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Fix 2D compilation.

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This commit is contained in:
Crozet Sébastien
2020-10-26 16:18:44 +01:00
parent d725aa4557
commit 3fd4a62a2e
3 changed files with 7 additions and 16 deletions
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4
src/geometry/contact_generator/capsule_capsule_contact_generator.rs
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@@ -39,8 +39,8 @@ pub fn generate_contacts<'a>(
let pos12 = pos1.inverse() * pos2; let pos12 = pos1.inverse() * pos2;
let pos21 = pos12.inverse(); let pos21 = pos12.inverse();
let seg1 = capsule1.segment(); let seg1 = capsule1.segment;
let seg2_1 = capsule2.segment().transformed(&pos12); let seg2_1 = capsule2.segment.transformed(&pos12);
let (loc1, loc2) = ncollide::query::closest_points_segment_segment_with_locations_nD( let (loc1, loc2) = ncollide::query::closest_points_segment_segment_with_locations_nD(
(&seg1.a, &seg1.b), (&seg1.a, &seg1.b),
(&seg2_1.a, &seg2_1.b), (&seg2_1.a, &seg2_1.b),

18
src/geometry/contact_generator/heightfield_shape_contact_generator.rs
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@@ -109,12 +109,9 @@ fn do_generate_contacts(
let shape_type2 = collider2.shape().shape_type(); let shape_type2 = collider2.shape().shape_type();
heightfield1.map_elements_in_local_aabb(&ls_aabb2, &mut |i, part1, _| { heightfield1.map_elements_in_local_aabb(&ls_aabb2, &mut |i, part1, _| {
let position1 = *collider1.position(); let position1 = collider1.position();
#[cfg(feature = "dim2")] #[cfg(feature = "dim2")]
let (position1, dpos1, sub_shape1) = { let sub_shape1 = Capsule::new(part1.a, part1.b, 0.0);
let (dpos, half_height) = crate::utils::segment_to_capsule(&part1.a, &part1.b);
(position1 * dpos, dpos, Capsule::new(half_height, 0.0))
};
#[cfg(feature = "dim3")] #[cfg(feature = "dim3")]
let sub_shape1 = *part1; let sub_shape1 = *part1;
@@ -154,7 +151,7 @@ fn do_generate_contacts(
shape1: collider2.shape(), shape1: collider2.shape(),
shape2: &sub_shape1, shape2: &sub_shape1,
position1: collider2.position(), position1: collider2.position(),
position2: &position1, position2: position1,
manifold, manifold,
workspace: sub_detector.workspace.as_deref_mut(), workspace: sub_detector.workspace.as_deref_mut(),
} }
@@ -165,20 +162,13 @@ fn do_generate_contacts(
collider2, collider2,
shape1: &sub_shape1, shape1: &sub_shape1,
shape2: collider2.shape(), shape2: collider2.shape(),
position1: &position1, position1: position1,
position2: collider2.position(), position2: collider2.position(),
manifold, manifold,
workspace: sub_detector.workspace.as_deref_mut(), workspace: sub_detector.workspace.as_deref_mut(),
} }
}; };
#[cfg(feature = "dim2")]
if coll_pair.collider1 != ctxt2.manifold.pair.collider1 {
ctxt2.manifold.delta2 = collider1.position_wrt_parent() * dpos1;
} else {
ctxt2.manifold.delta1 = collider1.position_wrt_parent() * dpos1;
}
(sub_detector.generator.generate_contacts)(&mut ctxt2) (sub_detector.generator.generate_contacts)(&mut ctxt2)
}); });

1
src/geometry/shape.rs
View File

@@ -221,6 +221,7 @@ impl Shape for Capsule {
ShapeType::Capsule ShapeType::Capsule
} }
#[cfg(feature = "dim3")]
fn as_polygonal_feature_map(&self) -> Option<(&dyn PolygonalFeatureMap, f32)> { fn as_polygonal_feature_map(&self) -> Option<(&dyn PolygonalFeatureMap, f32)> {
Some((&self.segment as &dyn PolygonalFeatureMap, self.radius)) Some((&self.segment as &dyn PolygonalFeatureMap, self.radius))
} }