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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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This commit is contained in:
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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3
src_testbed/nphysics_backend.rs
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@@ -184,7 +184,8 @@ fn nphysics_collider_from_rapier_collider(
} else if let Some(ball) = shape.as_ball() {
ShapeHandle::new(Ball::new(ball.radius - margin))
} else if let Some(capsule) = shape.as_capsule() {
ShapeHandle::new(Capsule::new(capsule.half_height, capsule.radius))
pos *= capsule.transform_wrt_y();
ShapeHandle::new(Capsule::new(capsule.half_height(), capsule.radius))
} else if let Some(heightfield) = shape.as_heightfield() {
ShapeHandle::new(heightfield.clone())
} else {

2
src_testbed/objects/capsule.rs
View File

@@ -19,7 +19,7 @@ impl Capsule {
window: &mut window::Window,
) -> Capsule {
let r = capsule.radius;
let h = capsule.half_height * 2.0;
let h = capsule.half_height() * 2.0;
#[cfg(feature = "dim2")]
let node = window.add_planar_capsule(r, h);
#[cfg(feature = "dim3")]

11
src_testbed/physx_backend.rs
View File

@@ -433,8 +433,15 @@ fn physx_collider_from_rapier_collider(
} else if let Some(ball) = shape.as_ball() {
ColliderDesc::Sphere(ball.radius)
} else if let Some(capsule) = shape.as_capsule() {
let rot = UnitQuaternion::rotation_between(&Vector3::x(), &Vector3::y());
local_pose *= rot.unwrap_or(UnitQuaternion::identity());
let center = capsule.center();
let mut dir = capsule.segment.b - capsule.segment.a;
if dir.x < 0.0 {
dir = -dir;
}
let rot = UnitQuaternion::rotation_between(&Vector3::x(), &dir);
local_pose *= Translation3::from(center.coords) * rot.unwrap_or(UnitQuaternion::identity());
ColliderDesc::Capsule(capsule.radius, capsule.height())
} else if let Some(trimesh) = shape.as_trimesh() {
ColliderDesc::TriMesh {