_chain(&vertices); - body.create_fixture(&b2_shape, &mut fixture_def); - } - _ => eprintln!("Creating a shape unknown to the Box2d backend."), + let shape = collider.shape(); + + if let Some(b) = shape.as_ball() { + let mut b2_shape = b2::CircleShape::new(); + b2_shape.set_radius(b.radius); + b2_shape.set_position(center); + body.create_fixture(&b2_shape, &mut fixture_def); + } else if let Some(c) = shape.as_cuboid() { + let b2_shape = b2::PolygonShape::new_box(c.half_extents.x, c.half_extents.y); + body.create_fixture(&b2_shape, &mut fixture_def); + // } else if let Some(polygon) = shape.as_polygon() { + // let points: Vec<_> = poly + // .vertices() + // .iter() + // .map(|p| collider.position_wrt_parent() * p) + // .map(|p| na_vec_to_b2_vec(p.coords)) + // .collect(); + // let b2_shape = b2::PolygonShape::new_with(&points); + // body.create_fixture(&b2_shape, &mut fixture_def); + } else if let Some(heightfield) = shape.as_heightfield() { + let mut segments = heightfield.segments(); + let seg1 = segments.next().unwrap(); + let mut vertices = vec![ + na_vec_to_b2_vec(seg1.a.coords), + na_vec_to_b2_vec(seg1.b.coords), + ]; + + // TODO: this will not handle holes properly. + segments.for_each(|seg| { + vertices.push(na_vec_to_b2_vec(seg.b.coords)); + }); + + let b2_shape = b2::ChainShape::new_chain(&vertices); + body.create_fixture(&b2_shape, &mut fixture_def); + } else { + eprintln!("Creating a shape unknown to the Box2d backend."); } } diff --git a/src_testbed/nphysics_backend.rs b/src_testbed/nphysics_backend.rs index c2a7fb1..b449c44 100644 --- a/src_testbed/nphysics_backend.rs +++ b/src_testbed/nphysics_backend.rs @@ -177,28 +177,36 @@ fn nphysics_collider_from_rapier_collider( ) -> Option> { let margin = ColliderDesc::::default_margin(); let mut pos = *collider.position_wrt_parent(); - - let shape = match collider.shape() { - Shape::Cuboid(cuboid) => { - ShapeHandle::new(Cuboid::new(cuboid.half_extents.map(|e| e - margin))) + let shape = collider.shape(); + + let shape = if let Some(cuboid) = shape.as_cuboid() { + ShapeHandle::new(Cuboid::new(cuboid.half_extents.map(|e| e - margin))) + } else if let Some(ball) = shape.as_ball() { + ShapeHandle::new(Ball::new(ball.radius - margin)) + } else if let Some(capsule) = shape.as_capsule() { + ShapeHandle::new(Capsule::new(capsule.half_height, capsule.radius)) + } else if let Some(heightfield) = shape.as_heightfield() { + ShapeHandle::new(heightfield.clone()) + } else { + #[cfg(feature = "dim3")] + if let Some(trimesh) = shape.as_trimesh() { + ShapeHandle::new(TriMesh::new( + trimesh.vertices().to_vec(), + trimesh + .indices() + .iter() + .map(|idx| na::convert(*idx)) + .collect(), + None, + )) + } else { + return None; } - Shape::Ball(ball) => ShapeHandle::new(Ball::new(ball.radius - margin)), - Shape::Capsule(capsule) => { - pos *= capsule.transform_wrt_y(); - ShapeHandle::new(Capsule::new(capsule.half_height(), capsule.radius)) + + #[cfg(feature = "dim2")] + { + return None; } - Shape::HeightField(heightfield) => ShapeHandle::new(heightfield.clone()), - #[cfg(feature = "dim3")] - Shape::Trimesh(trimesh) => ShapeHandle::new(TriMesh::new( - trimesh.vertices().to_vec(), - trimesh - .indices() - .iter() - .map(|idx| na::convert(*idx)) - .collect(), - None, - )), - _ => return None, }; let density = if is_dynamic { collider.density() } else { 0.0 }; 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)> { 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 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/nphysics_backend.rs | 3 ++- src_testbed/objects/capsule.rs | 2 +- src_testbed/physx_backend.rs | 11 +++++++++-- 3 files changed, 12 insertions(+), 4 deletions(-) (limited to 'src_testbed') diff --git a/src_testbed/nphysics_backend.rs b/src_testbed/nphysics_backend.rs index b449c44..a2b0331 100644 --- a/src_testbed/nphysics_backend.rs +++ b/src_testbed/nphysics_backend.rs @@ -184,7 +184,8 @@ fn nphysics_collider_from_rapier_collider( } else if let Some(ball) = shape.as_ball() { ShapeHandle::new(Ball::new(ball.radius - margin)) } else if let Some(capsule) = shape.as_capsule() { - ShapeHandle::new(Capsule::new(capsule.half_height, capsule.radius)) + pos *= capsule.transform_wrt_y(); + ShapeHandle::new(Capsule::new(capsule.half_height(), capsule.radius)) } else if let Some(heightfield) = shape.as_heightfield() { ShapeHandle::new(heightfield.clone()) } else { diff --git a/src_testbed/objects/capsule.rs b/src_testbed/objects/capsule.rs index f285b81..23160be 100644 --- a/src_testbed/objects/capsule.rs +++ b/src_testbed/objects/capsule.rs @@ -19,7 +19,7 @@ impl Capsule { window: &mut window::Window, ) -> Capsule { let r = capsule.radius; - let h = capsule.half_height * 2.0; + let h = capsule.half_height() * 2.0; #[cfg(feature = "dim2")] let node = window.add_planar_capsule(r, h); #[cfg(feature = "dim3")] 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 Date: Mon, 26 Oct 2020 16:36:07 +0100 Subject: Fix multiple warnings. --- src_testbed/box2d_backend.rs | 2 +- src_testbed/nphysics_backend.rs | 2 +- src_testbed/physx_backend.rs | 2 +- src_testbed/testbed.rs | 4 +++- 4 files changed, 6 insertions(+), 4 deletions(-) (limited to 'src_testbed') diff --git a/src_testbed/box2d_backend.rs b/src_testbed/box2d_backend.rs index 9156c2a..769b12d 100644 --- a/src_testbed/box2d_backend.rs +++ b/src_testbed/box2d_backend.rs @@ -5,7 +5,7 @@ use rapier::counters::Counters; use rapier::dynamics::{ IntegrationParameters, JointParams, JointSet, RigidBodyHandle, RigidBodySet, }; -use rapier::geometry::{Collider, ColliderSet, Shape}; +use rapier::geometry::{Collider, ColliderSet}; use std::f32; use wrapped2d::b2; diff --git a/src_testbed/nphysics_backend.rs b/src_testbed/nphysics_backend.rs index a2b0331..3a0e487 100644 --- a/src_testbed/nphysics_backend.rs +++ b/src_testbed/nphysics_backend.rs @@ -12,7 +12,7 @@ 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::math::Vector; use std::collections::HashMap; #[cfg(feature = "dim3")] 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; diff --git a/src_testbed/testbed.rs b/src_testbed/testbed.rs index 3d7fd7d..2b733a3 100644 --- a/src_testbed/testbed.rs +++ b/src_testbed/testbed.rs @@ -21,7 +21,9 @@ use na::{self, Point2, Point3, Vector3}; use rapier::dynamics::{ ActivationStatus, IntegrationParameters, JointSet, RigidBodyHandle, RigidBodySet, }; -use rapier::geometry::{BroadPhase, ColliderSet, ContactEvent, NarrowPhase, ProximityEvent, Ray}; +#[cfg(feature = "dim3")] +use rapier::geometry::Ray; +use rapier::geometry::{BroadPhase, ColliderSet, ContactEvent, NarrowPhase, ProximityEvent}; use rapier::math::Vector; use rapier::pipeline::{ChannelEventCollector, PhysicsPipeline, QueryPipeline}; #[cfg(feature = "fluids")] -- cgit From 8c872dc0af9ece127a87b4adb112b0e1ed6ab249 Mon Sep 17 00:00:00 2001 From: Crozet Sébastien Date: Tue, 27 Oct 2020 09:20:40 +0100 Subject: Replace the Rounded type by a non-generic RoundCylinder type. --- src_testbed/engine.rs | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) (limited to 'src_testbed') diff --git a/src_testbed/engine.rs b/src_testbed/engine.rs index d6edea5..b02f146 100644 --- a/src_testbed/engine.rs +++ b/src_testbed/engine.rs @@ -412,7 +412,10 @@ impl GraphicsManager { } #[cfg(feature = "dim3")] - if let Some(cylinder) = shape.as_cylinder().or(shape.as_rounded().map(|r| &r.shape)) { + if let Some(cylinder) = shape + .as_cylinder() + .or(shape.as_round_cylinder().map(|r| &r.cylinder)) + { out.push(Node::Cylinder(Cylinder::new( handle, cylinder.half_height, -- cgit