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Outsource the contact manifold, SAT, and some shapes.

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This commit is contained in:
Crozet Sébastien
2020-12-08 17:31:49 +01:00
parent fd3b4801b6
commit 9bf1321f8f
62 changed files with 552 additions and 2904 deletions
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6
src/geometry/collider.rs
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@@ -6,8 +6,8 @@ use crate::geometry::{
#[cfg(feature = "dim3")]
use crate::geometry::{Cone, Cylinder, RoundCylinder};
use crate::math::{AngVector, Isometry, Point, Rotation, Vector};
use buckler::bounding_volume::AABB;
use na::Point3;
use ncollide::bounding_volume::AABB;
use std::ops::Deref;
use std::sync::Arc;
@@ -270,11 +270,11 @@ impl Collider {
}
/// Compute the axis-aligned bounding box of this collider.
pub fn compute_aabb(&self) -> AABB<f32> {
pub fn compute_aabb(&self) -> AABB {
self.shape.compute_aabb(&self.position)
}
// pub(crate) fn compute_aabb_with_prediction(&self) -> AABB<f32> {
// pub(crate) fn compute_aabb_with_prediction(&self) -> AABB {
// let aabb1 = self.shape.compute_aabb(&self.position);
// let aabb2 = self.shape.compute_aabb(&self.predicted_position);
// aabb1.merged(&aabb2)