First public release of Rapier.

src_testbed/objects/node.rs

@@ -0,0 +1,164 @@
+use crate::objects::ball::Ball;
+use crate::objects::box_node::Box;
+use crate::objects::capsule::Capsule;
+use crate::objects::convex::Convex;
+use crate::objects::heightfield::HeightField;
+use crate::objects::mesh::Mesh;
+//use crate::objects::plane::Plane;
+//#[cfg(feature = "dim2")]
+//use crate::objects::polyline::Polyline;
+use kiss3d::window::Window;
+use na::Point3;
+
+use rapier::geometry::{ColliderHandle, ColliderSet};
+use rapier::math::Isometry;
+
+#[cfg(feature = "dim2")]
+pub type GraphicsNode = kiss3d::scene::PlanarSceneNode;
+#[cfg(feature = "dim3")]
+pub type GraphicsNode = kiss3d::scene::SceneNode;
+
+pub enum Node {
+    //    Plane(Plane),
+    Ball(Ball),
+    Box(Box),
+    HeightField(HeightField),
+    Capsule(Capsule),
+    //    #[cfg(feature = "dim2")]
+    //    Polyline(Polyline),
+    Mesh(Mesh),
+    Convex(Convex),
+}
+
+impl Node {
+    pub fn select(&mut self) {
+        match *self {
+            //            Node::Plane(ref mut n) => n.select(),
+            Node::Ball(ref mut n) => n.select(),
+            Node::Box(ref mut n) => n.select(),
+            Node::Capsule(ref mut n) => n.select(),
+            Node::HeightField(ref mut n) => n.select(),
+            //            #[cfg(feature = "dim2")]
+            //            Node::Polyline(ref mut n) => n.select(),
+            Node::Mesh(ref mut n) => n.select(),
+            Node::Convex(ref mut n) => n.select(),
+        }
+    }
+
+    pub fn unselect(&mut self) {
+        match *self {
+            //            Node::Plane(ref mut n) => n.unselect(),
+            Node::Ball(ref mut n) => n.unselect(),
+            Node::Box(ref mut n) => n.unselect(),
+            Node::Capsule(ref mut n) => n.unselect(),
+            Node::HeightField(ref mut n) => n.unselect(),
+            //            #[cfg(feature = "dim2")]
+            //            Node::Polyline(ref mut n) => n.unselect(),
+            Node::Mesh(ref mut n) => n.unselect(),
+            Node::Convex(ref mut n) => n.unselect(),
+        }
+    }
+
+    pub fn update(&mut self, colliders: &ColliderSet) {
+        match *self {
+            //            Node::Plane(ref mut n) => n.update(colliders),
+            Node::Ball(ref mut n) => n.update(colliders),
+            Node::Box(ref mut n) => n.update(colliders),
+            Node::Capsule(ref mut n) => n.update(colliders),
+            Node::HeightField(ref mut n) => n.update(colliders),
+            //            #[cfg(feature = "dim2")]
+            //            Node::Polyline(ref mut n) => n.update(colliders),
+            Node::Mesh(ref mut n) => n.update(colliders),
+            Node::Convex(ref mut n) => n.update(colliders),
+        }
+    }
+
+    #[cfg(feature = "dim2")]
+    pub fn draw(&mut self, window: &mut Window) {
+        match *self {
+            //                    Node::Polyline(ref mut n) => n.draw(_window),
+            Node::HeightField(ref mut n) => n.draw(window),
+            //            Node::Plane(ref mut n) => n.draw(_window),
+            _ => {}
+        }
+    }
+
+    #[cfg(feature = "dim3")]
+    pub fn draw(&mut self, _: &mut Window) {}
+
+    pub fn scene_node(&self) -> Option<&GraphicsNode> {
+        match *self {
+            //            #[cfg(feature = "dim3")]
+            //            Node::Plane(ref n) => Some(n.scene_node()),
+            Node::Ball(ref n) => Some(n.scene_node()),
+            Node::Box(ref n) => Some(n.scene_node()),
+            Node::Capsule(ref n) => Some(n.scene_node()),
+            #[cfg(feature = "dim3")]
+            Node::HeightField(ref n) => Some(n.scene_node()),
+            Node::Mesh(ref n) => Some(n.scene_node()),
+            Node::Convex(ref n) => Some(n.scene_node()),
+            #[cfg(feature = "dim2")]
+            _ => None,
+        }
+    }
+
+    pub fn scene_node_mut(&mut self) -> Option<&mut GraphicsNode> {
+        match *self {
+            //            #[cfg(feature = "dim3")]
+            //            Node::Plane(ref mut n) => Some(n.scene_node_mut()),
+            Node::Ball(ref mut n) => Some(n.scene_node_mut()),
+            Node::Box(ref mut n) => Some(n.scene_node_mut()),
+            Node::Capsule(ref mut n) => Some(n.scene_node_mut()),
+            #[cfg(feature = "dim3")]
+            Node::HeightField(ref mut n) => Some(n.scene_node_mut()),
+            Node::Mesh(ref mut n) => Some(n.scene_node_mut()),
+            Node::Convex(ref mut n) => Some(n.scene_node_mut()),
+            #[cfg(feature = "dim2")]
+            _ => None,
+        }
+    }
+
+    pub fn collider(&self) -> ColliderHandle {
+        match *self {
+            //            Node::Plane(ref n) => n.object(),
+            Node::Ball(ref n) => n.object(),
+            Node::Box(ref n) => n.object(),
+            Node::Capsule(ref n) => n.object(),
+            Node::HeightField(ref n) => n.object(),
+            //            #[cfg(feature = "dim2")]
+            //            Node::Polyline(ref n) => n.object(),
+            Node::Mesh(ref n) => n.object(),
+            Node::Convex(ref n) => n.object(),
+        }
+    }
+
+    pub fn set_color(&mut self, color: Point3<f32>) {
+        match *self {
+            //            Node::Plane(ref mut n) => n.set_color(color),
+            Node::Ball(ref mut n) => n.set_color(color),
+            Node::Box(ref mut n) => n.set_color(color),
+            Node::Capsule(ref mut n) => n.set_color(color),
+            Node::HeightField(ref mut n) => n.set_color(color),
+            //            #[cfg(feature = "dim2")]
+            //            Node::Polyline(ref mut n) => n.set_color(color),
+            Node::Mesh(ref mut n) => n.set_color(color),
+            Node::Convex(ref mut n) => n.set_color(color),
+        }
+    }
+}
+
+pub fn update_scene_node(
+    node: &mut GraphicsNode,
+    colliders: &ColliderSet,
+    handle: ColliderHandle,
+    color: &Point3<f32>,
+    delta: &Isometry<f32>,
+) {
+    if let Some(co) = colliders.get(handle) {
+        node.set_local_transformation(co.position() * delta);
+        node.set_color(color.x, color.y, color.z);
+    } else {
+        node.set_visible(false);
+        node.unlink();
+    }
+}