Outsource the contact manifold, SAT, and some shapes.

src_testbed/engine.rs

@@ -501,7 +501,7 @@ impl GraphicsManager {
         object: DefaultColliderHandle,
         colliders: &DefaultColliderSet<f32>,
         delta: Isometry<f32>,
-        shape: &Cuboid<f32>,
+        shape: &Cuboid,
         color: Point3<f32>,
         out: &mut Vec<Node>,
     ) {

src_testbed/lib.rs

@@ -1,5 +1,9 @@
 #[macro_use]
 extern crate kiss3d;
+#[cfg(feature = "dim2")]
+extern crate buckler2d as buckler;
+#[cfg(feature = "dim3")]
+extern crate buckler3d as buckler;
 extern crate nalgebra as na;
 #[cfg(feature = "dim2")]
 extern crate ncollide2d as ncollide;

src_testbed/nphysics_backend.rs

@@ -1,4 +1,4 @@
-use ncollide::shape::{Ball, Capsule, Cuboid, ShapeHandle};
+use ncollide::shape::{Ball, Capsule, Cuboid, HeightField, ShapeHandle};
 use nphysics::force_generator::DefaultForceGeneratorSet;
 use nphysics::joint::{
     DefaultJointConstraintSet, FixedConstraint, PrismaticConstraint, RevoluteConstraint,
@@ -187,7 +187,10 @@ fn nphysics_collider_from_rapier_collider(
         pos *= capsule.transform_wrt_y();
         ShapeHandle::new(Capsule::new(capsule.half_height(), capsule.radius))
     } else if let Some(heightfield) = shape.as_heightfield() {
-        ShapeHandle::new(heightfield.clone())
+        let heights = heightfield.heights();
+        let scale = heightfield.scale();
+        let heightfield = HeightField::new(heights.clone(), *scale);
+        ShapeHandle::new(heightfield)
     } else {
         #[cfg(feature = "dim3")]
         if let Some(trimesh) = shape.as_trimesh() {

src_testbed/objects/heightfield.rs

@@ -1,15 +1,16 @@
 #[cfg(feature = "dim3")]
 use crate::objects::node::{self, GraphicsNode};
+use buckler::shape;
+use kiss3d::resource::Mesh;
 use kiss3d::window::Window;
 use na::{self, Point3};
-use ncollide::shape;
-#[cfg(feature = "dim3")]
-use ncollide::transformation::ToTriMesh;
 use rapier::geometry::{ColliderHandle, ColliderSet};
 #[cfg(feature = "dim2")]
 use rapier::math::Point;
 #[cfg(feature = "dim3")]
 use rapier::math::Vector;
+use std::cell::RefCell;
+use std::rc::Rc;
 
 pub struct HeightField {
     color: Point3<f32>,
@@ -25,7 +26,7 @@ impl HeightField {
     #[cfg(feature = "dim2")]
     pub fn new(
         collider: ColliderHandle,
-        heightfield: &shape::HeightField<f32>,
+        heightfield: &shape::HeightField,
         color: Point3<f32>,
         _: &mut Window,
     ) -> HeightField {
@@ -47,16 +48,18 @@ impl HeightField {
     #[cfg(feature = "dim3")]
     pub fn new(
         collider: ColliderHandle,
-        heightfield: &shape::HeightField<f32>,
+        heightfield: &shape::HeightField,
         color: Point3<f32>,
         window: &mut Window,
     ) -> HeightField {
-        let mesh = heightfield.to_trimesh(());
+        let (vertices, indices) = heightfield.to_trimesh();
+        let indices = indices.into_iter().map(|i| na::convert(i)).collect();
+        let mesh = Mesh::new(vertices, indices, None, None, false);
 
         let mut res = HeightField {
             color,
             base_color: color,
-            gfx: window.add_trimesh(mesh, Vector::repeat(1.0)),
+            gfx: window.add_mesh(Rc::new(RefCell::new(mesh)), Vector::repeat(1.0)),
             collider: collider,
         };
 

src_testbed/objects/polyline.rs

@@ -1,6 +1,6 @@
+use buckler2d::shape;
 use kiss3d::window::Window;
 use na::{Isometry2, Point2, Point3};
-use ncollide2d::shape;
 use nphysics2d::object::{ColliderAnchor, DefaultColliderHandle, DefaultColliderSet};
 
 pub struct Polyline {

src_testbed/testbed.rs

@@ -1521,8 +1521,8 @@ fn draw_contacts(window: &mut Window, nf: &NarrowPhase, colliders: &ColliderSet)
                 } else {
                     Point3::new(1.0, 0.0, 0.0)
                 };
-                let pos1 = colliders[manifold.pair.collider1].position();
-                let pos2 = colliders[manifold.pair.collider2].position();
+                let pos1 = colliders[manifold.data.pair.collider1].position();
+                let pos2 = colliders[manifold.data.pair.collider2].position();
                 let start = pos1 * pt.local_p1;
                 let end = pos2 * pt.local_p2;
                 let n = pos1 * manifold.local_n1;