1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
use parry::bounding_volume;
use parry::math::{Pose, Vector};
use parry::shape::{Cuboid, SharedShape, TriMeshBuilderError, TriMeshFlags};
#[cfg(feature = "dim3")]
use parry::transformation::vhacd::VHACDParameters;
/*
*
* TODO: should all this be part of parry instead?
*
*/
/// Error that can be generated by the [`MeshConverter`].
#[derive(thiserror::Error, Debug)]
pub enum MeshConverterError {
/// The convex hull calculation carried out by the [`MeshConverter::ConvexHull`] failed.
#[error("convex-hull computation failed")]
ConvexHullFailed,
/// The TriMesh building failed.
#[error("TriMesh building failed")]
TriMeshBuilderError(TriMeshBuilderError),
}
/// Determines how meshes (generally when loaded from a file) are converted into Rapier colliders.
#[derive(Clone, Copy, Debug, PartialEq, Default)]
pub enum MeshConverter {
/// The mesh is loaded as-is without any particular processing.
#[default]
TriMesh,
/// The mesh is loaded with the specified flags.
TriMeshWithFlags(TriMeshFlags),
/// The mesh is replaced by its Oriented Bounding Box (represented as
/// a rotated cuboid).
///
/// With this option, the mesh’s index buffer is ignored.
Obb,
/// The mesh is replaced by its AABB.
///
/// With this option, the mesh’s index buffer is ignored.
Aabb,
/// The mesh is replaced by its convex-hull.
///
/// With this option, the mesh’s index buffer is ignored.
ConvexHull,
/// The mesh is replaced by its convex decomposition.
#[cfg(feature = "dim3")]
ConvexDecomposition,
/// The mesh is replaced by its convex decomposition with parameters specified to adjust
/// the convex decomposition algorithm.
#[cfg(feature = "dim3")]
ConvexDecompositionWithParams(VHACDParameters),
}
impl MeshConverter {
/// Applies the conversion rule described by this [`MeshConverter`] to build a shape from
/// the given vertex and index buffers.
#[profiling::function]
pub fn convert(
&self,
vertices: Vec<Vector>,
indices: Vec<[u32; 3]>,
) -> Result<(SharedShape, Pose), MeshConverterError> {
let mut transform = Pose::IDENTITY;
let shape = match self {
MeshConverter::TriMesh => SharedShape::trimesh(vertices, indices)
.map_err(MeshConverterError::TriMeshBuilderError)?,
MeshConverter::TriMeshWithFlags(flags) => {
SharedShape::trimesh_with_flags(vertices, indices, *flags)
.map_err(MeshConverterError::TriMeshBuilderError)?
}
MeshConverter::Obb => {
let (pose, cuboid) = parry::utils::obb(&vertices);
transform = pose;
SharedShape::new(cuboid)
}
MeshConverter::Aabb => {
let aabb =
bounding_volume::details::local_point_cloud_aabb(vertices.iter().copied());
let cuboid = Cuboid::new(aabb.half_extents());
transform = Pose::from_translation(aabb.center());
SharedShape::new(cuboid)
}
MeshConverter::ConvexHull => {
SharedShape::convex_hull(&vertices).ok_or(MeshConverterError::ConvexHullFailed)?
}
#[cfg(feature = "dim3")]
MeshConverter::ConvexDecomposition => {
SharedShape::convex_decomposition(&vertices, &indices)
}
#[cfg(feature = "dim3")]
MeshConverter::ConvexDecompositionWithParams(params) => {
SharedShape::convex_decomposition_with_params(&vertices, &indices, params)
}
};
Ok((shape, transform))
}
}