Start adding cylinders.

src_testbed/engine.rs

@@ -26,6 +26,7 @@ use rapier::geometry::{Collider, ColliderHandle, ColliderSet, Shape};
 //#[cfg(feature = "fluids")]
 //use crate::objects::FluidRenderingMode;
 use crate::objects::capsule::Capsule;
+use crate::objects::cylinder::Cylinder;
 use crate::objects::mesh::Mesh;
 use rand::{Rng, SeedableRng};
 use rand_pcg::Pcg32;
@@ -392,6 +393,14 @@ impl GraphicsManager {
                 color,
                 window,
             ))),
+            #[cfg(feature = "dim3")]
+            Shape::Cylinder(cylinder) => out.push(Node::Cylinder(Cylinder::new(
+                handle,
+                cylinder.half_height,
+                cylinder.radius,
+                color,
+                window,
+            ))),
         }
     }
 

src_testbed/objects/cylinder.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 Cylinder {
+    color: Point3<f32>,
+    base_color: Point3<f32>,
+    gfx: GraphicsNode,
+    collider: ColliderHandle,
+}
+
+impl Cylinder {
+    pub fn new(
+        collider: ColliderHandle,
+        half_height: f32,
+        radius: f32,
+        color: Point3<f32>,
+        window: &mut Window,
+    ) -> Cylinder {
+        #[cfg(feature = "dim2")]
+        let node = window.add_rectangle(radius, half_height);
+        #[cfg(feature = "dim3")]
+        let node = window.add_cylinder(radius, half_height * 2.0);
+
+        let mut res = Cylinder {
+            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

@@ -2,6 +2,7 @@ pub mod ball;
 pub mod box_node;
 pub mod capsule;
 pub mod convex;
+pub mod cylinder;
 pub mod heightfield;
 pub mod mesh;
 pub mod node;

src_testbed/objects/node.rs

@@ -10,6 +10,7 @@ use crate::objects::mesh::Mesh;
 use kiss3d::window::Window;
 use na::Point3;
 
+use crate::objects::cylinder::Cylinder;
 use rapier::geometry::{ColliderHandle, ColliderSet};
 use rapier::math::Isometry;
 
@@ -28,6 +29,7 @@ pub enum Node {
     //    Polyline(Polyline),
     Mesh(Mesh),
     Convex(Convex),
+    Cylinder(Cylinder),
 }
 
 impl Node {
@@ -42,6 +44,7 @@ impl Node {
             //            Node::Polyline(ref mut n) => n.select(),
             Node::Mesh(ref mut n) => n.select(),
             Node::Convex(ref mut n) => n.select(),
+            Node::Cylinder(ref mut n) => n.select(),
         }
     }
 
@@ -56,6 +59,7 @@ impl Node {
             //            Node::Polyline(ref mut n) => n.unselect(),
             Node::Mesh(ref mut n) => n.unselect(),
             Node::Convex(ref mut n) => n.unselect(),
+            Node::Cylinder(ref mut n) => n.unselect(),
         }
     }
 
@@ -70,6 +74,7 @@ impl Node {
             //            Node::Polyline(ref mut n) => n.update(colliders),
             Node::Mesh(ref mut n) => n.update(colliders),
             Node::Convex(ref mut n) => n.update(colliders),
+            Node::Cylinder(ref mut n) => n.update(colliders),
         }
     }
 
@@ -97,6 +102,7 @@ impl Node {
             Node::HeightField(ref n) => Some(n.scene_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()),
             #[cfg(feature = "dim2")]
             _ => None,
         }
@@ -113,6 +119,7 @@ impl Node {
             Node::HeightField(ref mut n) => Some(n.scene_node_mut()),
             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()),
             #[cfg(feature = "dim2")]
             _ => None,
         }
@@ -129,6 +136,7 @@ impl Node {
             //            Node::Polyline(ref n) => n.object(),
             Node::Mesh(ref n) => n.object(),
             Node::Convex(ref n) => n.object(),
+            Node::Cylinder(ref n) => n.object(),
         }
     }
 
@@ -143,6 +151,7 @@ impl Node {
             //            Node::Polyline(ref mut n) => n.set_color(color),
             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),
         }
     }
 }