nichkara/rapier
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Add compound demo.

Browse Source
This commit is contained in:
Sébastien Crozet
2020-08-31 19:03:56 +02:00
parent 5731b99463
commit ce26fe1077
4 changed files with 16 additions and 8 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
src_testbed/nphysics_backend.rs
View File

@@ -176,7 +176,7 @@ fn nphysics_collider_from_rapier_collider(
is_dynamic: bool,
) -> Option<ColliderDesc<f32>> {
let margin = ColliderDesc::<f32>::default_margin();
let mut pos = Isometry::identity();
let mut pos = *collider.position_wrt_parent();
let shape = match collider.shape() {
Shape::Cuboid(cuboid) => {
@@ -184,7 +184,7 @@ fn nphysics_collider_from_rapier_collider(
}
Shape::Ball(ball) => ShapeHandle::new(Ball::new(ball.radius - margin)),
Shape::Capsule(capsule) => {
pos = capsule.transform_wrt_y();
pos *= capsule.transform_wrt_y();
ShapeHandle::new(Capsule::new(capsule.half_height(), capsule.radius))
}
Shape::HeightField(heightfield) => ShapeHandle::new(heightfield.clone()),

4
src_testbed/physx_backend.rs
View File

@@ -399,7 +399,7 @@ impl PhysxWorld {
fn physx_collider_from_rapier_collider(
collider: &Collider,
) -> Option<(ColliderDesc, Isometry3<f32>)> {
let mut local_pose = Isometry3::identity();
let mut local_pose = *collider.position_wrt_parent();
let desc = match collider.shape() {
Shape::Cuboid(cuboid) => ColliderDesc::Box(
cuboid.half_extents.x,
@@ -416,7 +416,7 @@ fn physx_collider_from_rapier_collider(
}
let rot = UnitQuaternion::rotation_between(&Vector3::x(), &dir);
local_pose =
local_pose *=
Translation3::from(center.coords) * rot.unwrap_or(UnitQuaternion::identity());
ColliderDesc::Capsule(capsule.radius, capsule.height())
}