wip untested compound shapes

rapier3d/package.json

@@ -17,5 +17,8 @@
     },
     "dependencies": {
         "wasm-pack": "^0.12.1"
-    }
+    },
+    "sideEffects": [
+        "./*.js"
+    ]
 }

src.ts/geometry/collider.ts

@@ -1,4 +1,4 @@
-import {RawColliderSet} from "../raw";
+import {RawColliderSet, RawCompoundShapePart} from "../raw";
 import {Rotation, RotationOps, Vector, VectorOps} from "../math";
 import {
     CoefficientCombineRule,
@@ -36,6 +36,7 @@ import {
     RoundConvexPolyhedron,
     HeightFieldFlags,
     // #endif
+    Compound,
 } from "./shape";
 import {Ray, RayIntersection} from "./ray";
 import {PointProjection} from "./point";
@@ -1296,6 +1297,19 @@ export class ColliderDesc {
         return new ColliderDesc(shape);
     }
 
+    /**
+     * Creates a new collider descriptor with a heightfield shape.
+     *
+     * @param heights - The heights of the heightfield, along its local `y` axis.
+     * @param scale - The scale factor applied to the heightfield.
+     */
+        public static compound(
+            shapes: RawCompoundShapePart[],
+        ): ColliderDesc {
+            const shape = new Compound(shapes);
+            return new ColliderDesc(shape);
+        }
+
     /**
      * Computes the convex-hull of the given points and use the resulting
      * convex polygon as the shape for this new collider descriptor.
@@ -1741,7 +1755,7 @@ export class ColliderDesc {
      * Sets the collision groups used by this collider.
      *
      * Two colliders will interact iff. their collision groups are compatible.
-     * See the documentation of `InteractionGroups` for details on teh used bit pattern.
+     * See the documentation of `InteractionGroups` for details on the used bit pattern.
      *
      * @param groups - The collision groups used for the collider being built.
      */

src.ts/geometry/shape.ts

@@ -1,5 +1,5 @@
 import {Vector, VectorOps, Rotation, RotationOps} from "../math";
-import {RawColliderSet, RawShape, RawShapeType} from "../raw";
+import {RawColliderSet, RawCompoundShapePart, RawShape, RawShapeType} from "../raw";
 import {ShapeContact} from "./contact";
 import {PointProjection} from "./point";
 import {Ray, RayIntersection} from "./ray";
@@ -510,7 +510,7 @@ export enum ShapeType {
     Triangle = 5,
     TriMesh = 6,
     HeightField = 7,
-    // Compound = 8,
+    Compound = 8,
     ConvexPolygon = 9,
     RoundCuboid = 10,
     RoundTriangle = 11,
@@ -534,7 +534,7 @@ export enum ShapeType {
     Triangle = 5,
     TriMesh = 6,
     HeightField = 7,
-    // Compound = 8,
+    Compound = 8,
     ConvexPolyhedron = 9,
     Cylinder = 10,
     Cone = 11,
@@ -1185,6 +1185,33 @@ export class Heightfield extends Shape {
 
 // #endif
 
+/**
+ * A shape that is a compound.
+ */
+export class Compound extends Shape {
+    readonly type = ShapeType.Compound;
+
+    /**
+     * The shapes constituting this compound shape.
+     */
+    shapes: RawCompoundShapePart[];
+
+    /**
+     * Creates a new heightfield shape.
+     *
+     * @param shapes - The shapes constituting this compound shape.
+     */
+    constructor(shapes: RawCompoundShapePart[]) {
+        super();
+        this.shapes = shapes;
+    }
+
+    public intoRaw(): RawShape {
+        let rawShape = RawShape.compound(this.shapes);
+        return rawShape;
+    }
+}
+
 // #if DIM3
 /**
  * A shape that is a convex polygon.

src.ts/math.ts

@@ -1,4 +1,4 @@
-import {RawVector, RawRotation} from "./raw";
+import {RawVector, RawRotation, RawIsometry} from "./raw";
 // #if DIM3
 import {RawSdpMatrix3} from "./raw";
 // #endif
@@ -73,8 +73,44 @@ export class RotationOps {
     }
 }
 
+export interface Isometry {
+    rotation: Rotation;
+    position: Vector
+}
+
 // #endif
 
+/**
+ * An Isometry: a rotation followed by a translation.
+ */
+export class Isometry implements Isometry {
+    rotation: Rotation;
+    position: Vector;
+
+    public constructor(rotation: Rotation, position: Vector) {
+        this.rotation = rotation;
+        this.position = position;
+    }
+}
+
+export class IsometryOps {
+    public static identity(): number {
+        return 0.0;
+    }
+
+    public static fromRaw(raw: RawIsometry): Isometry {
+        if (!raw) return null;
+
+        let res = new Isometry(RotationOps.fromRaw(raw.rotation()), VectorOps.fromRaw(raw.translation()));
+        raw.free();
+        return res;
+    }
+
+    public static intoRaw(isometry: Isometry): RawIsometry {
+        return new RawIsometry(RotationOps.intoRaw(isometry.rotation), VectorOps.intoRaw(isometry.position));
+    }
+}
+
 // #if DIM3
 export interface Vector {
     x: number;

src/geometry/shape.rs

@@ -322,6 +322,14 @@ impl RawShape {
         Self(SharedShape::heightfield_with_flags(heights, scale.0, flags))
     }
 
+    pub fn compound(shapes: Vec<RawCompoundShapePart>) -> Self {
+        let shapes = shapes
+            .into_iter()
+            .map(|part| (part.pose, part.shape))
+            .collect::<Vec<_>>();
+        Self(SharedShape::compound(shapes))
+    }
+
     pub fn segment(p1: &RawVector, p2: &RawVector) -> Self {
         Self(SharedShape::segment(p1.0.into(), p2.0.into()))
     }
@@ -508,3 +516,10 @@ impl RawShape {
             .castRayAndGetNormal(&pos, rayOrig.0.into(), rayDir.0.into(), maxToi, solid)
     }
 }
+
+#[wasm_bindgen]
+#[derive(Clone)]
+pub struct RawCompoundShapePart {
+    pub(crate) pose: Isometry<Real>,
+    pub(crate) shape: SharedShape,
+}

src/math.rs

@@ -4,6 +4,7 @@
 use js_sys::Float32Array;
 #[cfg(feature = "dim3")]
 use na::{Quaternion, Unit};
+use rapier::math::Isometry;
 #[cfg(feature = "dim3")]
 use rapier::math::Real;
 use rapier::math::{Point, Rotation, Vector};
@@ -264,3 +265,44 @@ impl RawSdpMatrix3 {
         output
     }
 }
+
+#[wasm_bindgen]
+#[repr(transparent)]
+#[cfg(feature = "dim3")]
+#[derive(Copy, Clone)]
+/// A rotation quaternion.
+pub struct RawIsometry(pub(crate) Isometry<Real>);
+
+#[wasm_bindgen]
+#[repr(transparent)]
+#[cfg(feature = "dim2")]
+#[derive(Copy, Clone)]
+/// A rotation quaternion.
+pub struct RawIsometry(pub(crate) Isometry<f32>);
+
+impl From<Isometry<f32>> for RawIsometry {
+    fn from(v: Isometry<f32>) -> Self {
+        RawIsometry(v)
+    }
+}
+
+#[wasm_bindgen]
+/// A unit complex number describing the orientation of a Rapier entity.
+impl RawIsometry {
+    #[wasm_bindgen(constructor)]
+    pub fn new(rotation: RawRotation, translation: RawVector) -> Self {
+        Self(Isometry::from_parts(translation.0.into(), rotation.0))
+    }
+    /// The identity rotation.
+    pub fn translation(&self) -> RawVector {
+        RawVector(self.0.translation.vector)
+    }
+
+    /// The rotation with the given angle.
+    pub fn rotation(&self) -> RawRotation {
+        #[cfg(feature = "dim2")]
+        return RawRotation(Rotation::new(self.0.rotation.angle()));
+        #[cfg(feature = "dim3")]
+        return RawRotation(Rotation::new(self.0.rotation.scaled_axis()));
+    }
+}