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

Start adding cylinders.

Browse Source
This commit is contained in:
Crozet Sébastien
2020-10-12 18:33:58 +02:00
parent f8acf6a5e9
commit faec3d5d46
14 changed files with 375 additions and 9 deletions
Download Patch File Download Diff File Expand all files Collapse all files

14
src/geometry/contact_generator/contact_dispatcher.rs
View File

@@ -1,6 +1,7 @@
use crate::geometry::contact_generator::{
ContactGenerator, ContactPhase, HeightFieldShapeContactGeneratorWorkspace,
PrimitiveContactGenerator, TrimeshShapeContactGeneratorWorkspace,
PfmPfmContactManifoldGeneratorWorkspace, PrimitiveContactGenerator,
TrimeshShapeContactGeneratorWorkspace,
};
use crate::geometry::Shape;
use std::any::Any;
@@ -73,7 +74,9 @@ impl ContactDispatcher for DefaultContactDispatcher {
| (Shape::Triangle(_), Shape::Ball(_))
| (Shape::Ball(_), Shape::Triangle(_))
| (Shape::Capsule(_), Shape::Ball(_))
| (Shape::Ball(_), Shape::Capsule(_)) => (
| (Shape::Ball(_), Shape::Capsule(_))
| (Shape::Cylinder(_), Shape::Ball(_))
| (Shape::Ball(_), Shape::Cylinder(_)) => (
PrimitiveContactGenerator {
generate_contacts: super::generate_contacts_ball_convex,
..PrimitiveContactGenerator::default()
@@ -94,6 +97,13 @@ impl ContactDispatcher for DefaultContactDispatcher {
},
None,
),
(Shape::Cylinder(_), _) | (_, Shape::Cylinder(_)) => (
PrimitiveContactGenerator {
generate_contacts: super::generate_contacts_pfm_pfm,
..PrimitiveContactGenerator::default()
},
Some(Box::new(PfmPfmContactManifoldGeneratorWorkspace::default())),
),
_ => (PrimitiveContactGenerator::default(), None),
}
}