Add convex polygons support.

src_testbed/nphysics_backend.rs

@@ -1,3 +1,5 @@
+#[cfg(feature = "dim2")]
+use ncollide::shape::ConvexPolygon;
 use ncollide::shape::{Ball, Capsule, Cuboid, HeightField, ShapeHandle};
 use nphysics::force_generator::DefaultForceGeneratorSet;
 use nphysics::joint::{
@@ -144,6 +146,7 @@ impl NPhysicsWorld {
         self.mechanical_world
             .integration_parameters
             .set_dt(params.dt());
+        self.mechanical_world.integration_parameters.warmstart_coeff = params.warmstart_coeff;
 
         counters.step_started();
         self.mechanical_world.step(
@@ -175,12 +178,15 @@ fn nphysics_collider_from_rapier_collider(
     collider: &Collider,
     is_dynamic: bool,
 ) -> Option<ColliderDesc<f32>> {
-    let margin = ColliderDesc::<f32>::default_margin();
+    let mut margin = ColliderDesc::<f32>::default_margin();
     let mut pos = *collider.position_wrt_parent();
     let shape = collider.shape();
 
     let shape = if let Some(cuboid) = shape.as_cuboid() {
         ShapeHandle::new(Cuboid::new(cuboid.half_extents.map(|e| e - margin)))
+    } else if let Some(cuboid) = shape.as_round_cuboid() {
+        margin = cuboid.border_radius;
+        ShapeHandle::new(Cuboid::new(cuboid.base_shape.half_extents))
     } else if let Some(ball) = shape.as_ball() {
         ShapeHandle::new(Ball::new(ball.radius - margin))
     } else if let Some(capsule) = shape.as_capsule() {
@@ -208,7 +214,12 @@ fn nphysics_collider_from_rapier_collider(
         }
 
         #[cfg(feature = "dim2")]
-        {
+        if let Some(polygon) = shape.as_round_convex_polygon() {
+            margin = polygon.border_radius;
+            ShapeHandle::new(ConvexPolygon::try_from_points(polygon.base_shape.points()).unwrap())
+        } else if let Some(polygon) = shape.as_convex_polygon() {
+            ShapeHandle::new(ConvexPolygon::try_from_points(polygon.points()).unwrap())
+        } else {
             return None;
         }
     };
@@ -219,6 +230,7 @@ fn nphysics_collider_from_rapier_collider(
         ColliderDesc::new(shape)
             .position(pos)
             .density(density)
-            .sensor(collider.is_sensor()),
+            .sensor(collider.is_sensor())
+            .margin(margin),
     )
 }