work on world

rapier/physics.rs

@@ -29,6 +29,7 @@ pub struct BallShape_t
 
 #[repr(C)]
 #[derive(Clone, Copy)]
+#[derive(Debug)]
 pub struct CuboidShape_t
 {
     m_fExtentX: f32,
@@ -36,12 +37,38 @@ pub struct CuboidShape_t
     m_fExtentZ: f32,
 }
 
+#[derive(Clone)]
+#[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,
+}
+
 
 #[derive(Clone)]
+#[derive(Debug)]
 pub struct RapierShape_t
 {
-    m_eType: ShapeType,
-    m_pShape: *mut dyn Shape,
+    m_shape: RapierShapeType,
     m_sharedShape: SharedShape,
 }
 
@@ -57,6 +84,7 @@ pub enum EPhysicsBodyType
 
 
 #[derive(Clone)]
+#[derive(Debug)]
 pub struct RapierCollider_t
 {
     m_collider: Collider,
@@ -94,6 +122,14 @@ 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 )
 {
@@ -201,51 +237,52 @@ pub unsafe extern "C" fn CRapierPhysics_New() -> *mut RapierPhysics_t
 {
     let physics = RapierPhysics_t {};
     let pPhysics = V_malloc!(RapierPhysics_t, 1);
-    *pPhysics = physics;
+    *pPhysics = physics.clone();
     pPhysics
 }
 
 #[no_mangle]
 pub unsafe extern "C" fn CRapierPhysics_CreateBall( this: *mut RapierPhysics_t, ball: BallShape_t ) -> *mut RapierShape_t
 {
-    let rapierShape = Ball::new(ball.m_fRadius);
-    let pRapierShapeMemory: *mut Ball = V_malloc!(Ball, 1);
-    *pRapierShapeMemory = rapierShape;
-
-    let shape: RapierShape_t = RapierShape_t { 
-        m_eType: ShapeType::Ball, 
-        m_pShape: pRapierShapeMemory, 
-        m_sharedShape: SharedShape::new(rapierShape) 
-    };
     let pShapeMemory: *mut RapierShape_t = V_malloc!(RapierShape_t, 1);
-    *pShapeMemory = shape;
+    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));
+        }
+        _ => {}
+    }
     pShapeMemory
 }
 
 #[no_mangle]
 pub unsafe extern "C" fn CRapierPhysics_CreateCube( this: *mut RapierPhysics_t, cuboid: CuboidShape_t ) -> *mut RapierShape_t
 {
-    let rapierShape = Cuboid::new(vec3(cuboid.m_fExtentX, cuboid.m_fExtentY, cuboid.m_fExtentZ));
-    let pRapierShapeMemory: *mut Cuboid = V_malloc!(Cuboid, 1);
-    *pRapierShapeMemory = rapierShape;
-
-    let shape: RapierShape_t = RapierShape_t { 
-        m_eType: ShapeType::Cuboid, 
-        m_pShape: pRapierShapeMemory, 
-        m_sharedShape: SharedShape::new(rapierShape) 
-    };
     let pShapeMemory: *mut RapierShape_t = V_malloc!(RapierShape_t, 1);
-    *pShapeMemory = shape;
+    std::ptr::write(&mut (*pShapeMemory).m_shape, RapierShapeType::Cuboid(
+            Cuboid::new(vec3(cuboid.m_fExtentX, cuboid.m_fExtentY, cuboid.m_fExtentZ)))
+        );
+    match ((*pShapeMemory).m_shape)
+    {
+        RapierShapeType::Cuboid(b) => {
+            std::ptr::write(&mut (*pShapeMemory).m_sharedShape, SharedShape::new(b));
+        }
+        _ => {}
+    }
     pShapeMemory
 }
 
 #[no_mangle]
 pub unsafe extern "C" fn CRapierPhysics_CreateCollider( this: *mut RapierPhysics_t, pShape: *mut RapierShape_t ) -> *mut RapierCollider_t
 {
-    let pRapierShape = (*pShape).m_pShape;
+    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
 }