95bd6fcfeb
* feat: switch to the new Bvh from parry for the broad-phase * chore: cargo fmt + update testbed * chore: remove the multi-grid SAP broad-phase * fix soft-ccd handling in broad-phase * Fix contact cleanup in broad-phase after collider removal * chore: clippy fixes * fix CCD regression * chore: update changelog * fix build with the parallel feature enabled * chore: remove the now useless broad-phase proxy index from colliders * fix tests
99 lines
3.7 KiB
Rust
99 lines
3.7 KiB
Rust
use parry::bounding_volume;
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use parry::math::{Isometry, Point, Real};
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use parry::shape::{Cuboid, SharedShape, TriMeshBuilderError, TriMeshFlags};
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#[cfg(feature = "dim3")]
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use parry::transformation::vhacd::VHACDParameters;
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/*
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*
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* TODO: should all this be part of parry instead?
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*
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*/
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/// Error that can be generated by the [`MeshConverter`].
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#[derive(thiserror::Error, Debug)]
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pub enum MeshConverterError {
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/// The convex hull calculation carried out by the [`MeshConverter::ConvexHull`] failed.
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#[error("convex-hull computation failed")]
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ConvexHullFailed,
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/// The TriMesh building failed.
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#[error("TriMesh building failed")]
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TriMeshBuilderError(TriMeshBuilderError),
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}
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/// Determines how meshes (generally when loaded from a file) are converted into Rapier colliders.
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#[derive(Clone, Copy, Debug, PartialEq, Default)]
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pub enum MeshConverter {
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/// The mesh is loaded as-is without any particular processing.
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#[default]
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TriMesh,
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/// The mesh is loaded with the specified flags.
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TriMeshWithFlags(TriMeshFlags),
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/// The mesh is replaced by its Oriented Bounding Box (represented as
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/// a rotated cuboid).
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///
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/// With this option, the mesh’s index buffer is ignored.
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Obb,
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/// The mesh is replaced by its AABB.
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///
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/// With this option, the mesh’s index buffer is ignored.
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Aabb,
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/// The mesh is replaced by its convex-hull.
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///
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/// With this option, the mesh’s index buffer is ignored.
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ConvexHull,
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/// The mesh is replaced by its convex decomposition.
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#[cfg(feature = "dim3")]
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ConvexDecomposition,
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/// The mesh is replaced by its convex decomposition with parameters specified to adjust
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/// the convex decomposition algorithm.
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#[cfg(feature = "dim3")]
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ConvexDecompositionWithParams(VHACDParameters),
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}
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impl MeshConverter {
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/// Applies the conversion rule described by this [`MeshConverter`] to build a shape from
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/// the given vertex and index buffers.
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#[profiling::function]
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pub fn convert(
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&self,
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vertices: Vec<Point<Real>>,
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indices: Vec<[u32; 3]>,
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) -> Result<(SharedShape, Isometry<Real>), MeshConverterError> {
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let mut transform = Isometry::identity();
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let shape = match self {
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MeshConverter::TriMesh => SharedShape::trimesh(vertices, indices)
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.map_err(MeshConverterError::TriMeshBuilderError)?,
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MeshConverter::TriMeshWithFlags(flags) => {
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SharedShape::trimesh_with_flags(vertices, indices, *flags)
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.map_err(MeshConverterError::TriMeshBuilderError)?
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}
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MeshConverter::Obb => {
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let (pose, cuboid) = parry::utils::obb(&vertices);
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transform = pose;
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SharedShape::new(cuboid)
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}
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MeshConverter::Aabb => {
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let aabb =
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bounding_volume::details::local_point_cloud_aabb(vertices.iter().copied());
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let cuboid = Cuboid::new(aabb.half_extents());
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transform = Isometry::from(aabb.center().coords);
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SharedShape::new(cuboid)
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}
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MeshConverter::ConvexHull => {
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SharedShape::convex_hull(&vertices).ok_or(MeshConverterError::ConvexHullFailed)?
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}
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#[cfg(feature = "dim3")]
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MeshConverter::ConvexDecomposition => {
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SharedShape::convex_decomposition(&vertices, &indices)
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}
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#[cfg(feature = "dim3")]
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MeshConverter::ConvexDecompositionWithParams(params) => {
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SharedShape::convex_decomposition_with_params(&vertices, &indices, params)
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}
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};
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Ok((shape, transform))
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}
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}
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