use bevy_math::primitives::{
BoxedPolyline3d, Capsule3d, Cone, Cuboid, Cylinder, Line3d, Plane3d, Polyline3d, Segment3d,
Sphere,
};
use parry::shape::SharedShape;
use crate::{AdjustPrecision, Collider, IntoCollider, Quaternion, Vector};
impl IntoCollider<Collider> for Sphere {
fn collider(&self) -> Collider {
Collider::sphere(self.radius.adjust_precision())
}
}
impl IntoCollider<Collider> for Plane3d {
fn collider(&self) -> Collider {
let half_size = 10_000.0;
let rotation = Quaternion::from_rotation_arc(Vector::Y, self.normal.adjust_precision());
let vertices = vec![
rotation * Vector::new(half_size, 0.0, -half_size),
rotation * Vector::new(-half_size, 0.0, -half_size),
rotation * Vector::new(-half_size, 0.0, half_size),
rotation * Vector::new(half_size, 0.0, half_size),
];
Collider::trimesh(vertices, vec![[0, 1, 2], [1, 2, 0]])
}
}
impl IntoCollider<Collider> for Line3d {
fn collider(&self) -> Collider {
let vec = self.direction.adjust_precision() * 10_000.0;
Collider::segment(-vec, vec)
}
}
impl IntoCollider<Collider> for Segment3d {
fn collider(&self) -> Collider {
let (point1, point2) = (self.point1(), self.point2());
Collider::segment(point1.adjust_precision(), point2.adjust_precision())
}
}
impl<const N: usize> IntoCollider<Collider> for Polyline3d<N> {
fn collider(&self) -> Collider {
let vertices = self.vertices.map(|v| v.adjust_precision());
Collider::polyline(vertices.to_vec(), None)
}
}
impl IntoCollider<Collider> for BoxedPolyline3d {
fn collider(&self) -> Collider {
let vertices = self.vertices.iter().map(|v| v.adjust_precision());
Collider::polyline(vertices.collect(), None)
}
}
impl IntoCollider<Collider> for Cuboid {
fn collider(&self) -> Collider {
let [hx, hy, hz] = self.half_size.adjust_precision().to_array();
Collider::from(SharedShape::cuboid(hx, hy, hz))
}
}
impl IntoCollider<Collider> for Cylinder {
fn collider(&self) -> Collider {
Collider::from(SharedShape::cylinder(
self.half_height.adjust_precision(),
self.radius.adjust_precision(),
))
}
}
impl IntoCollider<Collider> for Capsule3d {
fn collider(&self) -> Collider {
Collider::capsule(
self.radius.adjust_precision(),
2.0 * self.half_length.adjust_precision(),
)
}
}
impl IntoCollider<Collider> for Cone {
fn collider(&self) -> Collider {
Collider::cone(
self.radius.adjust_precision(),
self.height.adjust_precision(),
)
}
}