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Add convex polygons support.

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This commit is contained in:
Crozet Sébastien
2020-12-27 18:14:22 +01:00
parent 27ebb541f8
commit 8d925a02ef
8 changed files with 208 additions and 21 deletions
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92
src/geometry/collider.rs
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@@ -3,13 +3,15 @@ use crate::geometry::InteractionGroups;
use crate::math::{AngVector, Isometry, Point, Rotation, Vector};
use cdl::bounding_volume::AABB;
use cdl::shape::{
Ball, Capsule, Cuboid, HalfSpace, HeightField, RoundCuboid, RoundTriangle, Segment, Shape,
ShapeType, ShapeWithBorder, TriMesh, Triangle,
Ball, Capsule, Cuboid, HalfSpace, HeightField, RoundCuboid, RoundShape, RoundTriangle, Segment,
Shape, ShapeType, TriMesh, Triangle,
};
#[cfg(feature = "dim3")]
use cdl::shape::{
Cone, ConvexPolyhedron, Cylinder, RoundCone, RoundConvexPolyhedron, RoundCylinder,
};
#[cfg(feature = "dim2")]
use cdl::shape::{ConvexPolygon, RoundConvexPolygon};
use na::Point3;
use std::ops::Deref;
use std::sync::Arc;
@@ -44,7 +46,7 @@ impl ColliderShape {
/// radius of the sphere used for dilating the cylinder).
#[cfg(feature = "dim3")]
pub fn round_cylinder(half_height: f32, radius: f32, border_radius: f32) -> Self {
ColliderShape(Arc::new(ShapeWithBorder {
ColliderShape(Arc::new(RoundShape {
base_shape: Cylinder::new(half_height, radius),
border_radius,
}))
@@ -55,7 +57,7 @@ impl ColliderShape {
/// radius of the sphere used for dilating the cylinder).
#[cfg(feature = "dim3")]
pub fn round_cone(half_height: f32, radius: f32, border_radius: f32) -> Self {
ColliderShape(Arc::new(ShapeWithBorder {
ColliderShape(Arc::new(RoundShape {
base_shape: Cone::new(half_height, radius),
border_radius,
}))
@@ -73,6 +75,14 @@ impl ColliderShape {
ColliderShape(Arc::new(Cuboid::new(half_extents)))
}
/// Initialize a round cuboid shape defined by its half-extents and border radius.
pub fn round_cuboid(half_extents: Vector<f32>, border_radius: f32) -> Self {
ColliderShape(Arc::new(RoundShape {
base_shape: Cuboid::new(half_extents),
border_radius,
}))
}
/// Initialize a capsule shape from its endpoints and radius.
pub fn capsule(a: Point<f32>, b: Point<f32>, radius: f32) -> Self {
ColliderShape(Arc::new(Capsule::new(a, b, radius)))
@@ -93,9 +103,16 @@ impl ColliderShape {
ColliderShape(Arc::new(TriMesh::new(vertices, indices)))
}
#[cfg(feature = "dim3")]
pub fn convex_hull(points: &[Point<f32>]) -> Option<Self> {
ConvexPolyhedron::from_convex_hull(points).map(|ch| ColliderShape(Arc::new(ch)))
#[cfg(feature = "dim2")]
return ConvexPolygon::from_convex_hull(points).map(|ch| ColliderShape(Arc::new(ch)));
#[cfg(feature = "dim3")]
return ConvexPolyhedron::from_convex_hull(points).map(|ch| ColliderShape(Arc::new(ch)));
}
#[cfg(feature = "dim2")]
pub fn convex_polyline(points: Vec<Point<f32>>) -> Option<Self> {
ConvexPolygon::from_convex_polyline(points).map(|ch| ColliderShape(Arc::new(ch)))
}
#[cfg(feature = "dim3")]
@@ -103,10 +120,27 @@ impl ColliderShape {
ConvexPolyhedron::from_convex_mesh(points, indices).map(|ch| ColliderShape(Arc::new(ch)))
}
#[cfg(feature = "dim3")]
pub fn round_convex_hull(points: &[Point<f32>], border_radius: f32) -> Option<Self> {
ConvexPolyhedron::from_convex_hull(points).map(|ch| {
ColliderShape(Arc::new(ShapeWithBorder {
#[cfg(feature = "dim2")]
return ConvexPolygon::from_convex_hull(points).map(|ch| {
ColliderShape(Arc::new(RoundShape {
base_shape: ch,
border_radius,
}))
});
#[cfg(feature = "dim3")]
return ConvexPolyhedron::from_convex_hull(points).map(|ch| {
ColliderShape(Arc::new(RoundShape {
base_shape: ch,
border_radius,
}))
});
}
#[cfg(feature = "dim2")]
pub fn round_convex_polyline(points: Vec<Point<f32>>, border_radius: f32) -> Option<Self> {
ConvexPolygon::from_convex_polyline(points).map(|ch| {
ColliderShape(Arc::new(RoundShape {
base_shape: ch,
border_radius,
}))
@@ -120,7 +154,7 @@ impl ColliderShape {
border_radius: f32,
) -> Option<Self> {
ConvexPolyhedron::from_convex_mesh(points, indices).map(|ch| {
ColliderShape(Arc::new(ShapeWithBorder {
ColliderShape(Arc::new(RoundShape {
base_shape: ch,
border_radius,
}))
@@ -217,6 +251,12 @@ impl<'de> serde::Deserialize<'de> for ColliderShape {
Some(ShapeType::HalfSpace) => deser::<A, HalfSpace>(&mut seq)?,
Some(ShapeType::RoundCuboid) => deser::<A, RoundCuboid>(&mut seq)?,
Some(ShapeType::RoundTriangle) => deser::<A, RoundTriangle>(&mut seq)?,
#[cfg(feature = "dim2")]
Some(ShapeType::ConvexPolygon) => deser::<A, ConvexPolygon>(&mut seq)?,
#[cfg(feature = "dim2")]
Some(ShapeType::RoundConvexPolygon) => {
deser::<A, RoundConvexPolygon>(&mut seq)?
}
#[cfg(feature = "dim3")]
Some(ShapeType::Cylinder) => deser::<A, Cylinder>(&mut seq)?,
#[cfg(feature = "dim3")]
@@ -439,6 +479,16 @@ impl ColliderBuilder {
Self::new(ColliderShape::cuboid(Vector::new(hx, hy)))
}
/// Initialize a new collider builder with a round cuboid shape defined by its half-extents
/// and border radius.
#[cfg(feature = "dim2")]
pub fn round_cuboid(hx: f32, hy: f32, border_radius: f32) -> Self {
Self::new(ColliderShape::round_cuboid(
Vector::new(hx, hy),
border_radius,
))
}
/// Initialize a new collider builder with a capsule shape aligned with the `x` axis.
pub fn capsule_x(half_height: f32, radius: f32) -> Self {
let p = Point::from(Vector::x() * half_height);
@@ -464,6 +514,16 @@ impl ColliderBuilder {
Self::new(ColliderShape::cuboid(Vector::new(hx, hy, hz)))
}
/// Initialize a new collider builder with a round cuboid shape defined by its half-extents
/// and border radius.
#[cfg(feature = "dim3")]
pub fn round_cuboid(hx: f32, hy: f32, hz: f32, border_radius: f32) -> Self {
Self::new(ColliderShape::round_cuboid(
Vector::new(hx, hy, hz),
border_radius,
))
}
/// Initializes a collider builder with a segment shape.
pub fn segment(a: Point<f32>, b: Point<f32>) -> Self {
Self::new(ColliderShape::segment(a, b))
@@ -479,16 +539,24 @@ impl ColliderBuilder {
Self::new(ColliderShape::trimesh(vertices, indices))
}
#[cfg(feature = "dim3")]
pub fn convex_hull(points: &[Point<f32>]) -> Option<Self> {
ColliderShape::convex_hull(points).map(|cp| Self::new(cp))
}
#[cfg(feature = "dim3")]
pub fn round_convex_hull(points: &[Point<f32>], border_radius: f32) -> Option<Self> {
ColliderShape::round_convex_hull(points, border_radius).map(|cp| Self::new(cp))
}
#[cfg(feature = "dim2")]
pub fn convex_polyline(points: Vec<Point<f32>>) -> Option<Self> {
ColliderShape::convex_polyline(points).map(|cp| Self::new(cp))
}
#[cfg(feature = "dim2")]
pub fn round_convex_polyline(points: Vec<Point<f32>>, border_radius: f32) -> Option<Self> {
ColliderShape::round_convex_polyline(points, border_radius).map(|cp| Self::new(cp))
}
#[cfg(feature = "dim3")]
pub fn convex_mesh(points: Vec<Point<f32>>, indices: &[usize]) -> Option<Self> {
ColliderShape::convex_mesh(points, indices).map(|cp| Self::new(cp))