path: root/src/geometry/collider_shape.rs

use crate::math::{Isometry, Point, Real, Vector};
use cdl::shape::{
    Ball, Capsule, Compound, Cuboid, HalfSpace, HeightField, RoundCuboid, RoundShape,
    RoundTriangle, Segment, Shape, ShapeType, TriMesh, Triangle,
};
#[cfg(feature = "dim3")]
use cdl::shape::{
    Cone, ConvexPolyhedron, Cylinder, RoundCone, RoundConvexPolyhedron, RoundCylinder,
};
#[cfg(feature = "dim2")]
use cdl::shape::{ConvexPolygon, RoundConvexPolygon};
use std::ops::Deref;
use std::sync::Arc;

/// The shape of a collider.
#[derive(Clone)]
pub struct ColliderShape(pub Arc<dyn Shape>);

impl Deref for ColliderShape {
    type Target = dyn Shape;
    fn deref(&self) -> &dyn Shape {
        &*self.0
    }
}

impl ColliderShape {
    /// Initialize a compound shape defined by its subshapes.
    pub fn compound(shapes: Vec<(Isometry<Real>, ColliderShape)>) -> Self {
        let raw_shapes = shapes.into_iter().map(|s| (s.0, s.1 .0)).collect();
        let compound = Compound::new(raw_shapes);
        ColliderShape(Arc::new(compound))
    }

    /// Initialize a ball shape defined by its radius.
    pub fn ball(radius: Real) -> Self {
        ColliderShape(Arc::new(Ball::new(radius)))
    }

    /// Initialize a cylindrical shape defined by its half-height
    /// (along along the y axis) and its radius.
    #[cfg(feature = "dim3")]
    pub fn cylinder(half_height: Real, radius: Real) -> Self {
        ColliderShape(Arc::new(Cylinder::new(half_height, radius)))
    }

    /// Initialize a rounded cylindrical shape defined by its half-height
    /// (along along the y axis), its radius, and its roundedness (the
    /// radius of the sphere used for dilating the cylinder).
    #[cfg(feature = "dim3")]
    pub fn round_cylinder(half_height: Real, radius: Real, border_radius: Real) -> Self {
        ColliderShape(Arc::new(RoundShape {
            base_shape: Cylinder::new(half_height, radius),
            border_radius,
        }))
    }

    /// Initialize a rounded cone shape defined by its half-height
    /// (along along the y axis), its radius, and its roundedness (the
    /// radius of the sphere used for dilating the cylinder).
    #[cfg(feature = "dim3")]
    pub fn round_cone(half_height: Real, radius: Real, border_radius: Real) -> Self {
        ColliderShape(Arc::new(RoundShape {
            base_shape: Cone::new(half_height, radius),
            border_radius,
        }))
    }

    /// Initialize a cone shape defined by its half-height
    /// (along along the y axis) and its basis radius.
    #[cfg(feature = "dim3")]
    pub fn cone(half_height: Real, radius: Real) -> Self {
        ColliderShape(Arc::new(Cone::new(half_height, radius)))
    }

    /// Initialize a cuboid shape defined by its half-extents.
    #[cfg(feature = "dim2")]
    pub fn cuboid(hx: Real, hy: Real) -> Self {
        ColliderShape(Arc::new(Cuboid::new(Vector::new(hx, hy))))
    }

    /// Initialize a round cuboid shape defined by its half-extents and border radius.
    #[cfg(feature = "dim2")]
    pub fn round_cuboid(hx: Real, hy: Real, border_radius: Real) -> Self {
        ColliderShape(Arc::new(RoundShape {
            base_shape: Cuboid::new(Vector::new(hx, hy)),
            border_radius,
        }))
    }

    /// Initialize a cuboid shape defined by its half-extents.
    #[cfg(feature = "dim3")]
    pub fn cuboid(hx: Real, hy: Real, hz: Real) -> Self {
        ColliderShape(Arc::new(Cuboid::new(Vector::new(hx, hy, hz))))
    }

    /// Initialize a round cuboid shape defined by its half-extents and border radius.
    #[cfg(feature = "dim3")]
    pub fn round_cuboid(hx: Real, hy: Real, hz: Real, border_radius: Real) -> Self {
        ColliderShape(Arc::new(RoundShape {
            base_shape: Cuboid::new(Vector::new(hx, hy, hz)),
            border_radius,
        }))
    }

    /// Initialize a capsule shape from its endpoints and radius.
    pub fn capsule(a: Point<Real>, b: Point<Real>, radius: Real) -> Self {
        ColliderShape(Arc::new(Capsule::new(a, b, radius)))
    }

    /// Initialize a segment shape from its endpoints.
    pub fn segment(a: Point<Real>, b: Point<Real>) -> Self {
        ColliderShape(Arc::new(Segment::new(a, b)))
    }

    /// Initializes a triangle shape.
    pub fn triangle(a: Point<Real>, b: Point<Real>, c: Point<Real>) -> Self {
        ColliderShape(Arc::new(Triangle::new(a, b, c)))
    }

    /// Initializes a triangle mesh shape defined by its vertex and index buffers.
    pub fn trimesh(vertices: Vec<Point<Real>>, indices: Vec<[u32; 3]>) -> Self {
        ColliderShape(Arc::new(TriMesh::new(vertices, indices)))
    }

    pub fn convex_hull(points: &[Point<Real>]) -> Option<Self> {
        #[cfg(feature = "dim2")]
        return ConvexPolygon::from_convex_hull(points).map(|ch| ColliderShape(Arc::new(ch)));
        #[cfg(feature = "dim3")]
        return ConvexPolyhedron::from_convex_hull(points).map(|ch| ColliderShape(Arc::new(ch)));
    }

    #[cfg(feature = "dim2")]
    pub fn convex_polyline(points: Vec<Point<Real>>) -> Option<Self> {
        ConvexPolygon::from_convex_polyline(points).map(|ch| ColliderShape(Arc::new(ch)))
    }

    #[cfg(feature = "dim3")]
    pub fn convex_mesh(points: Vec<Point<Real>>, indices: &[[u32; 3]]) -> Option<Self> {
        ConvexPolyhedron::from_convex_mesh(points, indices).map(|ch| ColliderShape(Arc::new(ch)))
    }

    pub fn round_convex_hull(points: &[Point<Real>], border_radius: Real) -> Option<Self> {
        #[cfg(feature = "dim2")]
        return ConvexPolygon::from_convex_hull(points).map(|ch| {
            ColliderShape(Arc::new(RoundShape {
                base_shape: ch,
                border_radius,
            }))
        });
        #[cfg(feature = "dim3")]
        return ConvexPolyhedron::from_convex_hull(points).map(|ch| {
            ColliderShape(Arc::new(RoundShape {
                base_shape: ch,
                border_radius,
            }))
        });
    }

    #[cfg(feature = "dim2")]
    pub fn round_convex_polyline(points: Vec<Point<Real>>, border_radius: Real) -> Option<Self> {
        ConvexPolygon::from_convex_polyline(points).map(|ch| {
            ColliderShape(Arc::new(RoundShape {
                base_shape: ch,
                border_radius,
            }))
        })
    }

    #[cfg(feature = "dim3")]
    pub fn round_convex_mesh(
        points: Vec<Point<Real>>,
        indices: &[[u32; 3]],
        border_radius: Real,
    ) -> Option<Self> {
        ConvexPolyhedron::from_convex_mesh(points, indices).map(|ch| {
            ColliderShape(Arc::new(RoundShape {
                base_shape: ch,
                border_radius,
            }))
        })
    }

    /// Initializes an heightfield shape defined by its set of height and a scale
    /// factor along each coordinate axis.
    #[cfg(feature = "dim2")]
    pub fn heightfield(heights: na::DVector<Real>, scale: Vector<Real>) -> Self {
        ColliderShape(Arc::new(HeightField::new(heights, scale)))
    }

    /// Initializes an heightfield shape on the x-z plane defined by its set of height and a scale
    /// factor along each coordinate axis.
    #[cfg(feature = "dim3")]
    pub fn heightfield(heights: na::DMatrix<Real>, scale: Vector<Real>) -> Self {
        ColliderShape(Arc::new(HeightField::new(heights, scale)))
    }
}

#[cfg(feature = "serde-serialize")]