From 9dfe1f5a0a2c8317f4401b0b96e9cba0a8971d8a Mon Sep 17 00:00:00 2001
From: Thierry Berger <contact@thierryberger.com>
Date: Thu, 16 Jan 2025 12:22:20 +0100
Subject: [PATCH] add example with a few shapes

---
 bevy_rapier3d/Cargo.toml                      |   7 +-
 bevy_rapier3d/examples/rapier_to_bevy_mesh.rs | 160 ++++++++++++++++++
 src/geometry/to_bevy_mesh.rs                  |  26 +--
 3 files changed, 181 insertions(+), 12 deletions(-)
 create mode 100644 bevy_rapier3d/examples/rapier_to_bevy_mesh.rs

diff --git a/bevy_rapier3d/Cargo.toml b/bevy_rapier3d/Cargo.toml
index b02054f2..77fdc165 100644
--- a/bevy_rapier3d/Cargo.toml
+++ b/bevy_rapier3d/Cargo.toml
@@ -80,4 +80,9 @@ bevy_egui = "0.31"
 
 [package.metadata.docs.rs]
 # Enable all the features when building the docs on docs.rs
-features = ["debug-render-3d", "serde-serialize"]
+features = [
+    "debug-render-3d",
+    "serde-serialize",
+    "collider-to-bevy-mesh",
+    "async-collider",
+]
diff --git a/bevy_rapier3d/examples/rapier_to_bevy_mesh.rs b/bevy_rapier3d/examples/rapier_to_bevy_mesh.rs
new file mode 100644
index 00000000..301f896c
--- /dev/null
+++ b/bevy_rapier3d/examples/rapier_to_bevy_mesh.rs
@@ -0,0 +1,160 @@
+use bevy::{
+    pbr::wireframe::{WireframeConfig, WireframePlugin},
+    prelude::*,
+};
+use bevy_rapier3d::prelude::*;
+
+fn main() {
+    App::new()
+        .insert_resource(ClearColor::default())
+        .add_plugins((
+            DefaultPlugins,
+            RapierPhysicsPlugin::<NoUserData>::default(),
+            RapierDebugRenderPlugin::default(),
+            WireframePlugin,
+        ))
+        .add_systems(Startup, (setup_graphics, setup_physics))
+        .add_systems(Update, (toggle_wireframe, rotate))
+        .run();
+}
+
+pub fn setup_graphics(mut commands: Commands) {
+    commands.spawn((
+        Camera3d::default(),
+        Transform::from_xyz(0.0, 5.0, 20.0).looking_at(Vec3::new(0.0, 5.0, 0.0), Vec3::Y),
+    ));
+}
+
+pub fn setup_physics(
+    mut commands: Commands,
+    mut assets_meshes: ResMut<Assets<Mesh>>,
+    mut materials: ResMut<Assets<StandardMaterial>>,
+) {
+    /*
+     * Create the shapes
+     */
+    let rad = 0.5;
+
+    let colors = [
+        Hsla::hsl(220.0, 1.0, 0.3),
+        Hsla::hsl(180.0, 1.0, 0.3),
+        Hsla::hsl(260.0, 1.0, 0.7),
+    ];
+
+    let colliders: Vec<Collider> = vec![
+        Collider::cuboid(rad, rad, rad),
+        Collider::ball(rad),
+        Collider::capsule_y(rad, rad),
+        Collider::cone(rad, rad),
+        Collider::cylinder(rad, rad),
+        Collider::trimesh(
+            vec![
+                [-0.5, -0.5, -0.5].into(), // Vertex 0
+                [0.5, -0.5, -0.5].into(),  // Vertex 1
+                [0.5, 0.5, -0.5].into(),   // Vertex 2
+                [-0.5, 0.5, -0.5].into(),  // Vertex 3
+                [-0.5, -0.5, 0.5].into(),  // Vertex 4
+                [0.5, -0.5, 0.5].into(),   // Vertex 5
+                [0.5, 0.5, 0.5].into(),    // Vertex 6
+                [-0.5, 0.5, 0.5].into(),   // Vertex 7
+            ],
+            vec![
+                // Back face
+                [0, 2, 1],
+                [0, 3, 2],
+                // Front face
+                [4, 5, 6],
+                [4, 6, 7],
+                // Left face
+                [0, 4, 7],
+                [0, 7, 3],
+                // Right face
+                [1, 6, 5],
+                [1, 2, 6],
+                // Bottom face
+                [0, 1, 5],
+                [0, 5, 4],
+                // Top face
+                [3, 6, 2],
+                [3, 7, 6],
+            ],
+        )
+        .unwrap(),
+        /*
+        // Unsupported shapes
+        Collider::round_cylinder(rad, rad, rad / 10.0),
+        Collider::segment(Vec3::new(-rad, 0.0, 0.0), Vec3::new(rad, 0.0, 0.0)),
+        Collider::triangle(
+            Vec3::new(-rad, -rad, 0.0),
+            Vec3::new(rad, -rad, 0.0),
+            Vec3::new(0.0, rad, 0.0),
+        ),
+        Collider::heightfield(
+            vec![0.0, 0.0, 0.0, rad, rad, rad, 0.0, 0.0, 0.0],
+            3,
+            3,
+            Vec3::new(rad, rad, rad),
+        ),
+        */
+    ];
+    let material = MeshMaterial3d(materials.add(Color::WHITE));
+    let colliders_count = colliders.len();
+    for (i, collider) in colliders.into_iter().enumerate() {
+        fn get_coordinates(id: usize, column_size: usize) -> Vec3 {
+            let x = id / column_size;
+            let y = id % column_size;
+            let z = 0;
+            Vec3::new(x as f32, y as f32, z as f32)
+        }
+        let column_height = 3;
+        // Get int coordinates from index
+        let coordinates = get_coordinates(i, column_height);
+        // Center the coordinates in x
+        let columns = colliders_count / column_height;
+        let coordinates = coordinates - Vec3::new(columns as f32 / 2.0, 0.0, 0.0);
+        // more space between shapes
+        let coordinates = coordinates * (1.0 + rad);
+        // Shift up
+        let coordinates = coordinates + Vec3::new(0.0, rad + 5.0, 0.0);
+        let mut mesh = Mesh::from(&collider);
+        mesh.compute_normals();
+        commands
+            .spawn((
+                Visibility::default(),
+                Transform::from_rotation(Quat::from_rotation_x(0.3)),
+            ))
+            .with_children(|child| {
+                child.spawn((
+                    Transform::from_translation(coordinates),
+                    RigidBody::Fixed,
+                    Mesh3d(assets_meshes.add(mesh)),
+                    material.clone(),
+                    collider,
+                    ColliderDebugColor(colors[i % 3]),
+                ));
+            });
+        // light
+        commands.spawn((
+            PointLight {
+                shadows_enabled: true,
+                ..default()
+            },
+            Transform::from_xyz(4.0, 8.0, 8.0),
+        ));
+    }
+}
+
+fn toggle_wireframe(
+    mut wireframe_config: ResMut<WireframeConfig>,
+    keyboard: Res<ButtonInput<KeyCode>>,
+) {
+    if keyboard.just_pressed(KeyCode::Space) {
+        wireframe_config.global = !wireframe_config.global;
+    }
+}
+fn rotate(mut query: Query<&mut Transform, With<Collider>>, time: Res<Time>) {
+    for mut transform in &mut query {
+        transform.rotate_y(time.delta_secs() / 2.);
+        transform.rotate_x(time.delta_secs() / 2.6);
+    }
+}
diff --git a/src/geometry/to_bevy_mesh.rs b/src/geometry/to_bevy_mesh.rs
index 5d8b26fc..19fb8bf4 100644
--- a/src/geometry/to_bevy_mesh.rs
+++ b/src/geometry/to_bevy_mesh.rs
@@ -6,13 +6,13 @@ use bevy::{
 };
 use rapier::prelude::{Shape, TriMesh, TypedShape};
 
-pub fn typed_shape_to_mesh(typed_shape: TypedShape) -> Mesh {
+pub fn typed_shape_to_mesh(typed_shape: &TypedShape) -> Mesh {
     match typed_shape {
         rapier::prelude::TypedShape::Ball(ball) => {
             let radius = ball.radius;
             let mesh = bevy::render::mesh::SphereMeshBuilder::new(
                 radius,
-                bevy::render::mesh::SphereKind::Ico { subdivisions: 10 },
+                bevy::render::mesh::SphereKind::Ico { subdivisions: 1 },
             );
             mesh.build()
         }
@@ -32,9 +32,10 @@ pub fn typed_shape_to_mesh(typed_shape: TypedShape) -> Mesh {
             let radius = capsule.radius;
             let half_height = capsule.half_height();
             #[cfg(feature = "dim2")]
-            let mesh = bevy::render::mesh::Capsule2dMeshBuilder::new(radius, half_height, 10);
+            let mesh = bevy::render::mesh::Capsule2dMeshBuilder::new(radius, half_height * 2.0, 10);
             #[cfg(feature = "dim3")]
-            let mesh = bevy::render::mesh::Capsule3dMeshBuilder::new(radius, half_height, 10, 10);
+            let mesh =
+                bevy::render::mesh::Capsule3dMeshBuilder::new(radius, half_height * 2.0, 10, 10);
             mesh.build()
         }
         rapier::prelude::TypedShape::Segment(segment) => {
@@ -53,7 +54,10 @@ pub fn typed_shape_to_mesh(typed_shape: TypedShape) -> Mesh {
         }
         rapier::prelude::TypedShape::TriMesh(tri_mesh) => {
             let vertices = tri_mesh.vertices();
+            #[cfg(feature = "dim2")]
             let vertices: Vec<_> = vertices.iter().map(|pos| [pos.x, pos.y, 0.0]).collect();
+            #[cfg(feature = "dim3")]
+            let vertices: Vec<_> = vertices.iter().map(|pos| [pos.x, pos.y, pos.z]).collect();
             let indices = tri_mesh.indices();
             let mesh = Mesh::new(
                 bevy::render::mesh::PrimitiveTopology::TriangleList,
@@ -77,7 +81,7 @@ pub fn typed_shape_to_mesh(typed_shape: TypedShape) -> Mesh {
             {
                 // FIXME: we could use TriMesh::From(height_field), but that would clone, we should fix that in parry.
                 let (vtx, idx) = height_field.to_trimesh();
-                let tri_mesh = TriMesh::new(vtx, idx);
+                let tri_mesh = TriMesh::new(vtx, idx).unwrap();
 
                 // From Trimesh:
                 let vertices = tri_mesh.vertices();
@@ -98,7 +102,7 @@ pub fn typed_shape_to_mesh(typed_shape: TypedShape) -> Mesh {
             let mut indices = Vec::new();
             for shape in compound.shapes() {
                 let typed_shape = shape.1.as_typed_shape();
-                let mesh = typed_shape_to_mesh(typed_shape);
+                let mesh = typed_shape_to_mesh(&typed_shape);
 
                 assert!(mesh.primitive_topology() == bevy::render::mesh::PrimitiveTopology::TriangleList,
                 "Compound shape mesh conversion does not support shapes not converting to PrimitiveTopology::TriangleList.");
@@ -163,14 +167,14 @@ pub fn typed_shape_to_mesh(typed_shape: TypedShape) -> Mesh {
             let radius = cone.radius;
             let half_height = cone.half_height;
             // TODO: implement Meshable for all TypedShape variants, that probably will have to be wrapped in a new type.
-            let mesh = bevy::render::mesh::ConeMeshBuilder::new(radius, half_height, 10);
+            let mesh = bevy::render::mesh::ConeMeshBuilder::new(radius, half_height * 2.0, 10);
             mesh.build()
         }
         #[cfg(feature = "dim3")]
         rapier::prelude::TypedShape::Cylinder(cylinder) => {
             let radius = cylinder.radius;
             let half_height = cylinder.half_height;
-            let mesh = bevy::render::mesh::CylinderMeshBuilder::new(radius, half_height, 10);
+            let mesh = bevy::render::mesh::CylinderMeshBuilder::new(radius, half_height * 2.0, 10);
             mesh.build()
         }
         #[cfg(feature = "dim3")]
@@ -201,9 +205,9 @@ pub fn typed_shape_to_mesh(typed_shape: TypedShape) -> Mesh {
     }
 }
 
-impl From<Collider> for Mesh {
-    fn from(shape: Collider) -> Self {
+impl From<&Collider> for Mesh {
+    fn from(shape: &Collider) -> Self {
         let typed_shape = shape.raw.as_typed_shape();
-        typed_shape_to_mesh(typed_shape)
+        typed_shape_to_mesh(&typed_shape)
     }
 }