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

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

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

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 {