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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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15
src/geometry/contact_generator/contact_dispatcher.rs
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@@ -69,16 +69,7 @@ impl ContactDispatcher for DefaultContactDispatcher {
},
None,
),
(ShapeType::Cuboid, ShapeType::Ball)
| (ShapeType::Ball, ShapeType::Cuboid)
| (ShapeType::Triangle, ShapeType::Ball)
| (ShapeType::Ball, ShapeType::Triangle)
| (ShapeType::Capsule, ShapeType::Ball)
| (ShapeType::Ball, ShapeType::Capsule)
| (ShapeType::Cylinder, ShapeType::Ball)
| (ShapeType::Ball, ShapeType::Cylinder)
| (ShapeType::Cone, ShapeType::Ball)
| (ShapeType::Ball, ShapeType::Cone) => (
(_, ShapeType::Ball) | (ShapeType::Ball, _) => (
PrimitiveContactGenerator {
generate_contacts: super::generate_contacts_ball_convex,
..PrimitiveContactGenerator::default()
@@ -104,7 +95,9 @@ impl ContactDispatcher for DefaultContactDispatcher {
(ShapeType::Cylinder, _)
| (_, ShapeType::Cylinder)
| (ShapeType::Cone, _)
| (_, ShapeType::Cone) => (
| (_, ShapeType::Cone)
| (ShapeType::RoundedCylinder, _)
| (_, ShapeType::RoundedCylinder) => (
PrimitiveContactGenerator {
generate_contacts: super::generate_contacts_pfm_pfm,
..PrimitiveContactGenerator::default()