Add cone support.

src_testbed/objects/capsule.rs

@@ -19,7 +19,7 @@ impl Capsule {
         window: &mut window::Window,
     ) -> Capsule {
         let r = capsule.radius;
-        let h = capsule.half_height() * 2.0;
+        let h = capsule.half_height * 2.0;
         #[cfg(feature = "dim2")]
         let node = window.add_planar_capsule(r, h);
         #[cfg(feature = "dim3")]

src_testbed/objects/cone.rs

@@ -0,0 +1,74 @@
+use crate::objects::node::{self, GraphicsNode};
+use kiss3d::window::Window;
+use na::Point3;
+use rapier::geometry::{ColliderHandle, ColliderSet};
+use rapier::math::Isometry;
+
+pub struct Cone {
+    color: Point3<f32>,
+    base_color: Point3<f32>,
+    gfx: GraphicsNode,
+    collider: ColliderHandle,
+}
+
+impl Cone {
+    pub fn new(
+        collider: ColliderHandle,
+        half_height: f32,
+        radius: f32,
+        color: Point3<f32>,
+        window: &mut Window,
+    ) -> Cone {
+        #[cfg(feature = "dim2")]
+        let node = window.add_rectangle(radius, half_height);
+        #[cfg(feature = "dim3")]
+        let node = window.add_cone(radius, half_height * 2.0);
+
+        let mut res = Cone {
+            color,
+            base_color: color,
+            gfx: node,
+            collider,
+        };
+
+        // res.gfx.set_texture_from_file(&Path::new("media/kitten.png"), "kitten");
+        res.gfx.set_color(color.x, color.y, color.z);
+        res
+    }
+
+    pub fn select(&mut self) {
+        self.color = Point3::new(1.0, 0.0, 0.0);
+    }
+
+    pub fn unselect(&mut self) {
+        self.color = self.base_color;
+    }
+
+    pub fn set_color(&mut self, color: Point3<f32>) {
+        self.gfx.set_color(color.x, color.y, color.z);
+        self.color = color;
+        self.base_color = color;
+    }
+
+    pub fn update(&mut self, colliders: &ColliderSet) {
+        node::update_scene_node(
+            &mut self.gfx,
+            colliders,
+            self.collider,
+            &self.color,
+            &Isometry::identity(),
+        );
+    }
+
+    pub fn scene_node(&self) -> &GraphicsNode {
+        &self.gfx
+    }
+
+    pub fn scene_node_mut(&mut self) -> &mut GraphicsNode {
+        &mut self.gfx
+    }
+
+    pub fn object(&self) -> ColliderHandle {
+        self.collider
+    }
+}

src_testbed/objects/mod.rs

@@ -1,6 +1,7 @@
 pub mod ball;
 pub mod box_node;
 pub mod capsule;
+pub mod cone;
 pub mod convex;
 pub mod cylinder;
 pub mod heightfield;

src_testbed/objects/node.rs

@@ -10,6 +10,7 @@ use crate::objects::mesh::Mesh;
 use kiss3d::window::Window;
 use na::Point3;
 
+use crate::objects::cone::Cone;
 use crate::objects::cylinder::Cylinder;
 use rapier::geometry::{ColliderHandle, ColliderSet};
 use rapier::math::Isometry;
@@ -30,6 +31,7 @@ pub enum Node {
     Mesh(Mesh),
     Convex(Convex),
     Cylinder(Cylinder),
+    Cone(Cone),
 }
 
 impl Node {
@@ -45,6 +47,7 @@ impl Node {
             Node::Mesh(ref mut n) => n.select(),
             Node::Convex(ref mut n) => n.select(),
             Node::Cylinder(ref mut n) => n.select(),
+            Node::Cone(ref mut n) => n.select(),
         }
     }
 
@@ -60,6 +63,7 @@ impl Node {
             Node::Mesh(ref mut n) => n.unselect(),
             Node::Convex(ref mut n) => n.unselect(),
             Node::Cylinder(ref mut n) => n.unselect(),
+            Node::Cone(ref mut n) => n.unselect(),
         }
     }
 
@@ -75,6 +79,7 @@ impl Node {
             Node::Mesh(ref mut n) => n.update(colliders),
             Node::Convex(ref mut n) => n.update(colliders),
             Node::Cylinder(ref mut n) => n.update(colliders),
+            Node::Cone(ref mut n) => n.update(colliders),
         }
     }
 
@@ -103,6 +108,7 @@ impl Node {
             Node::Mesh(ref n) => Some(n.scene_node()),
             Node::Convex(ref n) => Some(n.scene_node()),
             Node::Cylinder(ref n) => Some(n.scene_node()),
+            Node::Cone(ref n) => Some(n.scene_node()),
             #[cfg(feature = "dim2")]
             _ => None,
         }
@@ -120,6 +126,7 @@ impl Node {
             Node::Mesh(ref mut n) => Some(n.scene_node_mut()),
             Node::Convex(ref mut n) => Some(n.scene_node_mut()),
             Node::Cylinder(ref mut n) => Some(n.scene_node_mut()),
+            Node::Cone(ref mut n) => Some(n.scene_node_mut()),
             #[cfg(feature = "dim2")]
             _ => None,
         }
@@ -137,6 +144,7 @@ impl Node {
             Node::Mesh(ref n) => n.object(),
             Node::Convex(ref n) => n.object(),
             Node::Cylinder(ref n) => n.object(),
+            Node::Cone(ref n) => n.object(),
         }
     }
 
@@ -152,6 +160,7 @@ impl Node {
             Node::Mesh(ref mut n) => n.set_color(color),
             Node::Convex(ref mut n) => n.set_color(color),
             Node::Cylinder(ref mut n) => n.set_color(color),
+            Node::Cone(ref mut n) => n.set_color(color),
         }
     }
 }