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Add compound shape support.

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This commit is contained in:
Crozet Sébastien
2021-01-05 15:34:48 +01:00
parent 6ba5081358
commit 00da4aaa42
10 changed files with 123 additions and 50 deletions
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12
src_testbed/testbed.rs
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@@ -17,7 +17,7 @@ use kiss3d::planar_camera::PlanarCamera;
use kiss3d::post_processing::PostProcessingEffect;
use kiss3d::text::Font;
use kiss3d::window::{State, Window};
use na::{self, Point2, Point3, Vector3};
use na::{self, Isometry3, Point2, Point3, Vector3};
use rapier::dynamics::{
ActivationStatus, IntegrationParameters, JointSet, RigidBodyHandle, RigidBodySet,
};
@@ -1525,9 +1525,13 @@ fn draw_contacts(window: &mut Window, nf: &NarrowPhase, colliders: &ColliderSet)
};
let pos1 = colliders[pair.pair.collider1].position();
let pos2 = colliders[pair.pair.collider2].position();
let start = pos1 * pt.local_p1;
let end = pos2 * pt.local_p2;
let n = pos1 * manifold.local_n1;
let start =
pos1 * manifold.subshape_pos1.unwrap_or(Isometry3::identity()) * pt.local_p1;
let end =
pos2 * manifold.subshape_pos2.unwrap_or(Isometry3::identity()) * pt.local_p2;
let n = pos1
* manifold.subshape_pos1.unwrap_or(Isometry3::identity())
* manifold.local_n1;
use crate::engine::GraphicsWindow;
window.draw_graphics_line(&start, &(start + n * 0.4), &Point3::new(0.5, 1.0, 0.5));