avian3d/collision/collider/parry/
primitives3d.rs

1use bevy_math::primitives::{
2    BoxedPolyline3d, Capsule3d, Cone, Cuboid, Cylinder, Line3d, Plane3d, Polyline3d, Segment3d,
3    Sphere,
4};
5use parry::shape::SharedShape;
6
7use crate::{AdjustPrecision, Collider, IntoCollider, Quaternion, Vector};
8
9impl IntoCollider<Collider> for Sphere {
10    fn collider(&self) -> Collider {
11        Collider::sphere(self.radius.adjust_precision())
12    }
13}
14
15impl IntoCollider<Collider> for Plane3d {
16    fn collider(&self) -> Collider {
17        let half_size = 10_000.0;
18        let rotation = Quaternion::from_rotation_arc(Vector::Y, self.normal.adjust_precision());
19        let vertices = vec![
20            rotation * Vector::new(half_size, 0.0, -half_size),
21            rotation * Vector::new(-half_size, 0.0, -half_size),
22            rotation * Vector::new(-half_size, 0.0, half_size),
23            rotation * Vector::new(half_size, 0.0, half_size),
24        ];
25
26        Collider::trimesh(vertices, vec![[0, 1, 2], [1, 2, 0]])
27    }
28}
29
30impl IntoCollider<Collider> for Line3d {
31    fn collider(&self) -> Collider {
32        let vec = self.direction.adjust_precision() * 10_000.0;
33        Collider::segment(-vec, vec)
34    }
35}
36
37impl IntoCollider<Collider> for Segment3d {
38    fn collider(&self) -> Collider {
39        let (point1, point2) = (self.point1(), self.point2());
40        Collider::segment(point1.adjust_precision(), point2.adjust_precision())
41    }
42}
43
44impl<const N: usize> IntoCollider<Collider> for Polyline3d<N> {
45    fn collider(&self) -> Collider {
46        let vertices = self.vertices.map(|v| v.adjust_precision());
47        Collider::polyline(vertices.to_vec(), None)
48    }
49}
50
51impl IntoCollider<Collider> for BoxedPolyline3d {
52    fn collider(&self) -> Collider {
53        let vertices = self.vertices.iter().map(|v| v.adjust_precision());
54        Collider::polyline(vertices.collect(), None)
55    }
56}
57
58impl IntoCollider<Collider> for Cuboid {
59    fn collider(&self) -> Collider {
60        let [hx, hy, hz] = self.half_size.adjust_precision().to_array();
61        Collider::from(SharedShape::cuboid(hx, hy, hz))
62    }
63}
64
65impl IntoCollider<Collider> for Cylinder {
66    fn collider(&self) -> Collider {
67        Collider::from(SharedShape::cylinder(
68            self.half_height.adjust_precision(),
69            self.radius.adjust_precision(),
70        ))
71    }
72}
73
74impl IntoCollider<Collider> for Capsule3d {
75    fn collider(&self) -> Collider {
76        Collider::capsule(
77            self.radius.adjust_precision(),
78            2.0 * self.half_length.adjust_precision(),
79        )
80    }
81}
82
83impl IntoCollider<Collider> for Cone {
84    fn collider(&self) -> Collider {
85        Collider::cone(
86            self.radius.adjust_precision(),
87            self.height.adjust_precision(),
88        )
89    }
90}
91
92// TODO: ConicalFrustum
93// TODO: Torus
avian3d/collision/collider/parry/primitives3d.rs

avian3d/collision/collider/parry/
primitives3d.rs
