parry3d/transformation/to_outline/
capsule_to_outline.rs

1use crate::math::Real;
2use crate::shape::{Capsule, Cylinder};
3use crate::transformation::utils;
4use alloc::vec::Vec;
5use na::{self, Point3};
6
7impl Capsule {
8    /// Outlines this capsule’s shape using polylines.
9    pub fn to_outline(&self, nsubdiv: u32) -> (Vec<Point3<Real>>, Vec<[u32; 2]>) {
10        let (vtx, idx) = canonical_capsule_outline(self.radius, self.half_height(), nsubdiv);
11        (utils::transformed(vtx, self.canonical_transform()), idx)
12    }
13}
14
15/// Generates a capsule.
16pub(crate) fn canonical_capsule_outline(
17    caps_radius: Real,
18    cylinder_half_height: Real,
19    nsubdiv: u32,
20) -> (Vec<Point3<Real>>, Vec<[u32; 2]>) {
21    let (mut vtx, mut idx) = Cylinder::new(cylinder_half_height, caps_radius).to_outline(nsubdiv);
22    let shift = vtx.len() as u32;
23
24    // Generate the hemispheres.
25    super::ball_to_outline::push_unit_hemisphere_outline(nsubdiv / 2, &mut vtx, &mut idx);
26    super::ball_to_outline::push_unit_hemisphere_outline(nsubdiv / 2, &mut vtx, &mut idx);
27
28    let ncap_pts = (nsubdiv / 2 + 1) * 2;
29    vtx[shift as usize..(shift + ncap_pts) as usize]
30        .iter_mut()
31        .for_each(|pt| {
32            *pt *= caps_radius * 2.0;
33            pt.y += cylinder_half_height
34        });
35
36    vtx[(shift + ncap_pts) as usize..]
37        .iter_mut()
38        .for_each(|pt| {
39            *pt *= caps_radius * 2.0;
40            pt.y = -pt.y - cylinder_half_height
41        });
42
43    (vtx, idx)
44}