nichkara/rapier
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Switch to [u32; DIM] instead of Point<u32> for element indices.

Browse Source
This commit is contained in:
Crozet Sébastien
2021-01-20 15:40:00 +01:00
parent e2006599a8
commit 28b7866aee
9 changed files with 46 additions and 42 deletions
Download Patch File Download Diff File Expand all files Collapse all files

15
examples3d/convex_decomposition3.rs
View File

@@ -1,5 +1,5 @@
use kiss3d::loader::obj;
use na::{Isometry3, Point3, Translation3};
use na::{Point3, Translation3};
use rapier3d::cdl::bounding_volume::{self, BoundingVolume};
use rapier3d::cdl::transformation::vhacd::{VHACDParameters, VHACD};
use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
@@ -74,11 +74,16 @@ pub fn init_world(testbed: &mut Testbed) {
trimesh.scale_by_scalar(6.0 / diag);
let params = VHACDParameters::default();
let vertices = &trimesh.coords;
let indices = &trimesh.indices.unwrap_unified();
let vhacd = VHACD::decompose(&params, vertices, indices, true);
let vertices = trimesh.coords;
let indices: Vec<_> = trimesh
.indices
.unwrap_unified()
.into_iter()
.map(|idx| [idx.x, idx.y, idx.z])
.collect();
let vhacd = VHACD::decompose(&params, &vertices, &indices, true);
for (vertices, indices) in vhacd.compute_exact_convex_hulls(vertices, indices) {
for (vertices, indices) in vhacd.compute_exact_convex_hulls(&vertices, &indices) {
if let Some(convex) = ColliderShape::convex_mesh(vertices, &indices) {
compound_parts.push(convex);
}

24
examples3d/debug_trimesh3.rs
View File

@@ -24,18 +24,18 @@ pub fn init_world(testbed: &mut Testbed) {
Point3::new(-width, -width, width),
];
let idx = vec![
Point3::new(0, 1, 2),
Point3::new(0, 2, 3),
Point3::new(4, 5, 6),
Point3::new(4, 6, 7),
Point3::new(0, 4, 7),
Point3::new(0, 7, 3),
Point3::new(1, 5, 6),
Point3::new(1, 6, 2),
Point3::new(3, 2, 7),
Point3::new(2, 6, 7),
Point3::new(0, 1, 5),
Point3::new(0, 5, 4),
[0, 1, 2],
[0, 2, 3],
[4, 5, 6],
[4, 6, 7],
[0, 4, 7],
[0, 7, 3],
[1, 5, 6],
[1, 6, 2],
[3, 2, 7],
[2, 6, 7],
[0, 1, 5],
[0, 5, 4],
];
// Dynamic box rigid body.

6
src/dynamics/solver/joint_constraint/revolute_position_constraint_wide.rs
View File

@@ -1,8 +1,6 @@
use super::{RevolutePositionConstraint, RevolutePositionGroundConstraint};
use crate::dynamics::{IntegrationParameters, JointIndex, RevoluteJoint, RigidBody};
use crate::math::{AngularInertia, Isometry, Point, Real, Rotation, Vector, SIMD_WIDTH};
use crate::utils::WAngularInertia;
use na::Unit;
use crate::dynamics::{IntegrationParameters, RevoluteJoint, RigidBody};
use crate::math::{Isometry, Real, SIMD_WIDTH};
// TODO: this does not uses SIMD optimizations yet.
#[derive(Debug)]

13
src/geometry/collider.rs
View File

@@ -12,7 +12,6 @@ use cdl::shape::{
};
#[cfg(feature = "dim2")]
use cdl::shape::{ConvexPolygon, RoundConvexPolygon};
use na::Point3;
use std::ops::Deref;
use std::sync::Arc;
@@ -123,7 +122,7 @@ impl ColliderShape {
}
/// Initializes a triangle mesh shape defined by its vertex and index buffers.
pub fn trimesh(vertices: Vec<Point<Real>>, indices: Vec<Point3<u32>>) -> Self {
pub fn trimesh(vertices: Vec<Point<Real>>, indices: Vec<[u32; 3]>) -> Self {
ColliderShape(Arc::new(TriMesh::new(vertices, indices)))
}
@@ -140,7 +139,7 @@ impl ColliderShape {
}
#[cfg(feature = "dim3")]
pub fn convex_mesh(points: Vec<Point<Real>>, indices: &[Point3<u32>]) -> Option<Self> {
pub fn convex_mesh(points: Vec<Point<Real>>, indices: &[[u32; 3]]) -> Option<Self> {
ConvexPolyhedron::from_convex_mesh(points, indices).map(|ch| ColliderShape(Arc::new(ch)))
}
@@ -174,7 +173,7 @@ impl ColliderShape {
#[cfg(feature = "dim3")]
pub fn round_convex_mesh(
points: Vec<Point<Real>>,
indices: &[Point<u32>],
indices: &[[u32; 3]],
border_radius: Real,
) -> Option<Self> {
ConvexPolyhedron::from_convex_mesh(points, indices).map(|ch| {
@@ -555,7 +554,7 @@ impl ColliderBuilder {
}
/// Initializes a collider builder with a triangle mesh shape defined by its vertex and index buffers.
pub fn trimesh(vertices: Vec<Point<Real>>, indices: Vec<Point3<u32>>) -> Self {
pub fn trimesh(vertices: Vec<Point<Real>>, indices: Vec<[u32; 3]>) -> Self {
Self::new(ColliderShape::trimesh(vertices, indices))
}
@@ -578,14 +577,14 @@ impl ColliderBuilder {
}
#[cfg(feature = "dim3")]
pub fn convex_mesh(points: Vec<Point<Real>>, indices: &[Point3<u32>]) -> Option<Self> {
pub fn convex_mesh(points: Vec<Point<Real>>, indices: &[[u32; 3]]) -> Option<Self> {
ColliderShape::convex_mesh(points, indices).map(|cp| Self::new(cp))
}
#[cfg(feature = "dim3")]
pub fn round_convex_mesh(
points: Vec<Point<Real>>,
indices: &[Point<u32>],
indices: &[[u32; 3]],
border_radius: Real,
) -> Option<Self> {
ColliderShape::round_convex_mesh(points, indices, border_radius).map(|cp| Self::new(cp))

8
src_testbed/engine.rs
View File

@@ -336,7 +336,7 @@ impl GraphicsManager {
out.push(Node::Mesh(Mesh::new(
handle,
vec![triangle.a, triangle.b, triangle.c],
vec![Point3::new(0, 1, 2)],
vec![[0, 1, 2]],
color,
window,
)))
@@ -346,11 +346,7 @@ impl GraphicsManager {
out.push(Node::Mesh(Mesh::new(
handle,
trimesh.vertices().to_vec(),
trimesh
.indices()
.iter()
.map(|idx| na::convert(*idx))
.collect(),
trimesh.indices().to_vec(),
color,
window,
)))

2
src_testbed/nphysics_backend.rs
View File

@@ -205,7 +205,7 @@ fn nphysics_collider_from_rapier_collider(
trimesh
.indices()
.iter()
.map(|idx| na::convert(*idx))
.map(|idx| na::Point3::new(idx[0] as usize, idx[1] as usize, idx[2] as usize))
.collect(),
None,
))

8
src_testbed/objects/convex.rs
View File

@@ -21,7 +21,7 @@ impl Convex {
body: ColliderHandle,
delta: Isometry<f32>,
vertices: Vec<Point<f32>>,
#[cfg(feature = "dim3")] indices: Vec<Point<u32>>,
#[cfg(feature = "dim3")] indices: Vec<[u32; 3]>,
color: Point3<f32>,
window: &mut Window,
) -> Convex {
@@ -35,9 +35,9 @@ impl Convex {
let mut mesh_indices = Vec::new();
for idx in indices {
let i = mesh_vertices.len() as u16;
mesh_vertices.push(vertices[idx.x as usize]);
mesh_vertices.push(vertices[idx.y as usize]);
mesh_vertices.push(vertices[idx.z as usize]);
mesh_vertices.push(vertices[idx[0] as usize]);
mesh_vertices.push(vertices[idx[1] as usize]);
mesh_vertices.push(vertices[idx[2] as usize]);
mesh_indices.push(Point3::new(i, i + 1, i + 2));
}

5
src_testbed/objects/heightfield.rs
View File

@@ -55,7 +55,10 @@ impl HeightField {
use std::rc::Rc;
let (vertices, indices) = heightfield.to_trimesh();
let indices = indices.into_iter().map(|i| na::convert(i)).collect();
let indices = indices
.into_iter()
.map(|idx| Point3::new(idx[0] as u16, idx[1] as u16, idx[2] as u16))
.collect();
let mesh = Mesh::new(vertices, indices, None, None, false);
let mut res = HeightField {

7
src_testbed/objects/mesh.rs
View File

@@ -17,12 +17,15 @@ impl Mesh {
pub fn new(
collider: ColliderHandle,
vertices: Vec<Point<f32>>,
indices: Vec<Point3<u32>>,
indices: Vec<[u32; 3]>,
color: Point3<f32>,
window: &mut window::Window,
) -> Mesh {
let vs = vertices;
let is = indices.into_iter().map(na::convert).collect();
let is = indices
.into_iter()
.map(|idx| Point3::new(idx[0] as u16, idx[1] as u16, idx[2] as u16))
.collect();
let mesh;
let gfx;