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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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17
src_testbed/objects/heightfield.rs
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@@ -1,15 +1,16 @@
#[cfg(feature = "dim3")]
use crate::objects::node::{self, GraphicsNode};
use buckler::shape;
use kiss3d::resource::Mesh;
use kiss3d::window::Window;
use na::{self, Point3};
use ncollide::shape;
#[cfg(feature = "dim3")]
use ncollide::transformation::ToTriMesh;
use rapier::geometry::{ColliderHandle, ColliderSet};
#[cfg(feature = "dim2")]
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>,
@@ -25,7 +26,7 @@ impl HeightField {
#[cfg(feature = "dim2")]
pub fn new(
collider: ColliderHandle,
heightfield: &shape::HeightField<f32>,
heightfield: &shape::HeightField,
color: Point3<f32>,
_: &mut Window,
) -> HeightField {
@@ -47,16 +48,18 @@ impl HeightField {
#[cfg(feature = "dim3")]
pub fn new(
collider: ColliderHandle,
heightfield: &shape::HeightField<f32>,
heightfield: &shape::HeightField,
color: Point3<f32>,
window: &mut Window,
) -> HeightField {
let mesh = heightfield.to_trimesh(());
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);
let mut res = HeightField {
color,
base_color: color,
gfx: window.add_trimesh(mesh, Vector::repeat(1.0)),
gfx: window.add_mesh(Rc::new(RefCell::new(mesh)), Vector::repeat(1.0)),
collider: collider,
};