fixes for physics

rapier/physics.rs

@@ -13,7 +13,7 @@ macro_rules! V_malloc {
     };
 }
 
-use std::{default, ptr::{self, null}, sync::Arc};
+use std::{default, ops::Index, ptr::{self, null, null_mut}, slice::from_raw_parts, sync::Arc};
 
 use parry3d::{glamx::vec3, shape::{Shape, ShapeType, SharedShape}};
 use rapier3d::{geometry::Ball, na::{UnitQuaternion, Vector4}};
@@ -37,38 +37,21 @@ pub struct CuboidShape_t
     m_fExtentZ: f32,
 }
 
-#[derive(Clone)]
+#[repr(C)]
+#[derive(Clone, Copy)]
 #[derive(Debug)]
-pub enum RapierShapeType {
-    Ball(Ball),
-    Cuboid(Cuboid),
-    Capsule(Capsule),
-    Segment(Segment),
-    Triangle(Triangle),
-    Voxels(Voxels),
-    TriMesh(TriMesh),
-    Polyline(Polyline),
-    HalfSpace(HalfSpace),
-    HeightField(HeightField),
-    Compound(Compound),
-    ConvexPolyhedron(ConvexPolyhedron),
-    Cylinder(Cylinder),
-    Cone(Cone),
-    RoundCuboid(RoundCuboid),
-    RoundTriangle(RoundTriangle),
-    RoundCylinder(RoundCylinder),
-    RoundCone(RoundCone),
-    RoundConvexPolyhedron(RoundConvexPolyhedron),
-    #[allow(dead_code)]
-    Custom,
+pub struct TriangleMeshShape_t
+{
+	m_pfPositions: *const f32,
+	m_nPositionCount: u32,
+	m_puIndicies: *const f32,
+	m_nIndiciesCount: u32,
 }
 
-
 #[derive(Clone)]
 #[derive(Debug)]
 pub struct RapierShape_t
 {
-    m_shape: RapierShapeType,
     m_sharedShape: SharedShape,
 }
 
@@ -122,13 +105,6 @@ pub struct RapierPhysics_t
 
 }
 
-struct TrianglesShape_t
-{
-	m_pfPositions: *const f32,
-	m_nPositionCount: const u32,
-	m_puIndicies,
-	m_nIndiciesCount,
-};
 
 #[no_mangle]
 pub unsafe extern "C" fn CRapierPhysicsBody_SetPosition( this: *mut RapierPhysicsBody_t, fX: f32, fY: f32, fZ: f32 )
@@ -157,7 +133,7 @@ pub struct Vector {
 pub unsafe extern "C" fn CRapierPhysicsBody_GetPosition( this: *mut RapierPhysicsBody_t ) -> Vector
 {
     let world: &mut RapierWorld_t = &mut *(*this).m_pWorld;
-    let position = world.m_rigidBodies[(*this).m_hRigidBodyHandle]
+    let mut position = world.m_rigidBodies[(*this).m_hRigidBodyHandle]
         .translation().to_array();
     return Vector { x: position[0], y: position[1], z: position[2]}
 }
@@ -179,6 +155,22 @@ pub unsafe extern "C" fn CRapierPhysicsBody_GetRotation( this: *mut RapierPhysic
     Quat{ x: rotationVector[0], y: rotationVector[1], z: rotationVector[2], w: rotationVector[3]}
 }
 
+#[no_mangle]
+pub unsafe extern "C" fn CRapierPhysicsBody_SetType( this: *mut RapierPhysicsBody_t, eType: EPhysicsBodyType )
+{
+    let world: &mut RapierWorld_t = &mut *(*this).m_pWorld;
+    let eRapierBodyType: RigidBodyType;
+    match eType
+    {
+        EPhysicsBodyType::k_EPhysics_Static => eRapierBodyType = RigidBodyType::Fixed,
+        EPhysicsBodyType::k_EPhysics_Dynamic => eRapierBodyType = RigidBodyType::Dynamic,
+        EPhysicsBodyType::k_EPhysics_KinematicPositionBased => eRapierBodyType = RigidBodyType::KinematicPositionBased,
+        EPhysicsBodyType::k_EPhysics_KinematicVelocityBased => eRapierBodyType = RigidBodyType::KinematicVelocityBased,
+    }
+    world.m_rigidBodies[(*this).m_hRigidBodyHandle]
+        .set_body_type(eRapierBodyType, true);
+}
+
 #[no_mangle]
 pub unsafe extern "C" fn CRapierPhysicsWorld_Frame( this: *mut RapierWorld_t, fDelta: f32 )
 {
@@ -245,14 +237,8 @@ pub unsafe extern "C" fn CRapierPhysics_New() -> *mut RapierPhysics_t
 pub unsafe extern "C" fn CRapierPhysics_CreateBall( this: *mut RapierPhysics_t, ball: BallShape_t ) -> *mut RapierShape_t
 {
     let pShapeMemory: *mut RapierShape_t = V_malloc!(RapierShape_t, 1);
-    std::ptr::write(&mut (*pShapeMemory).m_shape, RapierShapeType::Ball(Ball::new(ball.m_fRadius)));
-    match ((*pShapeMemory).m_shape)
-    {
-        RapierShapeType::Ball(b) => {
-            std::ptr::write(&mut (*pShapeMemory).m_sharedShape, SharedShape::new(b));
-        }
-        _ => {}
-    }
+    std::ptr::write(&mut (*pShapeMemory).m_sharedShape, SharedShape::new(Ball::new(ball.m_fRadius)));
+
     pShapeMemory
 }
 
@@ -260,15 +246,52 @@ pub unsafe extern "C" fn CRapierPhysics_CreateBall( this: *mut RapierPhysics_t,
 pub unsafe extern "C" fn CRapierPhysics_CreateCube( this: *mut RapierPhysics_t, cuboid: CuboidShape_t ) -> *mut RapierShape_t
 {
     let pShapeMemory: *mut RapierShape_t = V_malloc!(RapierShape_t, 1);
-    std::ptr::write(&mut (*pShapeMemory).m_shape, RapierShapeType::Cuboid(
+    std::ptr::write(&mut (*pShapeMemory).m_sharedShape, SharedShape::new(
             Cuboid::new(vec3(cuboid.m_fExtentX, cuboid.m_fExtentY, cuboid.m_fExtentZ)))
         );
-    match ((*pShapeMemory).m_shape)
+    pShapeMemory
+}
+
+#[no_mangle]
+pub unsafe extern "C" fn CRapierPhysics_CreateTriangleMesh( this: *mut RapierPhysics_t, triangle: TriangleMeshShape_t ) -> *mut RapierShape_t
+{
+    let pShapeMemory: *mut RapierShape_t = V_malloc!(RapierShape_t, 1);
+    let positions = Vec::from_raw_parts(triangle.m_pfPositions as *mut Vec3, triangle.m_nPositionCount as usize, triangle.m_nPositionCount as usize);
+    let mut indices: Vec<[u32; 3]>;
+
+    if ( triangle.m_nIndiciesCount == 0 )
     {
-        RapierShapeType::Cuboid(b) => {
-            std::ptr::write(&mut (*pShapeMemory).m_sharedShape, SharedShape::new(b));
+        if ( triangle.m_nPositionCount % 3 != 0 )
+        {
+            return null_mut();
         }
-        _ => {}
+        indices = vec![[0,0,0]; (triangle.m_nPositionCount/3) as usize];
+        for i in 0..indices.len()/3
+        {
+            let u = i as u32;
+            indices[i][0] = u*3;
+            indices[i][1] = u*3+1;
+            indices[i][2] = u*3+2;
+
+        }
+    }
+    else
+    {
+        if ( triangle.m_nIndiciesCount % 3 != 0 )
+        {
+            return null_mut();
+        }
+        indices = Vec::from_raw_parts(triangle.m_puIndicies as *mut [u32; 3], triangle.m_nIndiciesCount as usize, triangle.m_nIndiciesCount as usize);
+    }
+
+    let mesh = TriMesh::new(positions, indices);
+    match mesh
+    {
+        Ok(m) =>
+        {
+            std::ptr::write(&mut (*pShapeMemory).m_sharedShape, SharedShape::new(m));
+        }
+        default => {}
     }
     pShapeMemory
 }
@@ -276,13 +299,9 @@ pub unsafe extern "C" fn CRapierPhysics_CreateCube( this: *mut RapierPhysics_t,
 #[no_mangle]
 pub unsafe extern "C" fn CRapierPhysics_CreateCollider( this: *mut RapierPhysics_t, pShape: *mut RapierShape_t ) -> *mut RapierCollider_t
 {
-    println!("this {:?}", pShape);
     let shape: &SharedShape = &(*pShape).m_sharedShape;
-    println!("this {:?}", pShape);
     let pCollider = V_malloc!(RapierCollider_t, 1);
-    println!("this {:?}", pShape);
     std::ptr::write(&mut (*pCollider).m_collider, ColliderBuilder::new(shape.clone()).build());
-    println!("this {:?}", pShape);
     pCollider
 }