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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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2
benchmarks2d/all_benchmarks2.rs
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@@ -13,6 +13,7 @@ use std::cmp::Ordering;
mod balls2;
mod boxes2;
mod capsules2;
mod convex_polygons2;
mod heightfield2;
mod joint_ball2;
mod joint_fixed2;
@@ -55,6 +56,7 @@ pub fn main() {
("Balls", balls2::init_world),
("Boxes", boxes2::init_world),
("Capsules", capsules2::init_world),
("Convex polygons", convex_polygons2::init_world),
("Heightfield", heightfield2::init_world),
("Pyramid", pyramid2::init_world),
("(Stress test) joint ball", joint_ball2::init_world),

86
benchmarks2d/convex_polygons2.rs Normal file
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@@ -0,0 +1,86 @@
use na::Point2;
use rand::distributions::{Distribution, Standard};
use rand::{rngs::StdRng, SeedableRng};
use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier2d::geometry::{ColliderBuilder, ColliderSet};
use rapier_testbed2d::Testbed;
pub fn init_world(testbed: &mut Testbed) {
/*
* World
*/
let mut bodies = RigidBodySet::new();
let mut colliders = ColliderSet::new();
let joints = JointSet::new();
/*
* Ground
*/
let ground_size = 30.0;
let rigid_body = RigidBodyBuilder::new_static().build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, 1.2).build();
colliders.insert(collider, handle, &mut bodies);
let rigid_body = RigidBodyBuilder::new_static()
.rotation(std::f32::consts::FRAC_PI_2)
.translation(ground_size, ground_size * 2.0)
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size * 2.0, 1.2).build();
colliders.insert(collider, handle, &mut bodies);
let rigid_body = RigidBodyBuilder::new_static()
.rotation(std::f32::consts::FRAC_PI_2)
.translation(-ground_size, ground_size * 2.0)
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size * 2.0, 1.2).build();
colliders.insert(collider, handle, &mut bodies);
/*
* Create the convex polygons
*/
let num = 26;
let scale = 2.0;
let border_rad = 0.0;
let shift = border_rad * 2.0 + scale;
let centerx = shift * (num as f32) / 2.0;
let centery = shift / 2.0;
let mut rng = StdRng::seed_from_u64(0);
let distribution = Standard;
for i in 0..num {
for j in 0usize..num * 5 {
let x = i as f32 * shift - centerx;
let y = j as f32 * shift * 2.0 + centery + 2.0;
let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y).build();
let handle = bodies.insert(rigid_body);
let mut points = Vec::new();
for _ in 0..10 {
let pt: Point2<f32> = distribution.sample(&mut rng);
points.push(pt * scale);
}
let collider = ColliderBuilder::convex_hull(&points).unwrap().build();
colliders.insert(collider, handle, &mut bodies);
}
}
/*
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point2::new(0.0, 50.0), 10.0);
}
fn main() {
let testbed = Testbed::from_builders(0, vec![("Balls", init_world)]);
testbed.run()
}

11
examples2d/sensor2.rs
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@@ -1,6 +1,6 @@
use na::{Point2, Point3};
use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier2d::geometry::{ColliderBuilder, ColliderSet, Proximity};
use rapier2d::geometry::{ColliderBuilder, ColliderSet};
use rapier_testbed2d::Testbed;
pub fn init_world(testbed: &mut Testbed) {
@@ -70,10 +70,11 @@ pub fn init_world(testbed: &mut Testbed) {
// Callback that will be executed on the main loop to handle proximities.
testbed.add_callback(move |_, physics, events, graphics, _| {
while let Ok(prox) = events.proximity_events.try_recv() {
let color = match prox.new_status {
Proximity::WithinMargin | Proximity::Intersecting => Point3::new(1.0, 1.0, 0.0),
Proximity::Disjoint => Point3::new(0.5, 0.5, 1.0),
while let Ok(prox) = events.intersection_events.try_recv() {
let color = if prox.intersecting {
Point3::new(1.0, 1.0, 0.0)
} else {
Point3::new(0.5, 0.5, 1.0)
};
let parent_handle1 = physics.colliders.get(prox.collider1).unwrap().parent();

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))

8
src_testbed/box2d_backend.rs
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@@ -174,6 +174,14 @@ impl Box2dWorld {
b2_shape.set_radius(b.radius);
b2_shape.set_position(center);
body.create_fixture(&b2_shape, &mut fixture_def);
} else if let Some(p) = shape.as_convex_polygon() {
let vertices: Vec<_> = p
.points()
.iter()
.map(|p| na_vec_to_b2_vec(p.coords))
.collect();
let b2_shape = b2::PolygonShape::new_with(&vertices);
body.create_fixture(&b2_shape, &mut fixture_def);
} else if let Some(c) = shape.as_cuboid() {
let b2_shape = b2::PolygonShape::new_box(c.half_extents.x, c.half_extents.y);
body.create_fixture(&b2_shape, &mut fixture_def);

9
src_testbed/engine.rs
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@@ -344,6 +344,15 @@ impl GraphicsManager {
)))
}
#[cfg(feature = "dim2")]
if let Some(convex_polygon) = shape
.as_convex_polygon()
.or(shape.as_round_convex_polygon().map(|r| &r.base_shape))
{
let vertices = convex_polygon.points().to_vec();
out.push(Node::Convex(Convex::new(handle, vertices, color, window)))
}
#[cfg(feature = "dim3")]
if let Some(convex_polyhedron) = shape
.as_convex_polyhedron()

18
src_testbed/nphysics_backend.rs
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@@ -1,3 +1,5 @@
#[cfg(feature = "dim2")]
use ncollide::shape::ConvexPolygon;
use ncollide::shape::{Ball, Capsule, Cuboid, HeightField, ShapeHandle};
use nphysics::force_generator::DefaultForceGeneratorSet;
use nphysics::joint::{
@@ -144,6 +146,7 @@ impl NPhysicsWorld {
self.mechanical_world
.integration_parameters
.set_dt(params.dt());
self.mechanical_world.integration_parameters.warmstart_coeff = params.warmstart_coeff;
counters.step_started();
self.mechanical_world.step(
@@ -175,12 +178,15 @@ fn nphysics_collider_from_rapier_collider(
collider: &Collider,
is_dynamic: bool,
) -> Option<ColliderDesc<f32>> {
let margin = ColliderDesc::<f32>::default_margin();
let mut margin = ColliderDesc::<f32>::default_margin();
let mut pos = *collider.position_wrt_parent();
let shape = collider.shape();
let shape = if let Some(cuboid) = shape.as_cuboid() {
ShapeHandle::new(Cuboid::new(cuboid.half_extents.map(|e| e - margin)))
} else if let Some(cuboid) = shape.as_round_cuboid() {
margin = cuboid.border_radius;
ShapeHandle::new(Cuboid::new(cuboid.base_shape.half_extents))
} else if let Some(ball) = shape.as_ball() {
ShapeHandle::new(Ball::new(ball.radius - margin))
} else if let Some(capsule) = shape.as_capsule() {
@@ -208,7 +214,12 @@ fn nphysics_collider_from_rapier_collider(
}
#[cfg(feature = "dim2")]
{
if let Some(polygon) = shape.as_round_convex_polygon() {
margin = polygon.border_radius;
ShapeHandle::new(ConvexPolygon::try_from_points(polygon.base_shape.points()).unwrap())
} else if let Some(polygon) = shape.as_convex_polygon() {
ShapeHandle::new(ConvexPolygon::try_from_points(polygon.points()).unwrap())
} else {
return None;
}
};
@@ -219,6 +230,7 @@ fn nphysics_collider_from_rapier_collider(
ColliderDesc::new(shape)
.position(pos)
.density(density)
.sensor(collider.is_sensor()),
.sensor(collider.is_sensor())
.margin(margin),
)
}

3
src_testbed/objects/heightfield.rs
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@@ -10,7 +10,6 @@ use rapier::math::Point;
#[cfg(feature = "dim3")]
use rapier::math::Vector;
use std::cell::RefCell;
use std::rc::Rc;
pub struct HeightField {
color: Point3<f32>,
@@ -52,6 +51,8 @@ impl HeightField {
color: Point3<f32>,
window: &mut Window,
) -> HeightField {
use std::rc::Rc;
let (vertices, indices) = heightfield.to_trimesh();
let indices = indices.into_iter().map(|i| na::convert(i)).collect();
let mesh = Mesh::new(vertices, indices, None, None, false);