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Redefine capsules as a segment with a radius, allowing us to reuse the pfm_pfm_contact generator for it.

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Crozet Sébastien
2020-10-26 15:58:30 +01:00
parent 3da333f11c
commit 2b628f9580
16 changed files with 150 additions and 76 deletions
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35
src/geometry/collider.rs
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@@ -1,7 +1,7 @@
use crate::dynamics::{MassProperties, RigidBodyHandle, RigidBodySet};
use crate::geometry::{
Ball, Capsule, ColliderGraphIndex, Contact, Cuboid, HeightField, InteractionGraph, Proximity,
Shape, ShapeType, Triangle, Trimesh,
Segment, Shape, ShapeType, Triangle, Trimesh,
};
#[cfg(feature = "dim3")]
use crate::geometry::{Cone, Cylinder, PolygonalFeatureMap, Rounded};
@@ -58,9 +58,14 @@ impl ColliderShape {
ColliderShape(Arc::new(Cuboid::new(half_extents)))
}
/// Initialize a capsule shape aligned with the `y` axis.
pub fn capsule(half_height: f32, radius: f32) -> Self {
ColliderShape(Arc::new(Capsule::new(half_height, radius)))
/// Initialize a capsule shape from its endpoints and radius.
pub fn capsule(a: Point<f32>, b: Point<f32>, radius: f32) -> Self {
ColliderShape(Arc::new(Capsule::new(a, b, radius)))
}
/// Initialize a segment shape from its endpoints.
pub fn segment(a: Point<f32>, b: Point<f32>) -> Self {
ColliderShape(Arc::new(Segment::new(a, b)))
}
/// Initializes a triangle shape.
@@ -157,6 +162,7 @@ impl<'de> serde::Deserialize<'de> for ColliderShape {
Some(ShapeType::Cuboid) => deser::<A, Cuboid>(&mut seq)?,
Some(ShapeType::Capsule) => deser::<A, Capsule>(&mut seq)?,
Some(ShapeType::Triangle) => deser::<A, Triangle>(&mut seq)?,
Some(ShapeType::Segment) => deser::<A, Segment>(&mut seq)?,
Some(ShapeType::Trimesh) => deser::<A, Trimesh>(&mut seq)?,
Some(ShapeType::HeightField) => deser::<A, HeightField>(&mut seq)?,
#[cfg(feature = "dim3")]
@@ -349,25 +355,21 @@ impl ColliderBuilder {
/// Initialize a new collider builder with a capsule shape aligned with the `x` axis.
pub fn capsule_x(half_height: f32, radius: f32) -> Self {
#[cfg(feature = "dim2")]
let rot = -std::f32::consts::FRAC_PI_2;
#[cfg(feature = "dim3")]
let rot = Vector::z() * -std::f32::consts::FRAC_PI_2;
Self::new(ColliderShape::capsule(half_height, radius))
.position(Isometry::new(na::zero(), rot))
let p = Point::from(Vector::x() * half_height);
Self::new(ColliderShape::capsule(-p, p, radius))
}
/// Initialize a new collider builder with a capsule shape aligned with the `y` axis.
pub fn capsule_y(half_height: f32, radius: f32) -> Self {
Self::new(ColliderShape::capsule(half_height, radius))
let p = Point::from(Vector::y() * half_height);
Self::new(ColliderShape::capsule(-p, p, radius))
}
/// Initialize a new collider builder with a capsule shape aligned with the `z` axis.
#[cfg(feature = "dim3")]
pub fn capsule_z(half_height: f32, radius: f32) -> Self {
let rot = Vector::x() * std::f32::consts::FRAC_PI_2;
Self::new(ColliderShape::capsule(half_height, radius))
.position(Isometry::new(na::zero(), rot))
let p = Point::from(Vector::z() * half_height);
Self::new(ColliderShape::capsule(-p, p, radius))
}
/// Initialize a new collider builder with a cuboid shape defined by its half-extents.
@@ -377,11 +379,8 @@ impl ColliderBuilder {
}
/// Initializes a collider builder with a segment shape.
///
/// A segment shape is modeled by a capsule with a 0 radius.
pub fn segment(a: Point<f32>, b: Point<f32>) -> Self {
let (pos, half_height) = crate::utils::segment_to_capsule(&a, &b);
Self::new(ColliderShape::capsule(half_height, 0.0)).position(pos)
Self::new(ColliderShape::segment(a, b))
}
/// Initializes a collider builder with a triangle shape.