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Allow using polylines as a collider shape.

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This commit is contained in:
Crozet Sébastien
2021-01-26 16:41:21 +01:00
parent e1f50eb6e8
commit 23a86c294e
10 changed files with 294 additions and 53 deletions
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10
src_testbed/engine.rs
View File

@@ -26,6 +26,7 @@ use crate::objects::cone::Cone;
#[cfg(feature = "dim3")]
use crate::objects::cylinder::Cylinder;
use crate::objects::mesh::Mesh;
use crate::objects::polyline::Polyline;
use rand::{Rng, SeedableRng};
use rand_pcg::Pcg32;
use std::collections::HashMap;
@@ -352,6 +353,15 @@ impl GraphicsManager {
)))
}
if let Some(polyline) = shape.as_polyline() {
out.push(Node::Polyline(Polyline::new(
handle,
polyline.vertices().to_vec(),
polyline.indices().to_vec(),
color,
)))
}
if let Some(heightfield) = shape.as_heightfield() {
out.push(Node::HeightField(HeightField::new(
handle,

1
src_testbed/objects/mod.rs
View File

@@ -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;

23
src_testbed/objects/node.rs
View File

@@ -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),

64
src_testbed/objects/polyline.rs
View File

@@ -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);
}
}
}