nichkara/rapier
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Switch to [u32; DIM] instead of Point<u32> for element indices.

Browse Source
This commit is contained in:
Crozet Sébastien
2021-01-20 15:40:00 +01:00
parent e2006599a8
commit 28b7866aee
9 changed files with 46 additions and 42 deletions
Download Patch File Download Diff File Expand all files Collapse all files

15
examples3d/convex_decomposition3.rs
View File

@@ -1,5 +1,5 @@
use kiss3d::loader::obj;
use na::{Isometry3, Point3, Translation3};
use na::{Point3, Translation3};
use rapier3d::cdl::bounding_volume::{self, BoundingVolume};
use rapier3d::cdl::transformation::vhacd::{VHACDParameters, VHACD};
use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
@@ -74,11 +74,16 @@ pub fn init_world(testbed: &mut Testbed) {
trimesh.scale_by_scalar(6.0 / diag);
let params = VHACDParameters::default();
let vertices = &trimesh.coords;
let indices = &trimesh.indices.unwrap_unified();
let vhacd = VHACD::decompose(&params, vertices, indices, true);
let vertices = trimesh.coords;
let indices: Vec<_> = trimesh
.indices
.unwrap_unified()
.into_iter()
.map(|idx| [idx.x, idx.y, idx.z])
.collect();
let vhacd = VHACD::decompose(&params, &vertices, &indices, true);
for (vertices, indices) in vhacd.compute_exact_convex_hulls(vertices, indices) {
for (vertices, indices) in vhacd.compute_exact_convex_hulls(&vertices, &indices) {
if let Some(convex) = ColliderShape::convex_mesh(vertices, &indices) {
compound_parts.push(convex);
}