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Enable custom collider shapes #550

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Enable custom collider shapes #550

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7fa3ae9
Use Shape::clone_scaled
PixelDust22 Jul 2, 2024
edaad14
Update src/geometry/shape_views/collider_view.rs
PixelDust22 Jul 2, 2024
528f766
Upgrade dependency
PixelDust22 Jul 20, 2024
eda5e6f
Merge remote-tracking branch 'dimforge/master' into custom-shape
PixelDust22 Jul 20, 2024
a7cf839
Fix clippy
PixelDust22 Jul 20, 2024
169dbb3
Merge remote-tracking branch 'dimforge/master' into custom-shape
PixelDust22 Jul 27, 2024
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191 changes: 38 additions & 153 deletions src/geometry/shape_views/collider_view.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -2,8 +2,7 @@ use std::fmt;

use super::*;
use crate::math::Vect;
use rapier::geometry::{RoundShape, SharedShape};
use rapier::parry::either::Either;
use rapier::geometry::{Shape, SharedShape};
use rapier::parry::shape::TypedShape;

#[cfg(doc)]
Expand Down Expand Up @@ -64,6 +63,8 @@ pub enum ColliderView<'a> {
/// A convex polygon with rounded corners.
#[cfg(feature = "dim2")]
RoundConvexPolygon(RoundConvexPolygonView<'a>),
/// A custom user-defined shape with a type identified by a number.
Custom(&'a dyn Shape),
}
impl<'a> fmt::Debug for ColliderView<'a> {
fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
Expand Down Expand Up @@ -96,6 +97,7 @@ impl<'a> fmt::Debug for ColliderView<'a> {
ColliderView::RoundConvexPolyhedron(view) => write!(f, "{:?}", view.raw),
#[cfg(feature = "dim2")]
ColliderView::RoundConvexPolygon(view) => write!(f, "{:?}", view.raw),
ColliderView::Custom(_) => write!(f, "Custom"),
}
}
}
Expand Down Expand Up @@ -145,7 +147,7 @@ impl<'a> From<TypedShape<'a>> for ColliderView<'a> {
TypedShape::RoundConvexPolyhedron(s) => {
ColliderView::RoundConvexPolyhedron(RoundConvexPolyhedronView { raw: s })
}
TypedShape::Custom(_) => todo!(),
TypedShape::Custom(i) => ColliderView::Custom(i),
}
}
}
Expand Down Expand Up @@ -208,6 +210,7 @@ impl<'a> ColliderView<'a> {
ColliderView::RoundConvexPolyhedron(RoundConvexPolyhedronView { raw: s }) => {
TypedShape::RoundConvexPolyhedron(s)
}
ColliderView::Custom(s) => TypedShape::Custom(s),
}
}

Expand Down Expand Up @@ -248,166 +251,48 @@ impl<'a> ColliderView<'a> {
ColliderView::RoundConvexPolyhedron(RoundConvexPolyhedronView { raw }) => {
SharedShape::new(raw.clone())
}
ColliderView::Custom(i) => SharedShape(i.clone_dyn().into()),
}
}

/// Compute the scaled version of `self.raw`.
pub fn raw_scale_by(&self, scale: Vect, num_subdivisions: u32) -> Option<SharedShape> {
let result = match self {
ColliderView::Cuboid(s) => SharedShape::new(s.raw.scaled(&scale.into())),
ColliderView::RoundCuboid(s) => SharedShape::new(RoundShape {
border_radius: s.raw.border_radius,
inner_shape: s.raw.inner_shape.scaled(&scale.into()),
}),
ColliderView::Capsule(c) => match c.raw.scaled(&scale.into(), num_subdivisions) {
None => {
log::error!("Failed to apply scale {} to Capsule shape.", scale);
SharedShape::ball(0.0)
}
Some(Either::Left(b)) => SharedShape::new(b),
Some(Either::Right(b)) => SharedShape::new(b),
},
ColliderView::Ball(b) => match b.raw.scaled(&scale.into(), num_subdivisions) {
None => {
log::error!("Failed to apply scale {} to Ball shape.", scale);
SharedShape::ball(0.0)
}
Some(Either::Left(b)) => SharedShape::new(b),
Some(Either::Right(b)) => SharedShape::new(b),
},
ColliderView::Segment(s) => SharedShape::new(s.raw.scaled(&scale.into())),
// ColliderView::RoundSegment(s) => SharedShape::new(RoundShape {
// border_radius: s.raw.border_radius,
// inner_shape: s.raw.inner_shape.scaled(&scale.into()),
// }),
ColliderView::Triangle(t) => SharedShape::new(t.raw.scaled(&scale.into())),
ColliderView::RoundTriangle(t) => SharedShape::new(RoundShape {
border_radius: t.raw.border_radius,
inner_shape: t.raw.inner_shape.scaled(&scale.into()),
}),
ColliderView::TriMesh(t) => SharedShape::new(t.raw.clone().scaled(&scale.into())),
ColliderView::Polyline(p) => SharedShape::new(p.raw.clone().scaled(&scale.into())),
ColliderView::HalfSpace(h) => match h.raw.scaled(&scale.into()) {
None => {
log::error!("Failed to apply scale {} to HalfSpace shape.", scale);
SharedShape::ball(0.0)
}
Some(scaled) => SharedShape::new(scaled),
},
ColliderView::HeightField(h) => SharedShape::new(h.raw.clone().scaled(&scale.into())),
#[cfg(feature = "dim2")]
ColliderView::ConvexPolygon(cp) => match cp.raw.clone().scaled(&scale.into()) {
None => {
log::error!("Failed to apply scale {} to ConvexPolygon shape.", scale);
SharedShape::ball(0.0)
}
Some(scaled) => SharedShape::new(scaled),
},
/// Convert to &dyn [`Shape`].
pub fn to_shape(&self) -> &dyn Shape {
match self {
ColliderView::Ball(BallView { raw }) => *raw,
ColliderView::Cuboid(CuboidView { raw }) => *raw,
ColliderView::Capsule(CapsuleView { raw }) => *raw,
ColliderView::Segment(SegmentView { raw }) => *raw,
ColliderView::Triangle(TriangleView { raw }) => *raw,
ColliderView::TriMesh(TriMeshView { raw }) => *raw,
ColliderView::Polyline(PolylineView { raw }) => *raw,
ColliderView::HalfSpace(HalfSpaceView { raw }) => *raw,
ColliderView::HeightField(HeightFieldView { raw }) => *raw,
ColliderView::Compound(CompoundView { raw }) => *raw,
#[cfg(feature = "dim2")]
ColliderView::RoundConvexPolygon(cp) => {
match cp.raw.inner_shape.clone().scaled(&scale.into()) {
None => {
log::error!(
"Failed to apply scale {} to RoundConvexPolygon shape.",
scale
);
SharedShape::ball(0.0)
}
Some(scaled) => SharedShape::new(RoundShape {
border_radius: cp.raw.border_radius,
inner_shape: scaled,
}),
}
}
ColliderView::ConvexPolygon(ConvexPolygonView { raw }) => *raw,
#[cfg(feature = "dim3")]
ColliderView::ConvexPolyhedron(cp) => match cp.raw.clone().scaled(&scale.into()) {
None => {
log::error!("Failed to apply scale {} to ConvexPolyhedron shape.", scale);
SharedShape::ball(0.0)
}
Some(scaled) => SharedShape::new(scaled),
},
ColliderView::ConvexPolyhedron(ConvexPolyhedronView { raw }) => *raw,
#[cfg(feature = "dim3")]
ColliderView::RoundConvexPolyhedron(cp) => {
match cp.raw.clone().inner_shape.scaled(&scale.into()) {
None => {
log::error!(
"Failed to apply scale {} to RoundConvexPolyhedron shape.",
scale
);
SharedShape::ball(0.0)
}
Some(scaled) => SharedShape::new(RoundShape {
border_radius: cp.raw.border_radius,
inner_shape: scaled,
}),
}
}
ColliderView::Cylinder(CylinderView { raw }) => *raw,
#[cfg(feature = "dim3")]
ColliderView::Cylinder(c) => match c.raw.scaled(&scale.into(), num_subdivisions) {
None => {
log::error!("Failed to apply scale {} to Cylinder shape.", scale);
SharedShape::ball(0.0)
}
Some(Either::Left(b)) => SharedShape::new(b),
Some(Either::Right(b)) => SharedShape::new(b),
},
ColliderView::Cone(ConeView { raw }) => *raw,
ColliderView::RoundCuboid(RoundCuboidView { raw }) => *raw,
ColliderView::RoundTriangle(RoundTriangleView { raw }) => *raw,
#[cfg(feature = "dim2")]
ColliderView::RoundConvexPolygon(RoundConvexPolygonView { raw }) => *raw,
#[cfg(feature = "dim3")]
ColliderView::RoundCylinder(c) => {
match c.raw.inner_shape.scaled(&scale.into(), num_subdivisions) {
None => {
log::error!("Failed to apply scale {} to RoundCylinder shape.", scale);
SharedShape::ball(0.0)
}
Some(Either::Left(scaled)) => SharedShape::new(RoundShape {
border_radius: c.raw.border_radius,
inner_shape: scaled,
}),
Some(Either::Right(scaled)) => SharedShape::new(RoundShape {
border_radius: c.raw.border_radius,
inner_shape: scaled,
}),
}
}
ColliderView::RoundCylinder(RoundCylinderView { raw }) => *raw,
#[cfg(feature = "dim3")]
ColliderView::Cone(c) => match c.raw.scaled(&scale.into(), num_subdivisions) {
None => {
log::error!("Failed to apply scale {} to Cone shape.", scale);
SharedShape::ball(0.0)
}
Some(Either::Left(b)) => SharedShape::new(b),
Some(Either::Right(b)) => SharedShape::new(b),
},
ColliderView::RoundCone(RoundConeView { raw }) => *raw,
#[cfg(feature = "dim3")]
ColliderView::RoundCone(c) => {
match c.raw.inner_shape.scaled(&scale.into(), num_subdivisions) {
None => {
log::error!("Failed to apply scale {} to RoundCone shape.", scale);
SharedShape::ball(0.0)
}
Some(Either::Left(scaled)) => SharedShape::new(RoundShape {
border_radius: c.raw.border_radius,
inner_shape: scaled,
}),
Some(Either::Right(scaled)) => SharedShape::new(RoundShape {
border_radius: c.raw.border_radius,
inner_shape: scaled,
}),
}
}
ColliderView::Compound(c) => {
let mut scaled = Vec::with_capacity(c.shapes().len());

for (tra, rot, shape) in c.shapes() {
scaled.push((
(tra * scale, rot).into(),
shape.raw_scale_by(scale, num_subdivisions)?,
));
}
SharedShape::compound(scaled)
}
};
ColliderView::RoundConvexPolyhedron(RoundConvexPolyhedronView { raw }) => *raw,
ColliderView::Custom(raw) => *raw,
}
}

Some(result)
/// Compute the scaled version of its inner [`Shape`].
pub fn raw_scale_by(&self, scale: Vect, num_subdivisions: u32) -> Option<SharedShape> {
let shape = self.to_shape().scale_dyn(&scale.into(), num_subdivisions)?;
Some(SharedShape(shape.into()))
}
}