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Enable custom collider shapes #550

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Enable custom collider shapes #550

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7fa3ae9
Use Shape::clone_scaled
Neo-Zhixing Jul 2, 2024
edaad14
Update src/geometry/shape_views/collider_view.rs
Neo-Zhixing Jul 2, 2024
528f766
Upgrade dependency
Neo-Zhixing Jul 20, 2024
eda5e6f
Merge remote-tracking branch 'dimforge/master' into custom-shape
Neo-Zhixing Jul 20, 2024
a7cf839
Fix clippy
Neo-Zhixing Jul 20, 2024
169dbb3
Merge remote-tracking branch 'dimforge/master' into custom-shape
Neo-Zhixing Jul 27, 2024
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191 changes: 38 additions & 153 deletions src/geometry/shape_views/collider_view.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -2,8 +2,7 @@ use std::fmt;

use super::*;
use crate::math::Vect;
use rapier::geometry::{RoundShape, SharedShape};
use rapier::parry::either::Either;
use rapier::geometry::{Shape, SharedShape};
use rapier::parry::shape::TypedShape;

#[cfg(doc)]
Expand Down Expand Up @@ -64,6 +63,8 @@ pub enum ColliderView<'a> {
/// A convex polygon with rounded corners.
#[cfg(feature = "dim2")]
RoundConvexPolygon(RoundConvexPolygonView<'a>),
/// A custom user-defined shape with a type identified by a number.
Custom(&'a dyn Shape),
}
impl<'a> fmt::Debug for ColliderView<'a> {
fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
Expand Down Expand Up @@ -96,6 +97,7 @@ impl<'a> fmt::Debug for ColliderView<'a> {
ColliderView::RoundConvexPolyhedron(view) => write!(f, "{:?}", view.raw),
#[cfg(feature = "dim2")]
ColliderView::RoundConvexPolygon(view) => write!(f, "{:?}", view.raw),
ColliderView::Custom(_) => write!(f, "Custom"),
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if I'm understanding correctly, a good information to add here would by the number identifying the shape ?

maybe as_typed_shape() would be interesting ?

Suggested change
ColliderView::Custom(_) => write!(f, "Custom"),
ColliderView::Custom(shape) => write!(f, "{:?}", shape.as_typed_shape()),

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@Neo-Zhixing Neo-Zhixing Jul 2, 2024 •
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This wouldn’t be very useful because as_typed_shape would just return TypedShape::Custom which now contains a &dyn Shape instead after dimforge/parry#216.
Unfortunately, we don’t know if the custom shape implements Debug.

We’re getting rid of the number identifying the custom shape because it’s not very useful. Instead, the user should use downcasts in their custom QueryDispatcher.

The PR allowing custom QueryDispatcher is incoming.

}
}
}
Expand Down Expand Up @@ -145,7 +147,7 @@ impl<'a> From<TypedShape<'a>> for ColliderView<'a> {
TypedShape::RoundConvexPolyhedron(s) => {
ColliderView::RoundConvexPolyhedron(RoundConvexPolyhedronView { raw: s })
}
TypedShape::Custom(_) => todo!(),
TypedShape::Custom(i) => ColliderView::Custom(i),
}
}
}
Expand Down Expand Up @@ -208,6 +210,7 @@ impl<'a> ColliderView<'a> {
ColliderView::RoundConvexPolyhedron(RoundConvexPolyhedronView { raw: s }) => {
TypedShape::RoundConvexPolyhedron(s)
}
ColliderView::Custom(s) => TypedShape::Custom(s),
}
}

Expand Down Expand Up @@ -248,166 +251,48 @@ impl<'a> ColliderView<'a> {
ColliderView::RoundConvexPolyhedron(RoundConvexPolyhedronView { raw }) => {
SharedShape::new(raw.clone())
}
ColliderView::Custom(i) => SharedShape(i.clone_dyn().into()),
}
}

/// Compute the scaled version of `self.raw`.
pub fn raw_scale_by(&self, scale: Vect, num_subdivisions: u32) -> Option<SharedShape> {
let result = match self {
ColliderView::Cuboid(s) => SharedShape::new(s.raw.scaled(&scale.into())),
ColliderView::RoundCuboid(s) => SharedShape::new(RoundShape {
border_radius: s.raw.border_radius,
inner_shape: s.raw.inner_shape.scaled(&scale.into()),
}),
ColliderView::Capsule(c) => match c.raw.scaled(&scale.into(), num_subdivisions) {
None => {
log::error!("Failed to apply scale {} to Capsule shape.", scale);
SharedShape::ball(0.0)
}
Some(Either::Left(b)) => SharedShape::new(b),
Some(Either::Right(b)) => SharedShape::new(b),
},
ColliderView::Ball(b) => match b.raw.scaled(&scale.into(), num_subdivisions) {
None => {
log::error!("Failed to apply scale {} to Ball shape.", scale);
SharedShape::ball(0.0)
}
Some(Either::Left(b)) => SharedShape::new(b),
Some(Either::Right(b)) => SharedShape::new(b),
},
ColliderView::Segment(s) => SharedShape::new(s.raw.scaled(&scale.into())),
// ColliderView::RoundSegment(s) => SharedShape::new(RoundShape {
// border_radius: s.raw.border_radius,
// inner_shape: s.raw.inner_shape.scaled(&scale.into()),
// }),
ColliderView::Triangle(t) => SharedShape::new(t.raw.scaled(&scale.into())),
ColliderView::RoundTriangle(t) => SharedShape::new(RoundShape {
border_radius: t.raw.border_radius,
inner_shape: t.raw.inner_shape.scaled(&scale.into()),
}),
ColliderView::TriMesh(t) => SharedShape::new(t.raw.clone().scaled(&scale.into())),
ColliderView::Polyline(p) => SharedShape::new(p.raw.clone().scaled(&scale.into())),
ColliderView::HalfSpace(h) => match h.raw.scaled(&scale.into()) {
None => {
log::error!("Failed to apply scale {} to HalfSpace shape.", scale);
SharedShape::ball(0.0)
}
Some(scaled) => SharedShape::new(scaled),
},
ColliderView::HeightField(h) => SharedShape::new(h.raw.clone().scaled(&scale.into())),
#[cfg(feature = "dim2")]
ColliderView::ConvexPolygon(cp) => match cp.raw.clone().scaled(&scale.into()) {
None => {
log::error!("Failed to apply scale {} to ConvexPolygon shape.", scale);
SharedShape::ball(0.0)
}
Some(scaled) => SharedShape::new(scaled),
},
/// Convert to &dyn [`Shape`].
pub fn to_shape(&self) -> &dyn Shape {
match self {
ColliderView::Ball(BallView { raw }) => *raw,
ColliderView::Cuboid(CuboidView { raw }) => *raw,
ColliderView::Capsule(CapsuleView { raw }) => *raw,
ColliderView::Segment(SegmentView { raw }) => *raw,
ColliderView::Triangle(TriangleView { raw }) => *raw,
ColliderView::TriMesh(TriMeshView { raw }) => *raw,
ColliderView::Polyline(PolylineView { raw }) => *raw,
ColliderView::HalfSpace(HalfSpaceView { raw }) => *raw,
ColliderView::HeightField(HeightFieldView { raw }) => *raw,
ColliderView::Compound(CompoundView { raw }) => *raw,
#[cfg(feature = "dim2")]
ColliderView::RoundConvexPolygon(cp) => {
match cp.raw.inner_shape.clone().scaled(&scale.into()) {
None => {
log::error!(
"Failed to apply scale {} to RoundConvexPolygon shape.",
scale
);
SharedShape::ball(0.0)
}
Some(scaled) => SharedShape::new(RoundShape {
border_radius: cp.raw.border_radius,
inner_shape: scaled,
}),
}
}
ColliderView::ConvexPolygon(ConvexPolygonView { raw }) => *raw,
#[cfg(feature = "dim3")]
ColliderView::ConvexPolyhedron(cp) => match cp.raw.clone().scaled(&scale.into()) {
None => {
log::error!("Failed to apply scale {} to ConvexPolyhedron shape.", scale);
SharedShape::ball(0.0)
}
Some(scaled) => SharedShape::new(scaled),
},
ColliderView::ConvexPolyhedron(ConvexPolyhedronView { raw }) => *raw,
#[cfg(feature = "dim3")]
ColliderView::RoundConvexPolyhedron(cp) => {
match cp.raw.clone().inner_shape.scaled(&scale.into()) {
None => {
log::error!(
"Failed to apply scale {} to RoundConvexPolyhedron shape.",
scale
);
SharedShape::ball(0.0)
}
Some(scaled) => SharedShape::new(RoundShape {
border_radius: cp.raw.border_radius,
inner_shape: scaled,
}),
}
}
ColliderView::Cylinder(CylinderView { raw }) => *raw,
#[cfg(feature = "dim3")]
ColliderView::Cylinder(c) => match c.raw.scaled(&scale.into(), num_subdivisions) {
None => {
log::error!("Failed to apply scale {} to Cylinder shape.", scale);
SharedShape::ball(0.0)
}
Some(Either::Left(b)) => SharedShape::new(b),
Some(Either::Right(b)) => SharedShape::new(b),
},
ColliderView::Cone(ConeView { raw }) => *raw,
ColliderView::RoundCuboid(RoundCuboidView { raw }) => *raw,
ColliderView::RoundTriangle(RoundTriangleView { raw }) => *raw,
#[cfg(feature = "dim2")]
ColliderView::RoundConvexPolygon(RoundConvexPolygonView { raw }) => *raw,
#[cfg(feature = "dim3")]
ColliderView::RoundCylinder(c) => {
match c.raw.inner_shape.scaled(&scale.into(), num_subdivisions) {
None => {
log::error!("Failed to apply scale {} to RoundCylinder shape.", scale);
SharedShape::ball(0.0)
}
Some(Either::Left(scaled)) => SharedShape::new(RoundShape {
border_radius: c.raw.border_radius,
inner_shape: scaled,
}),
Some(Either::Right(scaled)) => SharedShape::new(RoundShape {
border_radius: c.raw.border_radius,
inner_shape: scaled,
}),
}
}
ColliderView::RoundCylinder(RoundCylinderView { raw }) => *raw,
#[cfg(feature = "dim3")]
ColliderView::Cone(c) => match c.raw.scaled(&scale.into(), num_subdivisions) {
None => {
log::error!("Failed to apply scale {} to Cone shape.", scale);
SharedShape::ball(0.0)
}
Some(Either::Left(b)) => SharedShape::new(b),
Some(Either::Right(b)) => SharedShape::new(b),
},
ColliderView::RoundCone(RoundConeView { raw }) => *raw,
#[cfg(feature = "dim3")]
ColliderView::RoundCone(c) => {
match c.raw.inner_shape.scaled(&scale.into(), num_subdivisions) {
None => {
log::error!("Failed to apply scale {} to RoundCone shape.", scale);
SharedShape::ball(0.0)
}
Some(Either::Left(scaled)) => SharedShape::new(RoundShape {
border_radius: c.raw.border_radius,
inner_shape: scaled,
}),
Some(Either::Right(scaled)) => SharedShape::new(RoundShape {
border_radius: c.raw.border_radius,
inner_shape: scaled,
}),
}
}
ColliderView::Compound(c) => {
let mut scaled = Vec::with_capacity(c.shapes().len());

for (tra, rot, shape) in c.shapes() {
scaled.push((
(tra * scale, rot).into(),
shape.raw_scale_by(scale, num_subdivisions)?,
));
}
SharedShape::compound(scaled)
}
};
ColliderView::RoundConvexPolyhedron(RoundConvexPolyhedronView { raw }) => *raw,
ColliderView::Custom(raw) => *raw,
}
}

Some(result)
/// Compute the scaled version of its inner [`Shape`].
pub fn raw_scale_by(&self, scale: Vect, num_subdivisions: u32) -> Option<SharedShape> {
let shape = self.to_shape().scale_dyn(&scale.into(), num_subdivisions)?;
Some(SharedShape(shape.into()))
}
}