avian3d/collision/collider/parry/
primitives3d.rs

1use bevy_math::primitives::{
2    Capsule3d, Cone, Cuboid, Cylinder, InfinitePlane3d, 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 InfinitePlane3d {
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 Plane3d {
31    fn collider(&self) -> Collider {
32        let half_size = self.half_size.adjust_precision();
33        let rotation = Quaternion::from_rotation_arc(Vector::Y, self.normal.adjust_precision());
34        let vertices = vec![
35            rotation * Vector::new(half_size.x, 0.0, -half_size.y),
36            rotation * Vector::new(-half_size.x, 0.0, -half_size.y),
37            rotation * Vector::new(-half_size.x, 0.0, half_size.y),
38            rotation * Vector::new(half_size.x, 0.0, half_size.y),
39        ];
40
41        Collider::trimesh(vertices, vec![[0, 1, 2], [1, 2, 0]])
42    }
43}
44
45impl IntoCollider<Collider> for Line3d {
46    fn collider(&self) -> Collider {
47        let vec = self.direction.adjust_precision() * 10_000.0;
48        Collider::segment(-vec, vec)
49    }
50}
51
52impl IntoCollider<Collider> for Segment3d {
53    fn collider(&self) -> Collider {
54        let (point1, point2) = (self.point1(), self.point2());
55        Collider::segment(point1.adjust_precision(), point2.adjust_precision())
56    }
57}
58
59impl IntoCollider<Collider> for Polyline3d {
60    fn collider(&self) -> Collider {
61        let vertices = self.vertices.iter().map(|v| v.adjust_precision()).collect();
62        Collider::polyline(vertices, None)
63    }
64}
65
66impl IntoCollider<Collider> for Cuboid {
67    fn collider(&self) -> Collider {
68        let [hx, hy, hz] = self.half_size.adjust_precision().to_array();
69        Collider::from(SharedShape::cuboid(hx, hy, hz))
70    }
71}
72
73impl IntoCollider<Collider> for Cylinder {
74    fn collider(&self) -> Collider {
75        Collider::from(SharedShape::cylinder(
76            self.half_height.adjust_precision(),
77            self.radius.adjust_precision(),
78        ))
79    }
80}
81
82impl IntoCollider<Collider> for Capsule3d {
83    fn collider(&self) -> Collider {
84        Collider::capsule(
85            self.radius.adjust_precision(),
86            2.0 * self.half_length.adjust_precision(),
87        )
88    }
89}
90
91impl IntoCollider<Collider> for Cone {
92    fn collider(&self) -> Collider {
93        Collider::cone(
94            self.radius.adjust_precision(),
95            self.height.adjust_precision(),
96        )
97    }
98}
99
100// TODO: ConicalFrustum
101// TODO: Torus
avian3d/collision/collider/parry/primitives3d.rs

avian3d/collision/collider/parry/
primitives3d.rs
