avian3d/collision/collider/parry/
primitives3d.rs

1use bevy_math::{Quat, Vec3};
2use bevy_shape::{
3    Capsule3d, Cone, Cuboid, Cylinder, InfinitePlane3d, Line3d, Plane3d, Polyline3d, Segment3d,
4    Sphere,
5};
6use parry::shape::SharedShape;
7
8use crate::{Collider, IntoCollider, RVector, ToRealPrecision};
9
10impl IntoCollider<Collider> for Sphere {
11    fn collider(&self) -> Collider {
12        Collider::sphere(self.radius)
13    }
14}
15
16impl IntoCollider<Collider> for InfinitePlane3d {
17    fn collider(&self) -> Collider {
18        let half_size = 10_000.0;
19        let rotation = Quat::from_rotation_arc(Vec3::Y, *self.normal).real();
20        let vertices = vec![
21            rotation * RVector::new(half_size, 0.0, -half_size),
22            rotation * RVector::new(-half_size, 0.0, -half_size),
23            rotation * RVector::new(-half_size, 0.0, half_size),
24            rotation * RVector::new(half_size, 0.0, half_size),
25        ];
26
27        Collider::trimesh(vertices, vec![[0, 1, 2], [1, 2, 0]])
28    }
29}
30
31impl IntoCollider<Collider> for Plane3d {
32    fn collider(&self) -> Collider {
33        let half_size = self.half_size.real();
34        let rotation = Quat::from_rotation_arc(Vec3::Y, *self.normal).real();
35        let vertices = vec![
36            rotation * RVector::new(half_size.x, 0.0, -half_size.y),
37            rotation * RVector::new(-half_size.x, 0.0, -half_size.y),
38            rotation * RVector::new(-half_size.x, 0.0, half_size.y),
39            rotation * RVector::new(half_size.x, 0.0, half_size.y),
40        ];
41
42        Collider::trimesh(vertices, vec![[0, 1, 2], [1, 2, 0]])
43    }
44}
45
46impl IntoCollider<Collider> for Line3d {
47    fn collider(&self) -> Collider {
48        let vec = self.direction * 10_000.0;
49        Collider::segment(-vec, vec)
50    }
51}
52
53impl IntoCollider<Collider> for Segment3d {
54    fn collider(&self) -> Collider {
55        let (point1, point2) = (self.point1(), self.point2());
56        Collider::segment(point1, point2)
57    }
58}
59
60impl IntoCollider<Collider> for Polyline3d {
61    fn collider(&self) -> Collider {
62        let vertices = self.vertices.iter().map(|v| v.real()).collect();
63        Collider::polyline(vertices, None)
64    }
65}
66
67impl IntoCollider<Collider> for Cuboid {
68    fn collider(&self) -> Collider {
69        let [hx, hy, hz] = self.half_size.real().to_array();
70        Collider::from(SharedShape::cuboid(hx, hy, hz))
71    }
72}
73
74impl IntoCollider<Collider> for Cylinder {
75    fn collider(&self) -> Collider {
76        Collider::from(SharedShape::cylinder(
77            self.half_height.real(),
78            self.radius.real(),
79        ))
80    }
81}
82
83impl IntoCollider<Collider> for Capsule3d {
84    fn collider(&self) -> Collider {
85        Collider::capsule(self.radius, 2.0 * self.half_length)
86    }
87}
88
89impl IntoCollider<Collider> for Cone {
90    fn collider(&self) -> Collider {
91        Collider::cone(self.radius, self.height)
92    }
93}
94
95// TODO: ConicalFrustum
96// TODO: Torus
avian3d/collision/collider/parry/primitives3d.rs

avian3d/collision/collider/parry/
primitives3d.rs
