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Add rounded cylinder.

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This commit is contained in:
Crozet Sébastien
2020-10-20 15:57:54 +02:00
parent d513c22d33
commit 6495847095
10 changed files with 242 additions and 81 deletions
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95
src/geometry/collider.rs
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@@ -1,7 +1,7 @@
use crate::dynamics::{MassProperties, RigidBodyHandle, RigidBodySet};
use crate::geometry::{
Ball, Capsule, ColliderGraphIndex, Contact, Cuboid, HeightField, InteractionGraph, Polygon,
Proximity, Ray, RayIntersection, Shape, ShapeType, Triangle, Trimesh,
Proximity, Ray, RayIntersection, Rounded, Shape, ShapeType, Triangle, Trimesh,
};
#[cfg(feature = "dim3")]
use crate::geometry::{Cone, Cylinder, PolygonalFeatureMap};
@@ -40,6 +40,17 @@ impl ColliderShape {
ColliderShape(Arc::new(Cylinder::new(half_height, radius)))
}
/// Initialize a rounded cylindrical shape defined by its half-height
/// (along along the y axis), its radius, and its roundedness (the
/// radius of the sphere used for dilating the cylinder).
#[cfg(feature = "dim3")]
pub fn rounded_cylinder(half_height: f32, radius: f32, rounding_radius: f32) -> Self {
ColliderShape(Arc::new(Rounded::new(
Cylinder::new(half_height, radius),
rounding_radius,
)))
}
/// Initialize a cone shape defined by its half-height
/// (along along the y axis) and its basis radius.
#[cfg(feature = "dim3")]
@@ -127,13 +138,20 @@ impl<'de> serde::Deserialize<'de> for ColliderShape {
.next_element()?
.ok_or_else(|| serde::de::Error::invalid_length(0, &self))?;
fn deser<'de, A, S: Shape + serde::Deserialize<'de>>(
seq: &mut A,
) -> Result<Arc<dyn Shape>, A::Error>
where
A: serde::de::SeqAccess<'de>,
{
let shape: S = seq.next_element()?.ok_or_else(|| {
serde::de::Error::custom("Failed to deserialize builtin shape.")
})?;
Ok(Arc::new(shape) as Arc<dyn Shape>)
}
let shape = match ShapeType::from_i32(tag) {
Some(ShapeType::Ball) => {
let shape: Ball = seq
.next_element()?
.ok_or_else(|| serde::de::Error::invalid_length(0, &self))?;
Arc::new(shape) as Arc<dyn Shape>
}
Some(ShapeType::Ball) => deser::<A, Ball>(&mut seq)?,
Some(ShapeType::Polygon) => {
unimplemented!()
// let shape: Polygon = seq
@@ -141,50 +159,17 @@ impl<'de> serde::Deserialize<'de> for ColliderShape {
// .ok_or_else(|| serde::de::Error::invalid_length(0, &self))?;
// Arc::new(shape) as Arc<dyn Shape>
}
Some(ShapeType::Cuboid) => {
let shape: Cuboid = seq
.next_element()?
.ok_or_else(|| serde::de::Error::invalid_length(0, &self))?;
Arc::new(shape) as Arc<dyn Shape>
}
Some(ShapeType::Capsule) => {
let shape: Capsule = seq
.next_element()?
.ok_or_else(|| serde::de::Error::invalid_length(0, &self))?;
Arc::new(shape) as Arc<dyn Shape>
}
Some(ShapeType::Triangle) => {
let shape: Triangle = seq
.next_element()?
.ok_or_else(|| serde::de::Error::invalid_length(0, &self))?;
Arc::new(shape) as Arc<dyn Shape>
}
Some(ShapeType::Trimesh) => {
let shape: Trimesh = seq
.next_element()?
.ok_or_else(|| serde::de::Error::invalid_length(0, &self))?;
Arc::new(shape) as Arc<dyn Shape>
}
Some(ShapeType::HeightField) => {
let shape: HeightField = seq
.next_element()?
.ok_or_else(|| serde::de::Error::invalid_length(0, &self))?;
Arc::new(shape) as Arc<dyn Shape>
}
Some(ShapeType::Cuboid) => deser::<A, Cuboid>(&mut seq)?,
Some(ShapeType::Capsule) => deser::<A, Capsule>(&mut seq)?,
Some(ShapeType::Triangle) => deser::<A, Triangle>(&mut seq)?,
Some(ShapeType::Trimesh) => deser::<A, Trimesh>(&mut seq)?,
Some(ShapeType::HeightField) => deser::<A, HeightField>(&mut seq)?,
#[cfg(feature = "dim3")]
Some(ShapeType::Cylinder) => {
let shape: Cylinder = seq
.next_element()?
.ok_or_else(|| serde::de::Error::invalid_length(0, &self))?;
Arc::new(shape) as Arc<dyn Shape>
}
Some(ShapeType::Cylinder) => deser::<A, Cylinder>(&mut seq)?,
#[cfg(feature = "dim3")]
Some(ShapeType::Cone) => {
let shape: Cone = seq
.next_element()?
.ok_or_else(|| serde::de::Error::invalid_length(0, &self))?;
Arc::new(shape) as Arc<dyn Shape>
}
Some(ShapeType::Cone) => deser::<A, Cone>(&mut seq)?,
#[cfg(feature = "dim3")]
Some(ShapeType::RoundedCylinder) => deser::<A, Rounded<Cylinder>>(&mut seq)?,
None => {
return Err(serde::de::Error::custom(
"found invalid shape type to deserialize",
@@ -342,6 +327,18 @@ impl ColliderBuilder {
Self::new(ColliderShape::cylinder(half_height, radius))
}
/// Initialize a new collider builder with a rounded cylindrical shape defined by its half-height
/// (along along the y axis), its radius, and its roundedness (the
/// radius of the sphere used for dilating the cylinder).
#[cfg(feature = "dim3")]
pub fn rounded_cylinder(half_height: f32, radius: f32, rounding_radius: f32) -> Self {
Self::new(ColliderShape::rounded_cylinder(
half_height,
radius,
rounding_radius,
))
}
/// Initialize a new collider builder with a cone shape defined by its half-height
/// (along along the y axis) and its basis radius.
#[cfg(feature = "dim3")]