First public release of Rapier.
This commit is contained in:
Sébastien Crozet
694
src_testbed/engine.rs
Normal file
694
src_testbed/engine.rs
Normal file
@@ -0,0 +1,694 @@
|
||||
#[cfg(feature = "dim3")]
|
||||
use kiss3d::camera::ArcBall as Camera;
|
||||
#[cfg(feature = "dim2")]
|
||||
use kiss3d::planar_camera::Sidescroll as Camera;
|
||||
use kiss3d::window::Window;
|
||||
|
||||
use na::Point3;
|
||||
|
||||
use crate::math::Point;
|
||||
use crate::objects::ball::Ball;
|
||||
use crate::objects::box_node::Box as BoxNode;
|
||||
use crate::objects::convex::Convex;
|
||||
use crate::objects::heightfield::HeightField;
|
||||
use crate::objects::node::{GraphicsNode, Node};
|
||||
use rapier::dynamics::{RigidBodyHandle, RigidBodySet};
|
||||
use rapier::geometry::{Collider, ColliderHandle, ColliderSet, Shape};
|
||||
//use crate::objects::capsule::Capsule;
|
||||
//use crate::objects::convex::Convex;
|
||||
//#[cfg(feature = "fluids")]
|
||||
//use crate::objects::fluid::Fluid as FluidNode;
|
||||
//#[cfg(feature = "dim3")]
|
||||
//use crate::objects::mesh::Mesh;
|
||||
//use crate::objects::plane::Plane;
|
||||
//#[cfg(feature = "dim2")]
|
||||
//use crate::objects::polyline::Polyline;
|
||||
//#[cfg(feature = "fluids")]
|
||||
//use crate::objects::FluidRenderingMode;
|
||||
use crate::objects::capsule::Capsule;
|
||||
use crate::objects::mesh::Mesh;
|
||||
use rand::{Rng, SeedableRng};
|
||||
use rand_pcg::Pcg32;
|
||||
use std::collections::HashMap;
|
||||
|
||||
pub trait GraphicsWindow {
|
||||
fn remove_graphics_node(&mut self, node: &mut GraphicsNode);
|
||||
fn draw_graphics_line(&mut self, p1: &Point<f32>, p2: &Point<f32>, color: &Point3<f32>);
|
||||
}
|
||||
|
||||
impl GraphicsWindow for Window {
|
||||
fn remove_graphics_node(&mut self, node: &mut GraphicsNode) {
|
||||
#[cfg(feature = "dim2")]
|
||||
self.remove_planar_node(node);
|
||||
#[cfg(feature = "dim3")]
|
||||
self.remove_node(node);
|
||||
}
|
||||
|
||||
fn draw_graphics_line(&mut self, p1: &Point<f32>, p2: &Point<f32>, color: &Point3<f32>) {
|
||||
#[cfg(feature = "dim2")]
|
||||
self.draw_planar_line(p1, p2, color);
|
||||
#[cfg(feature = "dim3")]
|
||||
self.draw_line(p1, p2, color);
|
||||
}
|
||||
}
|
||||
|
||||
pub struct GraphicsManager {
|
||||
rand: Pcg32,
|
||||
b2sn: HashMap<RigidBodyHandle, Vec<Node>>,
|
||||
#[cfg(feature = "fluids")]
|
||||
f2sn: HashMap<FluidHandle, FluidNode>,
|
||||
#[cfg(feature = "fluids")]
|
||||
boundary2sn: HashMap<BoundaryHandle, FluidNode>,
|
||||
b2color: HashMap<RigidBodyHandle, Point3<f32>>,
|
||||
b2wireframe: HashMap<RigidBodyHandle, bool>,
|
||||
#[cfg(feature = "fluids")]
|
||||
f2color: HashMap<FluidHandle, Point3<f32>>,
|
||||
ground_color: Point3<f32>,
|
||||
camera: Camera,
|
||||
ground_handle: Option<RigidBodyHandle>,
|
||||
#[cfg(feature = "fluids")]
|
||||
fluid_rendering_mode: FluidRenderingMode,
|
||||
#[cfg(feature = "fluids")]
|
||||
render_boundary_particles: bool,
|
||||
}
|
||||
|
||||
impl GraphicsManager {
|
||||
pub fn new() -> GraphicsManager {
|
||||
let mut camera;
|
||||
|
||||
#[cfg(feature = "dim3")]
|
||||
{
|
||||
camera = Camera::new(Point3::new(10.0, 10.0, 10.0), Point3::new(0.0, 0.0, 0.0));
|
||||
camera.set_rotate_modifiers(Some(kiss3d::event::Modifiers::Control));
|
||||
}
|
||||
|
||||
#[cfg(feature = "dim2")]
|
||||
{
|
||||
camera = Camera::new();
|
||||
camera.set_zoom(50.0);
|
||||
}
|
||||
|
||||
GraphicsManager {
|
||||
camera,
|
||||
rand: Pcg32::seed_from_u64(0),
|
||||
b2sn: HashMap::new(),
|
||||
#[cfg(feature = "fluids")]
|
||||
f2sn: HashMap::new(),
|
||||
#[cfg(feature = "fluids")]
|
||||
boundary2sn: HashMap::new(),
|
||||
b2color: HashMap::new(),
|
||||
#[cfg(feature = "fluids")]
|
||||
f2color: HashMap::new(),
|
||||
ground_color: Point3::new(0.5, 0.5, 0.5),
|
||||
b2wireframe: HashMap::new(),
|
||||
ground_handle: None,
|
||||
#[cfg(feature = "fluids")]
|
||||
fluid_rendering_mode: FluidRenderingMode::StaticColor,
|
||||
#[cfg(feature = "fluids")]
|
||||
render_boundary_particles: false,
|
||||
}
|
||||
}
|
||||
|
||||
pub fn set_ground_handle(&mut self, handle: Option<RigidBodyHandle>) {
|
||||
self.ground_handle = handle
|
||||
}
|
||||
|
||||
#[cfg(feature = "fluids")]
|
||||
pub fn set_fluid_rendering_mode(&mut self, mode: FluidRenderingMode) {
|
||||
self.fluid_rendering_mode = mode;
|
||||
}
|
||||
|
||||
#[cfg(feature = "fluids")]
|
||||
pub fn enable_boundary_particles_rendering(&mut self, enabled: bool) {
|
||||
self.render_boundary_particles = enabled;
|
||||
|
||||
for sn in self.boundary2sn.values_mut() {
|
||||
sn.scene_node_mut().set_visible(enabled);
|
||||
}
|
||||
}
|
||||
|
||||
pub fn clear(&mut self, window: &mut Window) {
|
||||
for sns in self.b2sn.values_mut() {
|
||||
for sn in sns.iter_mut() {
|
||||
if let Some(node) = sn.scene_node_mut() {
|
||||
window.remove_graphics_node(node);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(feature = "fluids")]
|
||||
for sn in self.f2sn.values_mut().chain(self.boundary2sn.values_mut()) {
|
||||
let node = sn.scene_node_mut();
|
||||
window.remove_graphics_node(node);
|
||||
}
|
||||
|
||||
self.b2sn.clear();
|
||||
#[cfg(feature = "fluids")]
|
||||
self.f2sn.clear();
|
||||
#[cfg(feature = "fluids")]
|
||||
self.boundary2sn.clear();
|
||||
self.b2color.clear();
|
||||
self.b2wireframe.clear();
|
||||
self.rand = Pcg32::seed_from_u64(0);
|
||||
}
|
||||
|
||||
pub fn remove_body_nodes(&mut self, window: &mut Window, body: RigidBodyHandle) {
|
||||
if let Some(sns) = self.b2sn.get_mut(&body) {
|
||||
for sn in sns.iter_mut() {
|
||||
if let Some(node) = sn.scene_node_mut() {
|
||||
window.remove_graphics_node(node);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
self.b2sn.remove(&body);
|
||||
}
|
||||
|
||||
#[cfg(feature = "fluids")]
|
||||
pub fn set_fluid_color(&mut self, f: FluidHandle, color: Point3<f32>) {
|
||||
self.f2color.insert(f, color);
|
||||
|
||||
if let Some(n) = self.f2sn.get_mut(&f) {
|
||||
n.set_color(color)
|
||||
}
|
||||
}
|
||||
|
||||
pub fn set_body_color(&mut self, b: RigidBodyHandle, color: Point3<f32>) {
|
||||
self.b2color.insert(b, color);
|
||||
|
||||
if let Some(ns) = self.b2sn.get_mut(&b) {
|
||||
for n in ns.iter_mut() {
|
||||
n.set_color(color)
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
pub fn set_body_wireframe(&mut self, b: RigidBodyHandle, enabled: bool) {
|
||||
self.b2wireframe.insert(b, enabled);
|
||||
|
||||
if let Some(ns) = self.b2sn.get_mut(&b) {
|
||||
for n in ns.iter_mut().filter_map(|n| n.scene_node_mut()) {
|
||||
if enabled {
|
||||
n.set_surface_rendering_activation(true);
|
||||
n.set_lines_width(1.0);
|
||||
} else {
|
||||
n.set_surface_rendering_activation(false);
|
||||
n.set_lines_width(1.0);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
pub fn toggle_wireframe_mode(&mut self, colliders: &ColliderSet, enabled: bool) {
|
||||
for n in self.b2sn.values_mut().flat_map(|val| val.iter_mut()) {
|
||||
let force_wireframe = if let Some(collider) = colliders.get(n.collider()) {
|
||||
collider.is_sensor()
|
||||
|| self
|
||||
.b2wireframe
|
||||
.get(&collider.parent())
|
||||
.cloned()
|
||||
.unwrap_or(false)
|
||||
} else {
|
||||
false
|
||||
};
|
||||
|
||||
if let Some(node) = n.scene_node_mut() {
|
||||
if force_wireframe || enabled {
|
||||
node.set_lines_width(1.0);
|
||||
node.set_surface_rendering_activation(false);
|
||||
} else {
|
||||
node.set_lines_width(0.0);
|
||||
node.set_surface_rendering_activation(true);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
fn gen_color(rng: &mut Pcg32) -> Point3<f32> {
|
||||
let mut color: Point3<f32> = rng.gen();
|
||||
color *= 1.5;
|
||||
color.x = color.x.min(1.0);
|
||||
color.y = color.y.min(1.0);
|
||||
color.z = color.z.min(1.0);
|
||||
color
|
||||
}
|
||||
|
||||
fn alloc_color(&mut self, handle: RigidBodyHandle, is_static: bool) -> Point3<f32> {
|
||||
let mut color = self.ground_color;
|
||||
|
||||
if !is_static {
|
||||
match self.b2color.get(&handle).cloned() {
|
||||
Some(c) => color = c,
|
||||
None => color = Self::gen_color(&mut self.rand),
|
||||
}
|
||||
}
|
||||
|
||||
self.set_body_color(handle, color);
|
||||
|
||||
color
|
||||
}
|
||||
|
||||
#[cfg(feature = "fluids")]
|
||||
pub fn add_fluid(
|
||||
&mut self,
|
||||
window: &mut Window,
|
||||
handle: FluidHandle,
|
||||
fluid: &Fluid<f32>,
|
||||
particle_radius: f32,
|
||||
) {
|
||||
let rand = &mut self.rand;
|
||||
let color = *self
|
||||
.f2color
|
||||
.entry(handle)
|
||||
.or_insert_with(|| Self::gen_color(rand));
|
||||
|
||||
self.add_fluid_with_color(window, handle, fluid, particle_radius, color);
|
||||
}
|
||||
|
||||
#[cfg(feature = "fluids")]
|
||||
pub fn add_boundary(
|
||||
&mut self,
|
||||
window: &mut Window,
|
||||
handle: BoundaryHandle,
|
||||
boundary: &Boundary<f32>,
|
||||
particle_radius: f32,
|
||||
) {
|
||||
let color = self.ground_color;
|
||||
let node = FluidNode::new(particle_radius, &boundary.positions, color, window);
|
||||
self.boundary2sn.insert(handle, node);
|
||||
}
|
||||
|
||||
#[cfg(feature = "fluids")]
|
||||
pub fn add_fluid_with_color(
|
||||
&mut self,
|
||||
window: &mut Window,
|
||||
handle: FluidHandle,
|
||||
fluid: &Fluid<f32>,
|
||||
particle_radius: f32,
|
||||
color: Point3<f32>,
|
||||
) {
|
||||
let node = FluidNode::new(particle_radius, &fluid.positions, color, window);
|
||||
self.f2sn.insert(handle, node);
|
||||
}
|
||||
|
||||
pub fn add(
|
||||
&mut self,
|
||||
window: &mut Window,
|
||||
handle: RigidBodyHandle,
|
||||
bodies: &RigidBodySet,
|
||||
colliders: &ColliderSet,
|
||||
) {
|
||||
let body = bodies.get(handle).unwrap();
|
||||
|
||||
let color = self
|
||||
.b2color
|
||||
.get(&handle)
|
||||
.cloned()
|
||||
.unwrap_or_else(|| self.alloc_color(handle, !body.is_dynamic()));
|
||||
|
||||
self.add_with_color(window, handle, bodies, colliders, color)
|
||||
}
|
||||
|
||||
pub fn add_with_color(
|
||||
&mut self,
|
||||
window: &mut Window,
|
||||
handle: RigidBodyHandle,
|
||||
bodies: &RigidBodySet,
|
||||
colliders: &ColliderSet,
|
||||
color: Point3<f32>,
|
||||
) {
|
||||
// let body = bodies.get(handle).unwrap();
|
||||
let mut new_nodes = Vec::new();
|
||||
|
||||
for collider_handle in bodies[handle].colliders() {
|
||||
let collider = &colliders[*collider_handle];
|
||||
self.add_collider(window, *collider_handle, collider, color, &mut new_nodes);
|
||||
}
|
||||
|
||||
new_nodes.iter_mut().for_each(|n| n.update(colliders));
|
||||
|
||||
for node in new_nodes.iter_mut().filter_map(|n| n.scene_node_mut()) {
|
||||
if self.b2wireframe.get(&handle).cloned() == Some(true) {
|
||||
node.set_lines_width(1.0);
|
||||
node.set_surface_rendering_activation(false);
|
||||
} else {
|
||||
node.set_lines_width(0.0);
|
||||
node.set_surface_rendering_activation(true);
|
||||
}
|
||||
}
|
||||
|
||||
let nodes = self.b2sn.entry(handle).or_insert_with(Vec::new);
|
||||
nodes.append(&mut new_nodes);
|
||||
}
|
||||
|
||||
fn add_collider(
|
||||
&mut self,
|
||||
window: &mut Window,
|
||||
handle: ColliderHandle,
|
||||
collider: &Collider,
|
||||
color: Point3<f32>,
|
||||
out: &mut Vec<Node>,
|
||||
) {
|
||||
match collider.shape() {
|
||||
Shape::Ball(ball) => {
|
||||
out.push(Node::Ball(Ball::new(handle, ball.radius, color, window)))
|
||||
}
|
||||
Shape::Polygon(poly) => out.push(Node::Convex(Convex::new(
|
||||
handle,
|
||||
poly.vertices().to_vec(),
|
||||
color,
|
||||
window,
|
||||
))),
|
||||
Shape::Cuboid(cuboid) => out.push(Node::Box(BoxNode::new(
|
||||
handle,
|
||||
cuboid.half_extents,
|
||||
color,
|
||||
window,
|
||||
))),
|
||||
Shape::Capsule(capsule) => {
|
||||
out.push(Node::Capsule(Capsule::new(handle, capsule, color, window)))
|
||||
}
|
||||
Shape::Triangle(triangle) => out.push(Node::Mesh(Mesh::new(
|
||||
handle,
|
||||
vec![triangle.a, triangle.b, triangle.c],
|
||||
vec![Point3::new(0, 1, 2)],
|
||||
color,
|
||||
window,
|
||||
))),
|
||||
Shape::Trimesh(trimesh) => out.push(Node::Mesh(Mesh::new(
|
||||
handle,
|
||||
trimesh.vertices().to_vec(),
|
||||
trimesh
|
||||
.indices()
|
||||
.iter()
|
||||
.map(|idx| na::convert(*idx))
|
||||
.collect(),
|
||||
color,
|
||||
window,
|
||||
))),
|
||||
Shape::HeightField(heightfield) => out.push(Node::HeightField(HeightField::new(
|
||||
handle,
|
||||
heightfield,
|
||||
color,
|
||||
window,
|
||||
))),
|
||||
}
|
||||
}
|
||||
|
||||
/*
|
||||
fn add_plane(
|
||||
&mut self,
|
||||
window: &mut Window,
|
||||
object: DefaultColliderHandle,
|
||||
colliders: &DefaultColliderSet<f32>,
|
||||
shape: &shape::Plane<f32>,
|
||||
color: Point3<f32>,
|
||||
out: &mut Vec<Node>,
|
||||
) {
|
||||
let pos = colliders.get(object).unwrap().position();
|
||||
let position = Point::from(pos.translation.vector);
|
||||
let normal = pos * shape.normal();
|
||||
|
||||
out.push(Node::Plane(Plane::new(
|
||||
object, colliders, &position, &normal, color, window,
|
||||
)))
|
||||
}
|
||||
|
||||
#[cfg(feature = "dim2")]
|
||||
fn add_polyline(
|
||||
&mut self,
|
||||
window: &mut Window,
|
||||
object: DefaultColliderHandle,
|
||||
colliders: &DefaultColliderSet<f32>,
|
||||
delta: Isometry<f32>,
|
||||
shape: &shape::Polyline<f32>,
|
||||
color: Point3<f32>,
|
||||
out: &mut Vec<Node>,
|
||||
) {
|
||||
let vertices = shape.points().to_vec();
|
||||
let indices = shape.edges().iter().map(|e| e.indices).collect();
|
||||
|
||||
out.push(Node::Polyline(Polyline::new(
|
||||
object, colliders, delta, vertices, indices, color, window,
|
||||
)))
|
||||
}
|
||||
|
||||
#[cfg(feature = "dim3")]
|
||||
fn add_mesh(
|
||||
&mut self,
|
||||
window: &mut Window,
|
||||
object: DefaultColliderHandle,
|
||||
colliders: &DefaultColliderSet<f32>,
|
||||
delta: Isometry<f32>,
|
||||
shape: &TriMesh<f32>,
|
||||
color: Point3<f32>,
|
||||
out: &mut Vec<Node>,
|
||||
) {
|
||||
let points = shape.points();
|
||||
let faces = shape.faces();
|
||||
|
||||
let is = faces
|
||||
.iter()
|
||||
.map(|f| Point3::new(f.indices.x as u32, f.indices.y as u32, f.indices.z as u32))
|
||||
.collect();
|
||||
|
||||
out.push(Node::Mesh(Mesh::new(
|
||||
object,
|
||||
colliders,
|
||||
delta,
|
||||
points.to_vec(),
|
||||
is,
|
||||
color,
|
||||
window,
|
||||
)))
|
||||
}
|
||||
|
||||
fn add_heightfield(
|
||||
&mut self,
|
||||
window: &mut Window,
|
||||
object: DefaultColliderHandle,
|
||||
colliders: &DefaultColliderSet<f32>,
|
||||
delta: Isometry<f32>,
|
||||
heightfield: &shape::HeightField<f32>,
|
||||
color: Point3<f32>,
|
||||
out: &mut Vec<Node>,
|
||||
) {
|
||||
out.push(Node::HeightField(HeightField::new(
|
||||
object,
|
||||
colliders,
|
||||
delta,
|
||||
heightfield,
|
||||
color,
|
||||
window,
|
||||
)))
|
||||
}
|
||||
|
||||
fn add_capsule(
|
||||
&mut self,
|
||||
window: &mut Window,
|
||||
object: DefaultColliderHandle,
|
||||
colliders: &DefaultColliderSet<f32>,
|
||||
delta: Isometry<f32>,
|
||||
shape: &shape::Capsule<f32>,
|
||||
color: Point3<f32>,
|
||||
out: &mut Vec<Node>,
|
||||
) {
|
||||
let margin = colliders.get(object).unwrap().margin();
|
||||
out.push(Node::Capsule(Capsule::new(
|
||||
object,
|
||||
colliders,
|
||||
delta,
|
||||
shape.radius() + margin,
|
||||
shape.height(),
|
||||
color,
|
||||
window,
|
||||
)))
|
||||
}
|
||||
|
||||
fn add_ball(
|
||||
&mut self,
|
||||
window: &mut Window,
|
||||
object: DefaultColliderHandle,
|
||||
colliders: &DefaultColliderSet<f32>,
|
||||
delta: Isometry<f32>,
|
||||
shape: &shape::Ball<f32>,
|
||||
color: Point3<f32>,
|
||||
out: &mut Vec<Node>,
|
||||
) {
|
||||
let margin = colliders.get(object).unwrap().margin();
|
||||
out.push(Node::Ball(Ball::new(
|
||||
object,
|
||||
colliders,
|
||||
delta,
|
||||
shape.radius() + margin,
|
||||
color,
|
||||
window,
|
||||
)))
|
||||
}
|
||||
|
||||
fn add_box(
|
||||
&mut self,
|
||||
window: &mut Window,
|
||||
object: DefaultColliderHandle,
|
||||
colliders: &DefaultColliderSet<f32>,
|
||||
delta: Isometry<f32>,
|
||||
shape: &Cuboid<f32>,
|
||||
color: Point3<f32>,
|
||||
out: &mut Vec<Node>,
|
||||
) {
|
||||
let margin = colliders.get(object).unwrap().margin();
|
||||
|
||||
out.push(Node::Box(Box::new(
|
||||
object,
|
||||
colliders,
|
||||
delta,
|
||||
shape.half_extents() + Vector::repeat(margin),
|
||||
color,
|
||||
window,
|
||||
)))
|
||||
}
|
||||
|
||||
#[cfg(feature = "dim2")]
|
||||
fn add_convex(
|
||||
&mut self,
|
||||
window: &mut Window,
|
||||
object: DefaultColliderHandle,
|
||||
colliders: &DefaultColliderSet<f32>,
|
||||
delta: Isometry<f32>,
|
||||
shape: &ConvexPolygon<f32>,
|
||||
color: Point3<f32>,
|
||||
out: &mut Vec<Node>,
|
||||
) {
|
||||
let points = shape.points();
|
||||
|
||||
out.push(Node::Convex(Convex::new(
|
||||
object,
|
||||
colliders,
|
||||
delta,
|
||||
points.to_vec(),
|
||||
color,
|
||||
window,
|
||||
)))
|
||||
}
|
||||
|
||||
#[cfg(feature = "dim3")]
|
||||
fn add_convex(
|
||||
&mut self,
|
||||
window: &mut Window,
|
||||
object: DefaultColliderHandle,
|
||||
colliders: &DefaultColliderSet<f32>,
|
||||
delta: Isometry<f32>,
|
||||
shape: &ConvexHull<f32>,
|
||||
color: Point3<f32>,
|
||||
out: &mut Vec<Node>,
|
||||
) {
|
||||
let mut chull = transformation::convex_hull(shape.points());
|
||||
chull.replicate_vertices();
|
||||
chull.recompute_normals();
|
||||
|
||||
out.push(Node::Convex(Convex::new(
|
||||
object, colliders, delta, &chull, color, window,
|
||||
)))
|
||||
}
|
||||
*/
|
||||
|
||||
#[cfg(feature = "fluids")]
|
||||
pub fn draw_fluids(&mut self, liquid_world: &LiquidWorld<f32>) {
|
||||
for (i, fluid) in liquid_world.fluids().iter() {
|
||||
if let Some(node) = self.f2sn.get_mut(&i) {
|
||||
node.update_with_fluid(fluid, self.fluid_rendering_mode)
|
||||
}
|
||||
}
|
||||
|
||||
if self.render_boundary_particles {
|
||||
for (i, boundary) in liquid_world.boundaries().iter() {
|
||||
if let Some(node) = self.boundary2sn.get_mut(&i) {
|
||||
node.update_with_boundary(boundary)
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
pub fn draw(&mut self, colliders: &ColliderSet, window: &mut Window) {
|
||||
// use kiss3d::camera::Camera;
|
||||
// println!(
|
||||
// "camera eye {:?}, at: {:?}",
|
||||
// self.camera.eye(),
|
||||
// self.camera.at()
|
||||
// );
|
||||
for (_, ns) in self.b2sn.iter_mut() {
|
||||
for n in ns.iter_mut() {
|
||||
n.update(colliders);
|
||||
n.draw(window);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// pub fn draw_positions(&mut self, window: &mut Window, rbs: &RigidBodies<f32>) {
|
||||
// for (_, ns) in self.b2sn.iter_mut() {
|
||||
// for n in ns.iter_mut() {
|
||||
// let object = n.object();
|
||||
// let rb = rbs.get(object).expect("Rigid body not found.");
|
||||
|
||||
// // if let WorldObjectBorrowed::RigidBody(rb) = object {
|
||||
// let t = rb.position();
|
||||
// let center = rb.center_of_mass();
|
||||
|
||||
// let rotmat = t.rotation.to_rotation_matrix().unwrap();
|
||||
// let x = rotmat.column(0) * 0.25f32;
|
||||
// let y = rotmat.column(1) * 0.25f32;
|
||||
// let z = rotmat.column(2) * 0.25f32;
|
||||
|
||||
// window.draw_line(center, &(*center + x), &Point3::new(1.0, 0.0, 0.0));
|
||||
// window.draw_line(center, &(*center + y), &Point3::new(0.0, 1.0, 0.0));
|
||||
// window.draw_line(center, &(*center + z), &Point3::new(0.0, 0.0, 1.0));
|
||||
// // }
|
||||
// }
|
||||
// }
|
||||
// }
|
||||
|
||||
pub fn camera(&self) -> &Camera {
|
||||
&self.camera
|
||||
}
|
||||
|
||||
pub fn camera_mut(&mut self) -> &mut Camera {
|
||||
&mut self.camera
|
||||
}
|
||||
|
||||
#[cfg(feature = "dim3")]
|
||||
pub fn look_at(&mut self, eye: Point<f32>, at: Point<f32>) {
|
||||
self.camera.look_at(eye, at);
|
||||
}
|
||||
|
||||
#[cfg(feature = "dim2")]
|
||||
pub fn look_at(&mut self, at: Point<f32>, zoom: f32) {
|
||||
self.camera.look_at(at, zoom);
|
||||
}
|
||||
|
||||
pub fn body_nodes(&self, handle: RigidBodyHandle) -> Option<&Vec<Node>> {
|
||||
self.b2sn.get(&handle)
|
||||
}
|
||||
|
||||
pub fn body_nodes_mut(&mut self, handle: RigidBodyHandle) -> Option<&mut Vec<Node>> {
|
||||
self.b2sn.get_mut(&handle)
|
||||
}
|
||||
|
||||
pub fn nodes(&self) -> impl Iterator<Item = &Node> {
|
||||
self.b2sn.values().flat_map(|val| val.iter())
|
||||
}
|
||||
|
||||
pub fn nodes_mut(&mut self) -> impl Iterator<Item = &mut Node> {
|
||||
self.b2sn.values_mut().flat_map(|val| val.iter_mut())
|
||||
}
|
||||
|
||||
#[cfg(feature = "dim3")]
|
||||
pub fn set_up_axis(&mut self, up_axis: na::Vector3<f32>) {
|
||||
self.camera.set_up_axis(up_axis);
|
||||
}
|
||||
}
|
||||
|
||||
impl Default for GraphicsManager {
|
||||
fn default() -> Self {
|
||||
Self::new()
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user