542 lines
20 KiB
Rust
542 lines
20 KiB
Rust
use crate::buckler::shape::HalfSpace;
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use crate::dynamics::{MassProperties, RigidBodyHandle, RigidBodySet};
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use crate::geometry::InteractionGroups;
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use crate::math::{AngVector, Isometry, Point, Rotation, Vector};
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use buckler::bounding_volume::AABB;
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use buckler::shape::{
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Ball, Capsule, Cuboid, HeightField, Segment, Shape, ShapeType, TriMesh, Triangle,
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};
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#[cfg(feature = "dim3")]
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use buckler::shape::{Cone, Cylinder, RoundCylinder};
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use na::Point3;
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use std::ops::Deref;
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use std::sync::Arc;
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// TODO: move this to its own file.
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/// The shape of a collider.
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#[derive(Clone)]
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pub struct ColliderShape(pub Arc<dyn Shape>);
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impl Deref for ColliderShape {
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type Target = dyn Shape;
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fn deref(&self) -> &dyn Shape {
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&*self.0
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}
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}
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impl ColliderShape {
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/// Initialize a ball shape defined by its radius.
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pub fn ball(radius: f32) -> Self {
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ColliderShape(Arc::new(Ball::new(radius)))
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}
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/// Initialize a cylindrical shape defined by its half-height
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/// (along along the y axis) and its radius.
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#[cfg(feature = "dim3")]
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pub fn cylinder(half_height: f32, radius: f32) -> Self {
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ColliderShape(Arc::new(Cylinder::new(half_height, radius)))
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}
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/// Initialize a rounded cylindrical shape defined by its half-height
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/// (along along the y axis), its radius, and its roundedness (the
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/// radius of the sphere used for dilating the cylinder).
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#[cfg(feature = "dim3")]
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pub fn round_cylinder(half_height: f32, radius: f32, border_radius: f32) -> Self {
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ColliderShape(Arc::new(RoundCylinder::new(
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half_height,
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radius,
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border_radius,
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)))
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}
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/// Initialize a cone shape defined by its half-height
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/// (along along the y axis) and its basis radius.
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#[cfg(feature = "dim3")]
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pub fn cone(half_height: f32, radius: f32) -> Self {
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ColliderShape(Arc::new(Cone::new(half_height, radius)))
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}
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/// Initialize a cuboid shape defined by its half-extents.
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pub fn cuboid(half_extents: Vector<f32>) -> Self {
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ColliderShape(Arc::new(Cuboid::new(half_extents)))
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}
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/// Initialize a capsule shape from its endpoints and radius.
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pub fn capsule(a: Point<f32>, b: Point<f32>, radius: f32) -> Self {
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ColliderShape(Arc::new(Capsule::new(a, b, radius)))
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}
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/// Initialize a segment shape from its endpoints.
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pub fn segment(a: Point<f32>, b: Point<f32>) -> Self {
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ColliderShape(Arc::new(Segment::new(a, b)))
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}
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/// Initializes a triangle shape.
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pub fn triangle(a: Point<f32>, b: Point<f32>, c: Point<f32>) -> Self {
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ColliderShape(Arc::new(Triangle::new(a, b, c)))
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}
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/// Initializes a triangle mesh shape defined by its vertex and index buffers.
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pub fn trimesh(vertices: Vec<Point<f32>>, indices: Vec<Point3<u32>>) -> Self {
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ColliderShape(Arc::new(TriMesh::new(vertices, indices)))
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}
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/// Initializes an heightfield shape defined by its set of height and a scale
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/// factor along each coordinate axis.
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#[cfg(feature = "dim2")]
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pub fn heightfield(heights: na::DVector<f32>, scale: Vector<f32>) -> Self {
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ColliderShape(Arc::new(HeightField::new(heights, scale)))
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}
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/// Initializes an heightfield shape on the x-z plane defined by its set of height and a scale
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/// factor along each coordinate axis.
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#[cfg(feature = "dim3")]
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pub fn heightfield(heights: na::DMatrix<f32>, scale: Vector<f32>) -> Self {
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ColliderShape(Arc::new(HeightField::new(heights, scale)))
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}
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}
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#[cfg(feature = "serde-serialize")]
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impl serde::Serialize for ColliderShape {
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fn serialize<S>(&self, serializer: S) -> Result<S::Ok, S::Error>
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where
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S: serde::Serializer,
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{
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use crate::serde::ser::SerializeStruct;
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if let Some(ser) = self.0.as_serialize() {
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let typ = self.0.shape_type();
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let mut state = serializer.serialize_struct("ColliderShape", 2)?;
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state.serialize_field("tag", &(typ as i32))?;
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state.serialize_field("inner", ser)?;
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state.end()
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} else {
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Err(serde::ser::Error::custom(
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"Found a non-serializable custom shape.",
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))
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}
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}
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}
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#[cfg(feature = "serde-serialize")]
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impl<'de> serde::Deserialize<'de> for ColliderShape {
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fn deserialize<D>(deserializer: D) -> Result<Self, D::Error>
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where
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D: serde::Deserializer<'de>,
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{
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struct Visitor {};
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impl<'de> serde::de::Visitor<'de> for Visitor {
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type Value = ColliderShape;
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fn expecting(&self, formatter: &mut std::fmt::Formatter) -> std::fmt::Result {
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write!(formatter, "one shape type tag and the inner shape data")
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}
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fn visit_seq<A>(self, mut seq: A) -> Result<Self::Value, A::Error>
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where
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A: serde::de::SeqAccess<'de>,
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{
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use num::cast::FromPrimitive;
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let tag: i32 = seq
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.next_element()?
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.ok_or_else(|| serde::de::Error::invalid_length(0, &self))?;
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fn deser<'de, A, S: Shape + serde::Deserialize<'de>>(
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seq: &mut A,
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) -> Result<Arc<dyn Shape>, A::Error>
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where
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A: serde::de::SeqAccess<'de>,
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{
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let shape: S = seq.next_element()?.ok_or_else(|| {
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serde::de::Error::custom("Failed to deserialize builtin shape.")
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})?;
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Ok(Arc::new(shape) as Arc<dyn Shape>)
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}
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let shape = match ShapeType::from_i32(tag) {
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Some(ShapeType::Ball) => deser::<A, Ball>(&mut seq)?,
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Some(ShapeType::Polygon) => {
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unimplemented!()
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// let shape: Polygon = seq
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// .next_element()?
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// .ok_or_else(|| serde::de::Error::invalid_length(0, &self))?;
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// Arc::new(shape) as Arc<dyn Shape>
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}
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Some(ShapeType::Cuboid) => deser::<A, Cuboid>(&mut seq)?,
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Some(ShapeType::Capsule) => deser::<A, Capsule>(&mut seq)?,
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Some(ShapeType::Triangle) => deser::<A, Triangle>(&mut seq)?,
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Some(ShapeType::Segment) => deser::<A, Segment>(&mut seq)?,
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Some(ShapeType::TriMesh) => deser::<A, TriMesh>(&mut seq)?,
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Some(ShapeType::HeightField) => deser::<A, HeightField>(&mut seq)?,
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Some(ShapeType::HalfSpace) => deser::<A, HalfSpace>(&mut seq)?,
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#[cfg(feature = "dim3")]
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Some(ShapeType::Cylinder) => deser::<A, Cylinder>(&mut seq)?,
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#[cfg(feature = "dim3")]
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Some(ShapeType::Cone) => deser::<A, Cone>(&mut seq)?,
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#[cfg(feature = "dim3")]
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Some(ShapeType::RoundCylinder) => deser::<A, RoundCylinder>(&mut seq)?,
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None => {
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return Err(serde::de::Error::custom(
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"found invalid shape type to deserialize",
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))
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}
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};
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Ok(ColliderShape(shape))
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}
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}
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deserializer.deserialize_struct("ColliderShape", &["tag", "inner"], Visitor {})
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}
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}
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#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
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#[derive(Clone)]
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/// A geometric entity that can be attached to a body so it can be affected by contacts and proximity queries.
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///
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/// To build a new collider, use the `ColliderBuilder` structure.
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pub struct Collider {
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shape: ColliderShape,
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density: f32,
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is_sensor: bool,
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pub(crate) parent: RigidBodyHandle,
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pub(crate) delta: Isometry<f32>,
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pub(crate) position: Isometry<f32>,
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pub(crate) predicted_position: Isometry<f32>,
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/// The friction coefficient of this collider.
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pub friction: f32,
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/// The restitution coefficient of this collider.
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pub restitution: f32,
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pub(crate) collision_groups: InteractionGroups,
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pub(crate) solver_groups: InteractionGroups,
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pub(crate) proxy_index: usize,
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/// User-defined data associated to this rigid-body.
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pub user_data: u128,
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}
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impl Collider {
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pub(crate) fn reset_internal_references(&mut self) {
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self.parent = RigidBodySet::invalid_handle();
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self.proxy_index = crate::INVALID_USIZE;
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}
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/// The rigid body this collider is attached to.
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pub fn parent(&self) -> RigidBodyHandle {
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self.parent
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}
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/// Is this collider a sensor?
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pub fn is_sensor(&self) -> bool {
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self.is_sensor
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}
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#[doc(hidden)]
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pub fn set_position_debug(&mut self, position: Isometry<f32>) {
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self.position = position;
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}
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/// The position of this collider expressed in the local-space of the rigid-body it is attached to.
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#[deprecated(note = "use `.position_wrt_parent()` instead.")]
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pub fn delta(&self) -> &Isometry<f32> {
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&self.delta
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}
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/// The world-space position of this collider.
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pub fn position(&self) -> &Isometry<f32> {
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&self.position
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}
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/// The position of this collider wrt the body it is attached to.
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pub fn position_wrt_parent(&self) -> &Isometry<f32> {
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&self.delta
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}
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/// The collision groups used by this collider.
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pub fn collision_groups(&self) -> InteractionGroups {
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self.collision_groups
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}
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/// The solver groups used by this collider.
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pub fn solver_groups(&self) -> InteractionGroups {
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self.solver_groups
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}
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/// The density of this collider.
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pub fn density(&self) -> f32 {
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self.density
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}
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/// The geometric shape of this collider.
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pub fn shape(&self) -> &dyn Shape {
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&*self.shape.0
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}
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/// Compute the axis-aligned bounding box of this collider.
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pub fn compute_aabb(&self) -> AABB {
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self.shape.compute_aabb(&self.position)
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}
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// pub(crate) fn compute_aabb_with_prediction(&self) -> AABB {
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// let aabb1 = self.shape.compute_aabb(&self.position);
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// let aabb2 = self.shape.compute_aabb(&self.predicted_position);
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// aabb1.merged(&aabb2)
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// }
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/// Compute the local-space mass properties of this collider.
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pub fn mass_properties(&self) -> MassProperties {
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self.shape.mass_properties(self.density)
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}
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}
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/// A structure responsible for building a new collider.
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#[derive(Clone)]
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#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
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pub struct ColliderBuilder {
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/// The shape of the collider to be built.
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pub shape: ColliderShape,
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/// The density of the collider to be built.
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density: Option<f32>,
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/// The friction coefficient of the collider to be built.
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pub friction: f32,
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/// The restitution coefficient of the collider to be built.
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pub restitution: f32,
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/// The position of this collider relative to the local frame of the rigid-body it is attached to.
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pub delta: Isometry<f32>,
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/// Is this collider a sensor?
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pub is_sensor: bool,
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/// The user-data of the collider being built.
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pub user_data: u128,
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/// The collision groups for the collider being built.
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pub collision_groups: InteractionGroups,
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/// The solver groups for the collider being built.
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pub solver_groups: InteractionGroups,
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}
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impl ColliderBuilder {
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/// Initialize a new collider builder with the given shape.
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pub fn new(shape: ColliderShape) -> Self {
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Self {
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shape,
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density: None,
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friction: Self::default_friction(),
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restitution: 0.0,
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delta: Isometry::identity(),
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is_sensor: false,
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user_data: 0,
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collision_groups: InteractionGroups::all(),
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solver_groups: InteractionGroups::all(),
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}
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}
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/// The density of the collider being built.
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pub fn get_density(&self) -> f32 {
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let default_density = if self.is_sensor { 0.0 } else { 1.0 };
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self.density.unwrap_or(default_density)
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}
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/// Initialize a new collider builder with a ball shape defined by its radius.
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pub fn ball(radius: f32) -> Self {
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Self::new(ColliderShape::ball(radius))
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}
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/// Initialize a new collider builder with a cylindrical shape defined by its half-height
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/// (along along the y axis) and its radius.
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#[cfg(feature = "dim3")]
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pub fn cylinder(half_height: f32, radius: f32) -> Self {
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Self::new(ColliderShape::cylinder(half_height, radius))
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}
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/// Initialize a new collider builder with a rounded cylindrical shape defined by its half-height
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/// (along along the y axis), its radius, and its roundedness (the
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/// radius of the sphere used for dilating the cylinder).
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#[cfg(feature = "dim3")]
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pub fn round_cylinder(half_height: f32, radius: f32, border_radius: f32) -> Self {
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Self::new(ColliderShape::round_cylinder(
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half_height,
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radius,
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border_radius,
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))
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}
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/// Initialize a new collider builder with a cone shape defined by its half-height
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/// (along along the y axis) and its basis radius.
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#[cfg(feature = "dim3")]
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pub fn cone(half_height: f32, radius: f32) -> Self {
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Self::new(ColliderShape::cone(half_height, radius))
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}
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/// Initialize a new collider builder with a cuboid shape defined by its half-extents.
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#[cfg(feature = "dim2")]
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pub fn cuboid(hx: f32, hy: f32) -> Self {
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Self::new(ColliderShape::cuboid(Vector::new(hx, hy)))
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}
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/// Initialize a new collider builder with a capsule shape aligned with the `x` axis.
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pub fn capsule_x(half_height: f32, radius: f32) -> Self {
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let p = Point::from(Vector::x() * half_height);
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Self::new(ColliderShape::capsule(-p, p, radius))
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}
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/// Initialize a new collider builder with a capsule shape aligned with the `y` axis.
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pub fn capsule_y(half_height: f32, radius: f32) -> Self {
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let p = Point::from(Vector::y() * half_height);
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Self::new(ColliderShape::capsule(-p, p, radius))
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}
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/// Initialize a new collider builder with a capsule shape aligned with the `z` axis.
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#[cfg(feature = "dim3")]
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pub fn capsule_z(half_height: f32, radius: f32) -> Self {
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let p = Point::from(Vector::z() * half_height);
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Self::new(ColliderShape::capsule(-p, p, radius))
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}
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/// Initialize a new collider builder with a cuboid shape defined by its half-extents.
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#[cfg(feature = "dim3")]
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pub fn cuboid(hx: f32, hy: f32, hz: f32) -> Self {
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Self::new(ColliderShape::cuboid(Vector::new(hx, hy, hz)))
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}
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/// Initializes a collider builder with a segment shape.
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pub fn segment(a: Point<f32>, b: Point<f32>) -> Self {
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Self::new(ColliderShape::segment(a, b))
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}
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/// Initializes a collider builder with a triangle shape.
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pub fn triangle(a: Point<f32>, b: Point<f32>, c: Point<f32>) -> Self {
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Self::new(ColliderShape::triangle(a, b, c))
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}
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/// Initializes a collider builder with a triangle mesh shape defined by its vertex and index buffers.
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pub fn trimesh(vertices: Vec<Point<f32>>, indices: Vec<Point3<u32>>) -> Self {
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Self::new(ColliderShape::trimesh(vertices, indices))
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}
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/// Initializes a collider builder with a heightfield shape defined by its set of height and a scale
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/// factor along each coordinate axis.
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#[cfg(feature = "dim2")]
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pub fn heightfield(heights: na::DVector<f32>, scale: Vector<f32>) -> Self {
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Self::new(ColliderShape::heightfield(heights, scale))
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}
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/// Initializes a collider builder with a heightfield shape defined by its set of height and a scale
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/// factor along each coordinate axis.
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#[cfg(feature = "dim3")]
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pub fn heightfield(heights: na::DMatrix<f32>, scale: Vector<f32>) -> Self {
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Self::new(ColliderShape::heightfield(heights, scale))
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}
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/// The default friction coefficient used by the collider builder.
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pub fn default_friction() -> f32 {
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0.5
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}
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/// Sets an arbitrary user-defined 128-bit integer associated to the colliders built by this builder.
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pub fn user_data(mut self, data: u128) -> Self {
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self.user_data = data;
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self
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}
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/// Sets the collision groups used by this collider.
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///
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/// Two colliders will interact iff. their collision groups are compatible.
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/// See [InteractionGroups::test] for details.
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pub fn collision_groups(mut self, groups: InteractionGroups) -> Self {
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self.collision_groups = groups;
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self
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}
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/// Sets the solver groups used by this collider.
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///
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/// Forces between two colliders in contact will be computed iff their solver groups are
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/// compatible. See [InteractionGroups::test] for details.
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pub fn solver_groups(mut self, groups: InteractionGroups) -> Self {
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self.solver_groups = groups;
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self
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}
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/// Sets whether or not the collider built by this builder is a sensor.
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pub fn sensor(mut self, is_sensor: bool) -> Self {
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self.is_sensor = is_sensor;
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self
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}
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/// Sets the friction coefficient of the collider this builder will build.
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pub fn friction(mut self, friction: f32) -> Self {
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self.friction = friction;
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self
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}
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/// Sets the restitution coefficient of the collider this builder will build.
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pub fn restitution(mut self, restitution: f32) -> Self {
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self.restitution = restitution;
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self
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}
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/// Sets the density of the collider this builder will build.
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pub fn density(mut self, density: f32) -> Self {
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self.density = Some(density);
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self
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}
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/// Sets the initial translation of the collider to be created,
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/// relative to the rigid-body it is attached to.
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#[cfg(feature = "dim2")]
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pub fn translation(mut self, x: f32, y: f32) -> Self {
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|
self.delta.translation.x = x;
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|
self.delta.translation.y = y;
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|
self
|
|
}
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|
|
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/// Sets the initial translation of the collider to be created,
|
|
/// relative to the rigid-body it is attached to.
|
|
#[cfg(feature = "dim3")]
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|
pub fn translation(mut self, x: f32, y: f32, z: f32) -> Self {
|
|
self.delta.translation.x = x;
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|
self.delta.translation.y = y;
|
|
self.delta.translation.z = z;
|
|
self
|
|
}
|
|
|
|
/// Sets the initial orientation of the collider to be created,
|
|
/// relative to the rigid-body it is attached to.
|
|
pub fn rotation(mut self, angle: AngVector<f32>) -> Self {
|
|
self.delta.rotation = Rotation::new(angle);
|
|
self
|
|
}
|
|
|
|
/// Sets the initial position (translation and orientation) of the collider to be created,
|
|
/// relative to the rigid-body it is attached to.
|
|
pub fn position(mut self, pos: Isometry<f32>) -> Self {
|
|
self.delta = pos;
|
|
self
|
|
}
|
|
|
|
/// Set the position of this collider in the local-space of the rigid-body it is attached to.
|
|
#[deprecated(note = "Use `.position` instead.")]
|
|
pub fn delta(mut self, delta: Isometry<f32>) -> Self {
|
|
self.delta = delta;
|
|
self
|
|
}
|
|
|
|
/// Builds a new collider attached to the given rigid-body.
|
|
pub fn build(&self) -> Collider {
|
|
let density = self.get_density();
|
|
|
|
Collider {
|
|
shape: self.shape.clone(),
|
|
density,
|
|
friction: self.friction,
|
|
restitution: self.restitution,
|
|
delta: self.delta,
|
|
is_sensor: self.is_sensor,
|
|
parent: RigidBodySet::invalid_handle(),
|
|
position: Isometry::identity(),
|
|
predicted_position: Isometry::identity(),
|
|
proxy_index: crate::INVALID_USIZE,
|
|
collision_groups: self.collision_groups,
|
|
solver_groups: self.solver_groups,
|
|
user_data: self.user_data,
|
|
}
|
|
}
|
|
}
|