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

2020-10-26 15:58:30 +01:00
parent 3da333f11c
commit 2b628f9580
16 changed files with 150 additions and 76 deletions
--- a/src/geometry/contact_generator/contact_dispatcher.rs
+++ b/src/geometry/contact_generator/contact_dispatcher.rs
@@ -99,7 +99,9 @@ impl ContactDispatcher for DefaultContactDispatcher {
            | (ShapeType::Cone, _)
            | (_, ShapeType::Cone)
            | (ShapeType::RoundCylinder, _)
-            | (_, ShapeType::RoundCylinder) => (
+            | (_, ShapeType::RoundCylinder)
+            | (ShapeType::Capsule, _)
+            | (_, ShapeType::Capsule) => (
                PrimitiveContactGenerator {
                    generate_contacts: super::generate_contacts_pfm_pfm,
                    ..PrimitiveContactGenerator::default()