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#[cfg(feature = "dim2")]
use ncollide::shape::ConvexPolygon;
use ncollide::shape::{Ball, Capsule, Cuboid, HeightField, ShapeHandle};
use nphysics::force_generator::DefaultForceGeneratorSet;
use nphysics::joint::{
DefaultJointConstraintSet, FixedConstraint, PrismaticConstraint, RevoluteConstraint,
};
use nphysics::object::{
BodyPartHandle, ColliderDesc, DefaultBodyHandle, DefaultBodySet, DefaultColliderSet,
RigidBodyDesc,
};
use nphysics::world::{DefaultGeometricalWorld, DefaultMechanicalWorld};
use rapier::counters::Counters;
use rapier::dynamics::{
IntegrationParameters, JointParams, JointSet, RigidBodyHandle, RigidBodySet,
};
use rapier::geometry::{Collider, ColliderSet};
use rapier::math::Vector;
use std::collections::HashMap;
#[cfg(feature = "dim3")]
use {ncollide::shape::TriMesh, nphysics::joint::BallConstraint};
pub struct NPhysicsWorld {
rapier2nphysics: HashMap<RigidBodyHandle, DefaultBodyHandle>,
mechanical_world: DefaultMechanicalWorld<f32>,
geometrical_world: DefaultGeometricalWorld<f32>,
bodies: DefaultBodySet<f32>,
colliders: DefaultColliderSet<f32>,
joints: DefaultJointConstraintSet<f32>,
force_generators: DefaultForceGeneratorSet<f32>,
}
impl NPhysicsWorld {
pub fn from_rapier(
gravity: Vector<f32>,
bodies: &RigidBodySet,
colliders: &ColliderSet,
joints: &JointSet,
) -> Self {
let mut rapier2nphysics = HashMap::new();
let mechanical_world = DefaultMechanicalWorld::new(gravity);
let geometrical_world = DefaultGeometricalWorld::new();
let mut nphysics_bodies = DefaultBodySet::new();
let mut nphysics_colliders = DefaultColliderSet::new();
let mut nphysics_joints = DefaultJointConstraintSet::new();
let force_generators = DefaultForceGeneratorSet::new();
for (rapier_handle, rb) in bodies.iter() {
// let material = physics.create_material(rb.collider.friction, rb.collider.friction, 0.0);
let nphysics_rb = RigidBodyDesc::new().position(*rb.position()).build();
let nphysics_rb_handle = nphysics_bodies.insert(nphysics_rb);
rapier2nphysics.insert(rapier_handle, nphysics_rb_handle);
}
for (_, collider) in colliders.iter() {
let parent = &bodies[collider.parent()];
let nphysics_rb_handle = rapier2nphysics[&collider.parent()];
if let Some(collider) =
nphysics_collider_from_rapier_collider(&collider, parent.is_dynamic())
{
let nphysics_collider = collider.build(BodyPartHandle(nphysics_rb_handle, 0));
nphysics_colliders.insert(nphysics_collider);
} else {
eprintln!("Creating shape unknown to the nphysics backend.")
}
}
for joint in joints.iter() {
let b1 = BodyPartHandle(rapier2nphysics[&joint.1.body1], 0);
let b2 = BodyPartHandle(rapier2nphysics[&joint.1.body2], 0);
match &joint.1.params {
JointParams::FixedJoint(params) => {
let c = FixedConstraint::new(
b1,
b2,
params.local_anchor1.translation.vector.into(),
params.local_anchor1.rotation,
params.local_anchor2.translation.vector.into(),
params.local_anchor2.rotation,
);
nphysics_joints.insert(c);
}
#[cfg(feature = "dim3")]
JointParams::BallJoint(params) => {
let c = BallConstraint::new(b1, b2, params.local_anchor1, params.local_anchor2);
nphysics_joints.insert(c);
}
#[cfg(feature = "dim2")]
JointParams::BallJoint(params) => {
let c =
RevoluteConstraint::new(b1, b2, params.local_anchor1, params.local_anchor2);
nphysics_joints.insert(c);
}
#[cfg(feature = "dim3")]
JointParams::RevoluteJoint(params) => {
let c = RevoluteConstraint::new(
b1,
b2,
params.local_anchor1,
params.local_axis1,
params.local_anchor2,
params.local_axis2,
);
nphysics_joints.insert(c);
}
JointParams::PrismaticJoint(params) => {
let mut c = PrismaticConstraint::new(
b1,
b2,
params.local_anchor1,
params.local_axis1(),
params.local_anchor2,
);
if params.limits_enabled {
c.enable_min_offset(params.limits[0]);
c.enable_max_offset(params.limits[1]);
}
nphysics_joints.insert(c);
} // JointParams::GenericJoint(_) => {
// eprintln!(
// "Joint type currently unsupported by the nphysics backend: GenericJoint."
// )
// }
}
}
Self {
rapier2nphysics,
mechanical_world,
geometrical_world,
bodies: nphysics_bodies,
colliders: nphysics_colliders,
joints: nphysics_joints,
force_generators,
}
}
pub fn step(&mut self, counters: &mut Counters, params: &IntegrationParameters) {
self.mechanical_world
.integration_parameters
.max_position_iterations = params.max_position_iterations;
self.mechanical_world
.integration_parameters
.max_velocity_iterations = params.max_velocity_iterations;
self.mechanical_world
.integration_parameters
.set_dt(params.dt);
self.mechanical_world.integration_parameters.warmstart_coeff = params.warmstart_coeff;
counters.step_started();
self.mechanical_world.step(
&mut self.geometrical_world,
&mut self.bodies,
&mut self.colliders,
&mut self.joints,
&mut self.force_generators,
);
counters.step_completed();
}
pub fn sync(&self, bodies: &mut RigidBodySet, colliders: &mut ColliderSet) {
for (rapier_handle, nphysics_handle) in self.rapier2nphysics.iter() {
let rb = bodies.get_mut(*rapier_handle).unwrap();
let ra = self.bodies.rigid_body(*nphysics_handle).unwrap();
let pos = *ra.position();
rb.set_position(pos, false);
for coll_handle in rb.colliders() {
let collider = &mut colliders[*coll_handle];
collider.set_position_debug(pos * collider.position_wrt_parent());
}
}
}
}
fn nphysics_collider_from_rapier_collider(
collider: &Collider,
is_dynamic: bool,
) -> Option<ColliderDesc<f32>> {
let mut margin = ColliderDesc::<f32>::default_margin();
let mut pos = *collider.position_wrt_parent();
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(cuboid) = shape.as_round_cuboid() {
margin = cuboid.border_radius;
ShapeHandle::new(Cuboid::new(cuboid.base_shape.half_extents))
} else if let Some(ball) = shape.as_ball() {
ShapeHandle::new(Ball::new(ball.radius - margin))
} else if let Some(capsule) = shape.as_capsule() {
pos *= capsule.transform_wrt_y();
ShapeHandle::new(Capsule::new(capsule.half_height(), capsule.radius))
} else if let Some(heightfield) = shape.as_heightfield() {
let heights = heightfield.heights();
let scale = heightfield.scale();
let heightfield = HeightField::new(heights.clone(), *scale);
ShapeHandle::new(heightfield)
} 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::Point3::new(idx[0] as usize, idx[1] as usize, idx[2] as usize))
.collect(),
None,
))
}
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