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Add collider constructors for shapes obtained from convex decomposition.

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This commit is contained in:
Crozet Sébastien
2021-01-21 16:29:05 +01:00
parent 98d3980db7
commit 800b35b103
3 changed files with 117 additions and 11 deletions
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14
examples3d/convex_decomposition3.rs
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@@ -45,7 +45,7 @@ pub fn init_world(testbed: &mut Testbed) {
let deltas = na::one();
let mtl_path = Path::new("");
let mut compound_parts = Vec::new();
let mut shapes = Vec::new();
println!("Parsing and decomposing: {}", obj_path);
let obj = obj::parse_file(&Path::new(&obj_path), &mtl_path, "");
@@ -81,13 +81,9 @@ pub fn init_world(testbed: &mut Testbed) {
.into_iter()
.map(|idx| [idx.x, idx.y, idx.z])
.collect();
let vhacd = VHACD::decompose(&params, &vertices, &indices, true);
for (vertices, indices) in vhacd.compute_exact_convex_hulls(&vertices, &indices) {
if let Some(convex) = ColliderShape::convex_mesh(vertices, &indices) {
compound_parts.push(convex);
}
}
let decomposed_shape = ColliderShape::convex_decomposition(&vertices, &indices);
shapes.push(decomposed_shape);
}
// let compound = ColliderShape::compound(compound_parts);
@@ -100,8 +96,8 @@ pub fn init_world(testbed: &mut Testbed) {
let body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
let handle = bodies.insert(body);
for part in &compound_parts {
let collider = ColliderBuilder::new(part.clone()).build();
for shape in &shapes {
let collider = ColliderBuilder::new(shape.clone()).build();
colliders.insert(collider, handle, &mut bodies);
}
}