First public release of Rapier.

src_testbed/objects/mesh.rs

@@ -0,0 +1,108 @@
+use crate::objects::node::{self, GraphicsNode};
+use kiss3d::window;
+use na::Point3;
+use rapier::geometry::{ColliderHandle, ColliderSet};
+use rapier::math::{Isometry, Point};
+use std::cell::RefCell;
+use std::rc::Rc;
+
+pub struct Mesh {
+    color: Point3<f32>,
+    base_color: Point3<f32>,
+    gfx: GraphicsNode,
+    collider: ColliderHandle,
+}
+
+impl Mesh {
+    pub fn new(
+        collider: ColliderHandle,
+        vertices: Vec<Point<f32>>,
+        indices: Vec<Point3<u32>>,
+        color: Point3<f32>,
+        window: &mut window::Window,
+    ) -> Mesh {
+        let vs = vertices;
+        let is = indices.into_iter().map(na::convert).collect();
+
+        let mesh;
+        let gfx;
+
+        #[cfg(feature = "dim2")]
+        {
+            mesh = kiss3d::resource::PlanarMesh::new(vs, is, None, false);
+            gfx = window.add_planar_mesh(
+                Rc::new(RefCell::new(mesh)),
+                crate::math::Vector::from_element(1.0),
+            );
+        }
+
+        #[cfg(feature = "dim3")]
+        {
+            mesh = kiss3d::resource::Mesh::new(vs, is, None, None, false);
+            gfx = window.add_mesh(Rc::new(RefCell::new(mesh)), na::Vector3::from_element(1.0));
+        }
+
+        let mut res = Mesh {
+            color,
+            base_color: color,
+            gfx,
+            collider,
+        };
+
+        res.gfx.enable_backface_culling(false);
+        res.gfx.set_color(color.x, color.y, color.z);
+        res
+    }
+
+    pub fn select(&mut self) {
+        self.color = Point3::new(1.0, 0.0, 0.0);
+    }
+
+    pub fn unselect(&mut self) {
+        self.color = self.base_color;
+    }
+
+    pub fn set_color(&mut self, color: Point3<f32>) {
+        self.gfx.set_color(color.x, color.y, color.z);
+        self.color = color;
+        self.base_color = color;
+    }
+
+    pub fn update(&mut self, colliders: &ColliderSet) {
+        node::update_scene_node(
+            &mut self.gfx,
+            colliders,
+            self.collider,
+            &self.color,
+            &Isometry::identity(),
+        );
+
+        // // Update if some deformation occurred.
+        // // FIXME: don't update if it did not move.
+        // if let Some(c) = colliders.get(self.collider) {
+        //     if let ColliderAnchor::OnDeformableBody { .. } = c.anchor() {
+        //         let shape = c.shape().as_shape::<TriMesh<f32>>().unwrap();
+        //         let vtx = shape.points();
+        //
+        //         self.gfx.modify_vertices(&mut |vertices| {
+        //             for (v, new_v) in vertices.iter_mut().zip(vtx.iter()) {
+        //                 *v = *new_v
+        //             }
+        //         });
+        //         self.gfx.recompute_normals();
+        //     }
+        // }
+    }
+
+    pub fn scene_node(&self) -> &GraphicsNode {
+        &self.gfx
+    }
+
+    pub fn scene_node_mut(&mut self) -> &mut GraphicsNode {
+        &mut self.gfx
+    }
+
+    pub fn object(&self) -> ColliderHandle {
+        self.collider
+    }
+}