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use crate::physics::RapierConfiguration;
use crate::rapier::geometry::ColliderShape;
use crate::render::ColliderDebugRender;
use bevy::prelude::*;
use bevy::render::mesh::{Indices, VertexAttributeValues};
use rapier::geometry::ShapeType;
pub fn create_collider_renders_system(
mut commands: Commands,
mut meshes: ResMut<Assets<Mesh>>,
mut materials: ResMut<Assets<StandardMaterial>>,
configuration: Res<RapierConfiguration>,
collider_shapes: Query<&ColliderShape>,
render_tags: Query<(Entity, Option<&Parent>, &ColliderDebugRender), Without<Handle<Mesh>>>,
) {
for (entity, parent, co_render) in &mut render_tags.iter() {
let co_shape = collider_shapes
.get(entity)
.ok()
.or_else(|| collider_shapes.get(**parent?).ok());
if let Some(co_shape) = co_shape {
if let Some((mesh, scale)) = generate_collider_mesh(co_shape) {
let ground_pbr = PbrBundle {
mesh: meshes.add(mesh),
material: materials.add(co_render.color.into()),
transform: Transform::from_scale(scale * configuration.scale),
..Default::default()
};
commands.entity(entity).insert_bundle(ground_pbr);
}
}
}
}
pub fn update_collider_render_mesh(
mut commands: Commands,
mut meshes: ResMut<Assets<Mesh>>,
configuration: Res<RapierConfiguration>,
colliders: Query<
(Entity, &ColliderShape),
(
Changed<ColliderShape>,
With<Handle<Mesh>>,
With<ColliderDebugRender>,
),
>,
) {
for (entity, co_shape) in colliders.iter() {
if let Some((mesh, scale)) = generate_collider_mesh(co_shape) {
let mesh = meshes.add(mesh);
let scale = Transform::from_scale(scale * configuration.scale);
commands.entity(entity).insert_bundle((mesh, scale));
}
}
}
fn generate_collider_mesh(co_shape: &ColliderShape) -> Option<(Mesh, Vec3)> {
let mesh = match co_shape.shape_type() {
#[cfg(feature = "dim3")]
ShapeType::Cuboid => Mesh::from(shape::Cube { size: 2.0 }),
#[cfg(feature = "dim2")]
ShapeType::Cuboid => Mesh::from(shape::Quad {
size: Vec2::new(2.0, 2.0),
flip: false,
}),
ShapeType::Ball => Mesh::from(shape::Icosphere {
subdivisions: 2,
radius: 1.0,
}),
#[cfg(feature = "dim2")]
ShapeType::TriMesh => {
let mut mesh = Mesh::new(bevy::render::pipeline::PrimitiveTopology::TriangleList);
let trimesh = co_shape.as_trimesh().unwrap();
mesh.set_attribute(
Mesh::ATTRIBUTE_POSITION,
VertexAttributeValues::from(
trimesh
.vertices()
.iter()
.map(|vertice| [vertice.x, vertice.y])
.collect::<Vec<_>>(),
),
);
mesh.set_indices(Some(Indices::U32(
trimesh
.indices()
.iter()
.flat_map(|triangle| triangle.iter())
.cloned()
.collect(),
)));
mesh
}
#[cfg(feature = "dim3")]
ShapeType::TriMesh => {
let mut mesh = Mesh::new(bevy::render::pipeline::PrimitiveTopology::TriangleList);
let trimesh = co_shape.as_trimesh().unwrap();
mesh.set_attribute(
Mesh::ATTRIBUTE_POSITION,
VertexAttributeValues::from(
trimesh
.vertices()
.iter()
.map(|vertex| [vertex.x, vertex.y, vertex.z])
.collect::<Vec<_>>(),
),
);
let verts = trimesh.vertices();
let mut normals: Vec<Vec3> = vec![Vec3::ZERO; trimesh.vertices().len()];
for triangle in trimesh.indices().iter() {
let ab = verts[triangle[1] as usize] - verts[triangle[0] as usize];
let ac = verts[triangle[2] as usize] - verts[triangle[0] as usize];
let normal = ab.cross(&ac);
for i in 0..3 {
normals[triangle[i] as usize] += Vec3::new(normal.x, normal.y, normal.z);
}
}
let normals: Vec<[f32; 3]> = normals
.iter()
.map(|normal| {
let normal = normal.normalize();
[normal.x, normal.y, normal.z]
})
.collect();
mesh.set_attribute(Mesh::ATTRIBUTE_NORMAL, VertexAttributeValues::from(normals));
mesh.set_attribute(
Mesh::ATTRIBUTE_UV_0,
VertexAttributeValues::from(
trimesh
.vertices()
.iter()
.map(|_vertex| [0.0, 0.0])
.collect::<Vec<_>>(),
),
);
mesh.set_indices(Some(Indices::U32(
trimesh
.indices()
.iter()
.flat_map(|triangle| triangle.iter())
.cloned()
.collect(),
)));
mesh
}
_ => return None,
};
let scale = match co_shape.shape_type() {
#[cfg(feature = "dim2")]
ShapeType::Cuboid => {
let c = co_shape.as_cuboid().unwrap();
Vec3::new(c.half_extents.x, c.half_extents.y, 1.0)
}
#[cfg(feature = "dim3")]
ShapeType::Cuboid => {
let c = co_shape.as_cuboid().unwrap();
Vec3::from_slice_unaligned(c.half_extents.as_slice())
}
ShapeType::Ball => {
let b = co_shape.as_ball().unwrap();
Vec3::new(b.radius, b.radius, b.radius)
}
ShapeType::TriMesh => Vec3::ONE,
_ => unimplemented!(),
};
Some((mesh, scale))
}