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Add cone support.

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This commit is contained in:
Crozet Sébastien
2020-10-20 14:16:01 +02:00
parent 865ce8a8e5
commit d513c22d33
15 changed files with 257 additions and 18 deletions
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30
src/dynamics/mass_properties_cone.rs Normal file
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@@ -0,0 +1,30 @@
use crate::dynamics::MassProperties;
use crate::geometry::Cone;
use crate::math::{Point, PrincipalAngularInertia, Rotation, Vector};
impl MassProperties {
pub(crate) fn cone_y_volume_unit_inertia(
half_height: f32,
radius: f32,
) -> (f32, PrincipalAngularInertia<f32>) {
let volume = radius * radius * std::f32::consts::PI * half_height * 2.0 / 3.0;
let sq_radius = radius * radius;
let sq_height = half_height * half_height * 4.0;
let off_principal = sq_radius * 3.0 / 20.0 + sq_height * 3.0 / 5.0;
let principal = sq_radius * 3.0 / 10.0;
(volume, Vector::new(off_principal, principal, off_principal))
}
pub(crate) fn from_cone(density: f32, half_height: f32, radius: f32) -> Self {
let (cyl_vol, cyl_unit_i) = Self::cone_y_volume_unit_inertia(half_height, radius);
let cyl_mass = cyl_vol * density;
Self::with_principal_inertia_frame(
Point::new(0.0, -half_height / 2.0, 0.0),
cyl_mass,
cyl_unit_i * cyl_mass,
Rotation::identity(),
)
}
}

2
src/dynamics/mod.rs
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@@ -22,6 +22,8 @@ mod joint;
mod mass_properties;
mod mass_properties_ball;
mod mass_properties_capsule;
#[cfg(feature = "dim3")]
mod mass_properties_cone;
mod mass_properties_cuboid;
mod mass_properties_cylinder;
#[cfg(feature = "dim2")]

29
src/geometry/collider.rs
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@@ -1,10 +1,10 @@
use crate::dynamics::{MassProperties, RigidBodyHandle, RigidBodySet};
#[cfg(feature = "dim3")]
use crate::geometry::PolygonalFeatureMap;
use crate::geometry::{
Ball, Capsule, ColliderGraphIndex, Contact, Cuboid, Cylinder, HeightField, InteractionGraph,
Polygon, Proximity, Ray, RayIntersection, Shape, ShapeType, Triangle, Trimesh,
Ball, Capsule, ColliderGraphIndex, Contact, Cuboid, HeightField, InteractionGraph, Polygon,
Proximity, Ray, RayIntersection, Shape, ShapeType, Triangle, Trimesh,
};
#[cfg(feature = "dim3")]
use crate::geometry::{Cone, Cylinder, PolygonalFeatureMap};
use crate::math::{AngVector, Isometry, Point, Rotation, Vector};
use downcast_rs::{impl_downcast, DowncastSync};
use erased_serde::Serialize;
@@ -40,6 +40,13 @@ impl ColliderShape {
ColliderShape(Arc::new(Cylinder::new(half_height, radius)))
}
/// Initialize a cone shape defined by its half-height
/// (along along the y axis) and its basis radius.
#[cfg(feature = "dim3")]
pub fn cone(half_height: f32, radius: f32) -> Self {
ColliderShape(Arc::new(Cone::new(half_height, radius)))
}
/// Initialize a cuboid shape defined by its half-extents.
pub fn cuboid(half_extents: Vector<f32>) -> Self {
ColliderShape(Arc::new(Cuboid::new(half_extents)))
@@ -171,6 +178,13 @@ impl<'de> serde::Deserialize<'de> for ColliderShape {
.ok_or_else(|| serde::de::Error::invalid_length(0, &self))?;
Arc::new(shape) as Arc<dyn Shape>
}
#[cfg(feature = "dim3")]
Some(ShapeType::Cone) => {
let shape: Cone = seq
.next_element()?
.ok_or_else(|| serde::de::Error::invalid_length(0, &self))?;
Arc::new(shape) as Arc<dyn Shape>
}
None => {
return Err(serde::de::Error::custom(
"found invalid shape type to deserialize",
@@ -328,6 +342,13 @@ impl ColliderBuilder {
Self::new(ColliderShape::cylinder(half_height, radius))
}
/// Initialize a new collider builder with a cone shape defined by its half-height
/// (along along the y axis) and its basis radius.
#[cfg(feature = "dim3")]
pub fn cone(half_height: f32, radius: f32) -> Self {
Self::new(ColliderShape::cone(half_height, radius))
}
/// Initialize a new collider builder with a cuboid shape defined by its half-extents.
#[cfg(feature = "dim2")]
pub fn cuboid(hx: f32, hy: f32) -> Self {

9
src/geometry/contact_generator/contact_dispatcher.rs
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@@ -76,7 +76,9 @@ impl ContactDispatcher for DefaultContactDispatcher {
| (ShapeType::Capsule, ShapeType::Ball)
| (ShapeType::Ball, ShapeType::Capsule)
| (ShapeType::Cylinder, ShapeType::Ball)
| (ShapeType::Ball, ShapeType::Cylinder) => (
| (ShapeType::Ball, ShapeType::Cylinder)
| (ShapeType::Cone, ShapeType::Ball)
| (ShapeType::Ball, ShapeType::Cone) => (
PrimitiveContactGenerator {
generate_contacts: super::generate_contacts_ball_convex,
..PrimitiveContactGenerator::default()
@@ -99,7 +101,10 @@ impl ContactDispatcher for DefaultContactDispatcher {
None,
)
}
(ShapeType::Cylinder, _) | (_, ShapeType::Cylinder) => (
(ShapeType::Cylinder, _)
| (_, ShapeType::Cylinder)
| (ShapeType::Cone, _)
| (_, ShapeType::Cone) => (
PrimitiveContactGenerator {
generate_contacts: super::generate_contacts_pfm_pfm,
..PrimitiveContactGenerator::default()

3
src/geometry/mod.rs
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@@ -35,6 +35,9 @@ pub type HeightField = ncollide::shape::HeightField<f32>;
/// A cylindrical shape.
#[cfg(feature = "dim3")]
pub type Cylinder = ncollide::shape::Cylinder<f32>;
/// A cone shape.
#[cfg(feature = "dim3")]
pub type Cone = ncollide::shape::Cone<f32>;
/// An axis-aligned bounding box.
pub type AABB = ncollide::bounding_volume::AABB<f32>;
/// Event triggered when two non-sensor colliders start or stop being in contact.

48
src/geometry/polygonal_feature_map.rs
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@@ -1,5 +1,5 @@
use crate::geometry::PolyhedronFace;
use crate::geometry::{cuboid, Cuboid, Cylinder, Triangle};
use crate::geometry::{cuboid, Cone, Cuboid, Cylinder, Triangle};
use crate::math::{Point, Vector};
use approx::AbsDiffEq;
use na::{Unit, Vector2, Vector3};
@@ -85,3 +85,49 @@ impl PolygonalFeatureMap for Cylinder {
}
}
}
impl PolygonalFeatureMap for Cone {
fn local_support_feature(&self, dir: &Unit<Vector<f32>>, out_features: &mut PolyhedronFace) {
// About feature ids. It is very similar to the feature ids of cylinders.
// At all times, we consider our cone to be approximated as follows:
// - The curved part is approximated by a single segment.
// - The flat cap of the cone is approximated by a square.
// - The curved-part segment has a feature ID of 0, and its endpoint with negative
// `y` coordinate has an ID of 1.
// - The bottom cap has its vertices with feature ID of 1,3,5,7 (in counter-clockwise order
// when looking at the cap with an eye looking towards +y).
// - The bottom cap has its four edge feature IDs of 2,4,6,8, in counter-clockwise order.
// - The bottom cap has its face feature ID of 9.
// - Note that at all times, one of the cap's vertices are the same as the curved-part
// segment endpoints.
let dir2 = Vector2::new(dir.x, dir.z)
.try_normalize(f32::default_epsilon())
.unwrap_or(Vector2::x());
if dir.y > 0.0 {
// We return a segment lying on the cone's curved part.
out_features.vertices[0] = Point::new(
dir2.x * self.radius,
-self.half_height,
dir2.y * self.radius,
);
out_features.vertices[1] = Point::new(0.0, self.half_height, 0.0);
out_features.eids = [0, 0, 0, 0];
out_features.fid = 0;
out_features.num_vertices = 2;
out_features.vids = [1, 11, 11, 11];
} else {
// We return a square approximation of the cone cap.
let y = -self.half_height;
out_features.vertices[0] = Point::new(dir2.x * self.radius, y, dir2.y * self.radius);
out_features.vertices[1] = Point::new(-dir2.y * self.radius, y, dir2.x * self.radius);
out_features.vertices[2] = Point::new(-dir2.x * self.radius, y, -dir2.y * self.radius);
out_features.vertices[3] = Point::new(dir2.y * self.radius, y, -dir2.x * self.radius);
out_features.eids = [2, 4, 6, 8];
out_features.fid = 9;
out_features.num_vertices = 4;
out_features.vids = [1, 3, 5, 7];
}
}
}

41
src/geometry/shape.rs
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@@ -1,10 +1,10 @@
use crate::dynamics::{MassProperties, RigidBodyHandle, RigidBodySet};
#[cfg(feature = "dim3")]
use crate::geometry::PolygonalFeatureMap;
use crate::geometry::{
Ball, Capsule, ColliderGraphIndex, Contact, Cuboid, Cylinder, HeightField, InteractionGraph,
Polygon, Proximity, Ray, RayIntersection, Triangle, Trimesh,
Ball, Capsule, ColliderGraphIndex, Contact, Cuboid, HeightField, InteractionGraph, Polygon,
Proximity, Ray, RayIntersection, Triangle, Trimesh,
};
#[cfg(feature = "dim3")]
use crate::geometry::{Cone, Cylinder, PolygonalFeatureMap};
use crate::math::{AngVector, Isometry, Point, Rotation, Vector};
use downcast_rs::{impl_downcast, DowncastSync};
use erased_serde::Serialize;
@@ -35,6 +35,9 @@ pub enum ShapeType {
#[cfg(feature = "dim3")]
/// A cylindrical shape.
Cylinder,
#[cfg(feature = "dim3")]
/// A cylindrical shape.
Cone,
// /// A custom shape type.
// Custom(u8),
}
@@ -104,6 +107,11 @@ impl dyn Shape {
pub fn as_cylinder(&self) -> Option<&Cylinder> {
self.downcast_ref()
}
/// Converts this abstract shape to a cone, if it is one.
pub fn as_cone(&self) -> Option<&Cone> {
self.downcast_ref()
}
}
impl Shape for Ball {
@@ -273,3 +281,28 @@ impl Shape for Cylinder {
Some(self as &dyn PolygonalFeatureMap)
}
}
#[cfg(feature = "dim3")]
impl Shape for Cone {
#[cfg(feature = "serde-serialize")]
fn as_serialize(&self) -> Option<&dyn Serialize> {
Some(self as &dyn Serialize)
}
fn compute_aabb(&self, position: &Isometry<f32>) -> AABB<f32> {
self.bounding_volume(position)
}
fn mass_properties(&self, density: f32) -> MassProperties {
MassProperties::from_cone(density, self.half_height, self.radius)
}
fn shape_type(&self) -> ShapeType {
ShapeType::Cone
}
#[cfg(feature = "dim3")]
fn as_polygonal_feature_map(&self) -> Option<&dyn PolygonalFeatureMap> {
Some(self as &dyn PolygonalFeatureMap)
}
}