simpler project example

crates/parry3d/examples/project3d_animated.rs

@@ -1,31 +1,9 @@
 use macroquad::models::Vertex;
 use macroquad::prelude::*;
-use nalgebra::{Point3, UnitVector3, Vector3};
+use nalgebra::{Point3, Vector3};
 use parry3d::math::{Isometry, Real};
-use parry3d::query::{IntersectResult, PointQuery};
-use parry3d::shape::TriMesh;
-
-fn build_diamond(position: &Isometry<Real>) -> (Vec<Point3<Real>>, Vec<[u32; 3]>) {
-    // Two tetrahedrons sharing a face
-    let points = vec![
-        position * Point3::new(0.0, 2.0, 0.0),
-        position * Point3::new(-2.0, -1.0, 0.0),
-        position * Point3::new(0.0, 0.0, 2.0),
-        position * Point3::new(2.0, -1.0, 0.0),
-        position * Point3::new(0.0, 0.0, -2.0),
-    ];
-
-    let indices = vec![
-        [0u32, 1, 2],
-        [0, 2, 3],
-        [1, 2, 3],
-        [0, 1, 4],
-        [0, 4, 3],
-        [1, 4, 3],
-    ];
-
-    (points, indices)
-}
+use parry3d::query::PointQuery;
+use parry3d::shape::{Cuboid, TriMesh, TriMeshFlags};
 
 #[macroquad::main("parry3d::query::PlaneIntersection")]
 async fn main() {
@@ -38,10 +16,8 @@ async fn main() {
         Point3::from([1.0, 0.0, 1.0]),
     ];
     let _indices: Vec<[u32; 3]> = vec![[0, 1, 2], [1, 3, 2]];
-    //
-    //
 
-    let (points, indices) = build_diamond(&Isometry::identity());
+    let (points, indices) = Cuboid::new(Vector3::new(0.2, 0.5, 1.0)).to_trimesh();
 
     let mesh = Mesh {
         vertices: points
@@ -55,22 +31,24 @@ async fn main() {
         indices: indices.iter().flatten().map(|v| *v as u16).collect(),
         texture: None,
     };
-    let trimesh = TriMesh::new(points, indices);
-
+    let trimesh = TriMesh::with_flags(
+        points.clone(),
+        indices.clone(),
+        TriMeshFlags::ORIENTED
+            | TriMeshFlags::DELETE_BAD_TOPOLOGY_TRIANGLES
+            | TriMeshFlags::FIX_INTERNAL_EDGES,
+    );
     for _i in 1.. {
         clear_background(BLACK);
 
         let elapsed_time = get_time() as f32;
         let slow_elapsed_time = elapsed_time / 3.0;
 
-        let sin = (elapsed_time / 3f32).sin();
-        let bias = 1.5 * sin.abs();
-        let rotation = Quat::from_axis_angle(
-            Vec3::new(slow_elapsed_time.sin(), slow_elapsed_time.cos(), 1f32),
-            (elapsed_time * 50f32).to_radians(),
-        );
-        let up_plane_vector = rotation * Vec3::Y;
-        let point_to_project = up_plane_vector * bias;
+        let point_to_project = Vec3::new(
+            slow_elapsed_time.sin(),
+            slow_elapsed_time.cos() * 1.5,
+            (elapsed_time - slow_elapsed_time).cos(),
+        ) * slow_elapsed_time.sin().abs();
         let projected_point = trimesh.project_point(
             &Isometry::identity(),
             &na_from_mquad(point_to_project),
@@ -126,28 +104,20 @@ async fn main() {
         } else {
             YELLOW
         };
+        draw_sphere(point_to_project, 0.1, None, color);
+
         draw_line_3d(
             point_to_project,
             mquad_from_na(projected_point.point),
             color,
         );
-        draw_sphere(point_to_project, 0.1, None, color);
-
         // Mesh is rendered in the back.
         draw_mesh(&mesh);
 
         next_frame().await
     }
 }
 
-fn draw_polyline(polygon: Vec<(Vec3, Vec3)>, color: Color) {
-    for i in 0..polygon.len() {
-        let a = polygon[i].0;
-        let b = polygon[i].1;
-        draw_line_3d(a, b, color);
-    }
-}
-
 fn mquad_from_na(a: Point3<Real>) -> Vec3 {
     Vec3::new(a.x, a.y, a.z)
 }