Add compound shape support.

src_testbed/objects/ball.rs

@@ -1,6 +1,6 @@
 use crate::objects::node::{self, GraphicsNode};
 use kiss3d::window::Window;
-use na::Point3;
+use na::{Isometry3, Point3};
 use rapier::geometry::{ColliderHandle, ColliderSet};
 use rapier::math::Isometry;
 
@@ -9,11 +9,13 @@ pub struct Ball {
     base_color: Point3<f32>,
     gfx: GraphicsNode,
     collider: ColliderHandle,
+    delta: Isometry3<f32>,
 }
 
 impl Ball {
     pub fn new(
         collider: ColliderHandle,
+        delta: Isometry3<f32>,
         radius: f32,
         color: Point3<f32>,
         window: &mut Window,
@@ -28,6 +30,7 @@ impl Ball {
             base_color: color,
             gfx: node,
             collider,
+            delta,
         };
 
         // res.gfx.set_texture_from_file(&Path::new("media/kitten.png"), "kitten");
@@ -55,7 +58,7 @@ impl Ball {
             colliders,
             self.collider,
             &self.color,
-            &Isometry::identity(),
+            &self.delta,
         );
     }
 

src_testbed/objects/box_node.rs

@@ -1,6 +1,6 @@
 use crate::objects::node::{self, GraphicsNode};
 use kiss3d::window;
-use na::Point3;
+use na::{Isometry3, Point3};
 use rapier::geometry::{ColliderHandle, ColliderSet};
 use rapier::math::{Isometry, Vector};
 
@@ -9,11 +9,13 @@ pub struct Box {
     base_color: Point3<f32>,
     gfx: GraphicsNode,
     collider: ColliderHandle,
+    delta: Isometry3<f32>,
 }
 
 impl Box {
     pub fn new(
         collider: ColliderHandle,
+        delta: Isometry3<f32>,
         half_extents: Vector<f32>,
         color: Point3<f32>,
         window: &mut window::Window,
@@ -29,6 +31,7 @@ impl Box {
             base_color: color,
             gfx: node,
             collider,
+            delta,
         };
 
         res.gfx.set_color(color.x, color.y, color.z);
@@ -55,7 +58,7 @@ impl Box {
             colliders,
             self.collider,
             &self.color,
-            &Isometry::identity(),
+            &self.delta,
         );
     }
 

src_testbed/objects/capsule.rs

@@ -1,6 +1,6 @@
 use crate::objects::node::{self, GraphicsNode};
 use kiss3d::window;
-use na::Point3;
+use na::{Isometry3, Point3};
 use rapier::geometry::{self, ColliderHandle, ColliderSet};
 use rapier::math::Isometry;
 
@@ -9,11 +9,13 @@ pub struct Capsule {
     base_color: Point3<f32>,
     gfx: GraphicsNode,
     collider: ColliderHandle,
+    delta: Isometry3<f32>,
 }
 
 impl Capsule {
     pub fn new(
         collider: ColliderHandle,
+        delta: Isometry3<f32>,
         capsule: &geometry::Capsule,
         color: Point3<f32>,
         window: &mut window::Window,
@@ -30,6 +32,7 @@ impl Capsule {
             base_color: color,
             gfx: node,
             collider,
+            delta,
         };
 
         res.gfx.set_color(color.x, color.y, color.z);
@@ -50,7 +53,7 @@ impl Capsule {
             colliders,
             self.collider,
             &self.color,
-            &Isometry::identity(),
+            &self.delta,
         );
     }
 

src_testbed/objects/cone.rs

@@ -1,6 +1,6 @@
 use crate::objects::node::{self, GraphicsNode};
 use kiss3d::window::Window;
-use na::Point3;
+use na::{Isometry3, Point3};
 use rapier::geometry::{ColliderHandle, ColliderSet};
 use rapier::math::Isometry;
 
@@ -9,11 +9,13 @@ pub struct Cone {
     base_color: Point3<f32>,
     gfx: GraphicsNode,
     collider: ColliderHandle,
+    delta: Isometry3<f32>,
 }
 
 impl Cone {
     pub fn new(
         collider: ColliderHandle,
+        delta: Isometry3<f32>,
         half_height: f32,
         radius: f32,
         color: Point3<f32>,
@@ -29,6 +31,7 @@ impl Cone {
             base_color: color,
             gfx: node,
             collider,
+            delta,
         };
 
         // res.gfx.set_texture_from_file(&Path::new("media/kitten.png"), "kitten");
@@ -56,7 +59,7 @@ impl Cone {
             colliders,
             self.collider,
             &self.color,
-            &Isometry::identity(),
+            &self.delta,
         );
     }
 

src_testbed/objects/convex.rs

@@ -5,7 +5,7 @@ use crate::math::Vector;
 use crate::math::{Isometry, Point};
 use crate::objects::node::{self, GraphicsNode};
 use kiss3d::window::Window;
-use na::Point3;
+use na::{Isometry3, Point3};
 use rapier::geometry::{ColliderHandle, ColliderSet};
 
 pub struct Convex {
@@ -13,11 +13,13 @@ pub struct Convex {
     base_color: Point3<f32>,
     gfx: GraphicsNode,
     body: ColliderHandle,
+    delta: Isometry3<f32>,
 }
 
 impl Convex {
     pub fn new(
         body: ColliderHandle,
+        delta: Isometry3<f32>,
         vertices: Vec<Point<f32>>,
         #[cfg(feature = "dim3")] indices: Vec<Point<u32>>,
         color: Point3<f32>,
@@ -39,6 +41,7 @@ impl Convex {
             base_color: color,
             gfx: node,
             body,
+            delta,
         };
 
         // res.gfx.set_texture_from_file(&Path::new("media/kitten.png"), "kitten");
@@ -66,7 +69,7 @@ impl Convex {
             colliders,
             self.body,
             &self.color,
-            &Isometry::identity(),
+            &self.delta,
         );
     }
 

src_testbed/objects/cylinder.rs

@@ -1,6 +1,6 @@
 use crate::objects::node::{self, GraphicsNode};
 use kiss3d::window::Window;
-use na::Point3;
+use na::{Isometry3, Point3};
 use rapier::geometry::{ColliderHandle, ColliderSet};
 use rapier::math::Isometry;
 
@@ -9,11 +9,13 @@ pub struct Cylinder {
     base_color: Point3<f32>,
     gfx: GraphicsNode,
     collider: ColliderHandle,
+    delta: Isometry3<f32>,
 }
 
 impl Cylinder {
     pub fn new(
         collider: ColliderHandle,
+        delta: Isometry3<f32>,
         half_height: f32,
         radius: f32,
         color: Point3<f32>,
@@ -29,6 +31,7 @@ impl Cylinder {
             base_color: color,
             gfx: node,
             collider,
+            delta,
         };
 
         // res.gfx.set_texture_from_file(&Path::new("media/kitten.png"), "kitten");
@@ -56,7 +59,7 @@ impl Cylinder {
             colliders,
             self.collider,
             &self.color,
-            &Isometry::identity(),
+            &self.delta,
         );
     }