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

Fix testbed compilation with other backends.

Browse Source
This commit is contained in:
Crozet Sébastien
2020-10-26 15:12:10 +01:00
parent e028f45040
commit 3da333f11c
4 changed files with 81 additions and 79 deletions
Download Patch File Download Diff File Expand all files Collapse all files

38
src_testbed/physx_backend.rs
View File

@@ -422,27 +422,22 @@ fn physx_collider_from_rapier_collider(
collider: &Collider,
) -> Option<(ColliderDesc, Isometry3<f32>)> {
let mut local_pose = *collider.position_wrt_parent();
let desc = match collider.shape() {
Shape::Cuboid(cuboid) => ColliderDesc::Box(
let shape = collider.shape();
let desc = if let Some(cuboid) = shape.as_cuboid() {
ColliderDesc::Box(
cuboid.half_extents.x,
cuboid.half_extents.y,
cuboid.half_extents.z,
),
Shape::Ball(ball) => ColliderDesc::Sphere(ball.radius),
Shape::Capsule(capsule) => {
let center = capsule.center();
let mut dir = capsule.b - capsule.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())
}
Shape::Trimesh(trimesh) => ColliderDesc::TriMesh {
)
} 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());
ColliderDesc::Capsule(capsule.radius, capsule.height())
} else if let Some(trimesh) = shape.as_trimesh() {
ColliderDesc::TriMesh {
vertices: trimesh
.vertices()
.iter()
@@ -450,11 +445,10 @@ fn physx_collider_from_rapier_collider(
.collect(),
indices: trimesh.flat_indices().to_vec(),
mesh_scale: Vector3::repeat(1.0).into_glam(),
},
_ => {
eprintln!("Creating a shape unknown to the PhysX backend.");
return None;
}
} else {
eprintln!("Creating a shape unknown to the PhysX backend.");
return None;
};
Some((desc, local_pose))