Add example for 3D convex polyhedron.

src_testbed/engine.rs

@@ -14,7 +14,7 @@ use crate::objects::node::{GraphicsNode, Node};
 use rapier::dynamics::{RigidBodyHandle, RigidBodySet};
 use rapier::geometry::{Collider, ColliderHandle, ColliderSet};
 //use crate::objects::capsule::Capsule;
-//use crate::objects::convex::Convex;
+use crate::objects::convex::Convex;
 //#[cfg(feature = "dim3")]
 //use crate::objects::mesh::Mesh;
 //use crate::objects::plane::Plane;
@@ -292,7 +292,10 @@ impl GraphicsManager {
         //     window,
         // ))),
 
-        if let Some(cuboid) = shape.as_cuboid() {
+        if let Some(cuboid) = shape
+            .as_cuboid()
+            .or(shape.as_round_cuboid().map(|r| &r.base_shape))
+        {
             out.push(Node::Box(BoxNode::new(
                 handle,
                 cuboid.half_extents,
@@ -305,7 +308,10 @@ impl GraphicsManager {
             out.push(Node::Capsule(Capsule::new(handle, capsule, color, window)))
         }
 
-        if let Some(triangle) = shape.as_triangle() {
+        if let Some(triangle) = shape
+            .as_triangle()
+            .or(shape.as_round_triangle().map(|r| &r.base_shape))
+        {
             out.push(Node::Mesh(Mesh::new(
                 handle,
                 vec![triangle.a, triangle.b, triangle.c],
@@ -338,10 +344,21 @@ impl GraphicsManager {
             )))
         }
 
+        #[cfg(feature = "dim3")]
+        if let Some(convex_polyhedron) = shape
+            .as_convex_polyhedron()
+            .or(shape.as_round_convex_polyhedron().map(|r| &r.base_shape))
+        {
+            let (vertices, indices) = convex_polyhedron.to_trimesh();
+            out.push(Node::Convex(Convex::new(
+                handle, vertices, indices, color, window,
+            )))
+        }
+
         #[cfg(feature = "dim3")]
         if let Some(cylinder) = shape
             .as_cylinder()
-            .or(shape.as_round_cylinder().map(|r| &r.cylinder))
+            .or(shape.as_round_cylinder().map(|r| &r.base_shape))
         {
             out.push(Node::Cylinder(Cylinder::new(
                 handle,
@@ -353,7 +370,10 @@ impl GraphicsManager {
         }
 
         #[cfg(feature = "dim3")]
-        if let Some(cone) = shape.as_cone() {
+        if let Some(cone) = shape
+            .as_cone()
+            .or(shape.as_round_cone().map(|r| &r.base_shape))
+        {
             out.push(Node::Cone(Cone::new(
                 handle,
                 cone.half_height,

src_testbed/objects/convex.rs

@@ -19,13 +19,20 @@ impl Convex {
     pub fn new(
         body: ColliderHandle,
         vertices: Vec<Point<f32>>,
+        #[cfg(feature = "dim3")] indices: Vec<Point<u32>>,
         color: Point3<f32>,
         window: &mut Window,
     ) -> Convex {
         #[cfg(feature = "dim2")]
         let node = window.add_convex_polygon(vertices, Vector::from_element(1.0));
         #[cfg(feature = "dim3")]
-        let node = unimplemented!();
+        let node = {
+            use std::cell::RefCell;
+            use std::rc::Rc;
+            let is = indices.into_iter().map(na::convert).collect();
+            let mesh = kiss3d::resource::Mesh::new(vertices, is, None, None, false);
+            window.add_mesh(Rc::new(RefCell::new(mesh)), na::Vector3::from_element(1.0))
+        };
 
         let mut res = Convex {
             color,