Convex hull example

crates/parry2d/examples/common_macroquad2d.rs

@@ -45,7 +45,12 @@ pub fn easy_draw_text(text: &str) {
 #[allow(dead_code)]
 pub fn lissajous_2d(t: f32) -> Vec2 {
     // Some hardcoded parameters to have a pleasing lissajous trajectory.
-    let (a, b, delta_x, delta_y) = (3.0, 2.0, FRAC_PI_2, FRAC_PI_4);
+    lissajous_2d_with_params(t, 3.0, 2.0, FRAC_PI_2, FRAC_PI_4)
+}
+
+#[allow(dead_code)]
+pub fn lissajous_2d_with_params(t: f32, a: f32, b: f32, delta_x: f32, delta_y: f32) -> Vec2 {
+    // Some hardcoded parameters to have a pleasing lissajous trajectory.
 
     let x = (a * t + delta_x).sin();
     let y = (b * t + delta_y).sin();

crates/parry2d/examples/convex_hull2d.rs

@@ -1,8 +1,8 @@
-mod common_macroquad;
+mod common_macroquad2d;
 
 use std::f32::consts::{FRAC_PI_2, FRAC_PI_4};
 
-use common_macroquad::{draw_point, draw_polygon, lissajous_2d_with_params, na_from_mquad};
+use common_macroquad2d::{draw_point, draw_polygon, lissajous_2d_with_params, na_from_mquad};
 use macroquad::prelude::*;
 use nalgebra::Point2;
 use parry2d::transformation;

crates/parry2d/examples/point_in_poly2d.rs

@@ -1,6 +1,5 @@
-mod common_macroquad;
-
-use common_macroquad::{draw_point, draw_polygon};
+mod common_macroquad2d;
+use common_macroquad2d::{draw_point, draw_polygon};
 use macroquad::prelude::*;
 use nalgebra::{Point2, UnitComplex, Vector2};
 use parry2d::utils::point_in_poly2d;

crates/parry2d/examples/polygons_intersection2d.rs

@@ -1,6 +1,5 @@
-mod common_macroquad;
-
-use common_macroquad::draw_polygon;
+mod common_macroquad2d;
+use common_macroquad2d::draw_polygon;
 use macroquad::prelude::*;
 use nalgebra::{Point2, UnitComplex, Vector2};
 use parry2d::shape::Ball;

crates/parry2d/examples/project_point2d.rs

@@ -1,6 +1,5 @@
-mod common_macroquad;
-
-use common_macroquad::{draw_line_2d, draw_trimesh2, lissajous_2d, mquad_from_na, na_from_mquad};
+mod common_macroquad2d;
+use common_macroquad2d::{draw_line_2d, draw_trimesh2, lissajous_2d, mquad_from_na, na_from_mquad};
 use macroquad::prelude::*;
 use nalgebra::{Point3, UnitComplex, Vector2};
 use parry2d::math::{Isometry, Translation};

crates/parry2d/examples/raycasts_animated.rs

@@ -1,6 +1,5 @@
-mod common_macroquad;
-
-use common_macroquad::draw_point;
+mod common_macroquad2d;
+use common_macroquad2d::draw_point;
 use macroquad::prelude::*;
 use nalgebra::{Isometry2, Point2, UnitComplex, Vector2};
 use parry2d::math::Isometry;

crates/parry3d/examples/common_macroquad3d.rs

@@ -1,4 +1,3 @@
-#[allow(unused, dead_code)]
 use std::f32::consts::{FRAC_PI_2, FRAC_PI_4, FRAC_PI_6};
 
 use macroquad::{
@@ -31,8 +30,19 @@ pub fn na_from_mquad(a: Vec3) -> Point3<Real> {
 #[allow(dead_code)]
 pub fn lissajous_3d(t: f32) -> Vec3 {
     // Some hardcoded parameters to have a pleasing lissajous trajectory.
-    let (a, b, c, delta_x, delta_y, delta_z) = (3.0, 2.0, 1.0, FRAC_PI_2, FRAC_PI_4, FRAC_PI_6);
+    lissajous_3d_with_params(t, 3.0, 2.0, 1.0, FRAC_PI_2, FRAC_PI_4, FRAC_PI_6)
+}
 
+#[allow(dead_code)]
+pub fn lissajous_3d_with_params(
+    t: f32,
+    a: f32,
+    b: f32,
+    c: f32,
+    delta_x: f32,
+    delta_y: f32,
+    delta_z: f32,
+) -> Vec3 {
     let x = (a * t + delta_x).sin();
     let y = (b * t + delta_y).sin();
     let z = (c * t + delta_z).sin();

crates/parry3d/examples/convex_hull3d.rs

@@ -1,8 +1,8 @@
-mod common_macroquad;
+mod common_macroquad3d;
 
 use std::f32::consts::{FRAC_PI_2, FRAC_PI_4, FRAC_PI_6};
 
-use common_macroquad::{
+use common_macroquad3d::{
     lissajous_3d_with_params, mquad_from_na, mquad_mesh_from_points, na_from_mquad,
 };
 use macroquad::prelude::*;

crates/parry3d/examples/plane_intersection.rs

@@ -3,8 +3,8 @@ use nalgebra::{UnitVector3, Vector3};
 use parry3d::query::IntersectResult;
 use parry3d::shape::{Cuboid, TriMesh};
 
-mod common_macroquad;
-use common_macroquad::*;
+mod common_macroquad3d;
+use common_macroquad3d::*;
 
 #[macroquad::main("parry3d::query::PlaneIntersection")]
 async fn main() {

crates/parry3d/examples/project_point3d.rs

@@ -1,11 +1,10 @@
 use macroquad::prelude::*;
 use nalgebra::Vector3;
-use parry3d::math::Isometry;
 use parry3d::query::PointQuery;
 use parry3d::shape::{Cuboid, TriMesh, TriMeshFlags};
 
-mod common_macroquad;
-use common_macroquad::*;
+mod common_macroquad3d;
+use common_macroquad3d::*;
 
 #[macroquad::main("parry3d::query::PlaneIntersection")]
 async fn main() {
@@ -25,14 +24,10 @@ async fn main() {
         let slow_elapsed_time = elapsed_time / 3.0;
 
         let point_to_project = lissajous_3d(slow_elapsed_time);
-        let projected_point = trimesh.project_point(
-            &Isometry::identity(),
-            &na_from_mquad(point_to_project),
-            true,
-        );
+        let projected_point = trimesh.project_local_point(&na_from_mquad(point_to_project), true);
 
         let slow_elapsed_time = slow_elapsed_time * 0.7;
-        // Going 3d!
+        // Setup 3D camera.
         set_camera(&Camera3D {
             position: Vec3::new(
                 slow_elapsed_time.sin() * 3.0,

src/transformation/to_trimesh/cuboid_to_trimesh.rs

@@ -3,19 +3,14 @@ use crate::math::{Point, Real};
 use crate::shape::Cuboid;
 use crate::transformation::utils;
 
-#[cfg(feature = "dim3")]
-use na::Point3 as PointDim;
-#[cfg(feature = "dim3")]
-use na::{self, Point3};
-
 #[cfg(feature = "dim2")]
 use na::Point2 as PointDim;
 #[cfg(feature = "dim2")]
 use na::{self, Point2};
 
 impl Aabb {
     /// Discretize the boundary of this Aabb as a triangle-mesh.
-    pub fn to_trimesh(&self) -> (Vec<PointDim<Real>>, Vec<[u32; 3]>) {
+    pub fn to_trimesh(&self) -> (Vec<Point<Real>>, Vec<[u32; 3]>) {
         let center = self.center();
         let half_extents = self.half_extents();
         let mut cube_mesh = Cuboid::new(half_extents).to_trimesh();
@@ -26,31 +21,29 @@ impl Aabb {
 
 impl Cuboid {
     /// Discretize the boundary of this cuboid as a triangle-mesh.
-    pub fn to_trimesh(&self) -> (Vec<PointDim<Real>>, Vec<[u32; 3]>) {
+    pub fn to_trimesh(&self) -> (Vec<Point<Real>>, Vec<[u32; 3]>) {
         let (vtx, idx) = unit_cuboid();
         (utils::scaled(vtx, self.half_extents * 2.0), idx)
     }
 }
 
-/**
- * Generates a cuboid shape with a split index buffer.
- *
- * The cuboid is centered at the origin, and has its half extents set to 0.5.
- */
-fn unit_cuboid() -> (Vec<PointDim<Real>>, Vec<[u32; 3]>) {
+/// Generates a cuboid shape with a split index buffer.
+///
+/// The cuboid is centered at the origin, and has its half extents set to 0.5.
+fn unit_cuboid() -> (Vec<Point<Real>>, Vec<[u32; 3]>) {
     #[cfg(feature = "dim3")]
-    return {
+    {
         let mut coords = Vec::with_capacity(8);
         let mut faces = Vec::with_capacity(12);
 
-        coords.push(Point3::new(-0.5, -0.5, 0.5));
-        coords.push(Point3::new(-0.5, -0.5, -0.5));
-        coords.push(Point3::new(0.5, -0.5, -0.5));
-        coords.push(Point3::new(0.5, -0.5, 0.5));
-        coords.push(Point3::new(-0.5, 0.5, 0.5));
-        coords.push(Point3::new(-0.5, 0.5, -0.5));
-        coords.push(Point3::new(0.5, 0.5, -0.5));
-        coords.push(Point3::new(0.5, 0.5, 0.5));
+        coords.push(Point::new(-0.5, -0.5, 0.5));
+        coords.push(Point::new(-0.5, -0.5, -0.5));
+        coords.push(Point::new(0.5, -0.5, -0.5));
+        coords.push(Point::new(0.5, -0.5, 0.5));
+        coords.push(Point::new(-0.5, 0.5, 0.5));
+        coords.push(Point::new(-0.5, 0.5, -0.5));
+        coords.push(Point::new(0.5, 0.5, -0.5));
+        coords.push(Point::new(0.5, 0.5, 0.5));
 
         faces.push([4, 5, 0]);
         faces.push([5, 1, 0]);
@@ -71,20 +64,20 @@ fn unit_cuboid() -> (Vec<PointDim<Real>>, Vec<[u32; 3]>) {
         faces.push([4, 7, 5]);
 
         (coords, faces)
-    };
+    }
     #[cfg(feature = "dim2")]
-    return {
+    {
         let mut coords = Vec::with_capacity(8);
         let mut faces = Vec::with_capacity(12);
 
-        coords.push(Point2::new(-0.5, -0.5));
-        coords.push(Point2::new(0.5, -0.5));
-        coords.push(Point2::new(-0.5, 0.5));
-        coords.push(Point2::new(0.5, 0.5));
+        coords.push(Point::new(-0.5, -0.5));
+        coords.push(Point::new(0.5, -0.5));
+        coords.push(Point::new(-0.5, 0.5));
+        coords.push(Point::new(0.5, 0.5));
 
         faces.push([0, 1, 2]);
         faces.push([2, 1, 3]);
 
         (coords, faces)
-    };
+    }
 }