add "collider mesh" command, generating the collider from the scene

Cargo.toml

@@ -12,7 +12,7 @@ rust-version = "1.76.0"
 [dependencies]
 regex = "1"
 bevy = { version = "0.13.1", default-features = false, features = ["jpeg", "bevy_asset", "bevy_audio", "bevy_scene", "bevy_winit", "bevy_core_pipeline", "bevy_pbr", "bevy_gltf", "bevy_render", "bevy_text", "bevy_ui", "multi-threaded", "png", "vorbis", "x11", "tonemapping_luts"]}
-bevy_xpbd_3d = { version = "0.4", default-features = false, features = ["3d", "f32", "parry-f32", "parallel"] }
+bevy_xpbd_3d = { version = "0.4", default-features = false, features = ["3d", "f32", "parry-f32", "parallel", "async-collider"] }
 bevy_embedded_assets = "0.10.2"
 
 [features]

src/defs.txt

@@ -5,7 +5,7 @@ actor 0 0 0 suit
     oxygen 0.008
     health 0.3
     angularmomentum 0 0 0
-    collider capsule 2 1
+    collider mesh
     thrust 1.2 1 1 1 1.5
     rotationy 0.65
     engine monopropellant
@@ -50,18 +50,21 @@ actor 3000 0 0 moonlet
 actor 1000 20 300 monolith
     scale 2
     mass 1000
+    collider mesh
     rotationx 0.5
     angularmomentum 0.0 0.0 0.01
 
 actor 10000 2000 -3500 monolith
     scale 2
     mass 1000
+    collider mesh
     rotationx 0.5
     angularmomentum 0.0 0.0 0.01
 
 actor -8000 -1000 -100 monolith
     scale 2
     mass 1000
+    collider mesh
     rotationx 0.5
     angularmomentum 0.0 0.0 0.01
 
@@ -143,6 +146,7 @@ actor 10 0 70 suit
     chatid hi_icarus
     alive yes
     mass 200.0
+    collider capsule 2 1
     pronoun it
     chat hi_icarus
         name Icarus
@@ -184,6 +188,7 @@ actor -300 0 40 suit
     chatid drifter
     oxygen 0.08
     mass 200.0
+    collider capsule 2 1
     chat drifter
         name "Drifter"
         msg 5 INIT noresponse "Requesting permission to communicate..."

src/world.rs

@@ -216,6 +216,7 @@ struct ParserState {
     is_suited: bool,
     is_vehicle: bool,
     has_physics: bool,
+    collider_is_mesh: bool,
     thrust_forward: f32,
     thrust_sideways: f32,
     thrust_back: f32,
@@ -263,6 +264,7 @@ impl Default for ParserState {
             is_suited: false,
             is_vehicle: false,
             has_physics: true,
+            collider_is_mesh: false,
             thrust_forward: default_engine.thrust_forward,
             thrust_sideways: default_engine.thrust_forward,
             thrust_back: default_engine.thrust_back,
@@ -511,6 +513,9 @@ pub fn load_defs(
                     continue;
                 }
             }
+            ["collider", "mesh"] => {
+                state.collider_is_mesh = true;
+            }
             ["player", "yes"] => {
                 state.is_player = true;
                 state.is_alive = true;
@@ -683,8 +688,16 @@ fn spawn_entities(
                 let fix_scale = 1.0 / state.model_scale.powf(3.0);
                 actor.insert(RigidBody::Dynamic);
                 actor.insert(AngularVelocity(state.angular_momentum));
-                actor.insert(state.collider.clone());
                 actor.insert(ColliderDensity(state.mass * fix_scale));
+                if state.collider_is_mesh {
+                    actor.insert(AsyncSceneCollider::new(Some(
+                        ComputedCollider::TriMesh
+                        //ComputedCollider::ConvexDecomposition(VHACDParameters::default())
+                    )));
+                }
+                else {
+                    actor.insert(state.collider.clone());
+                }
             }
             // TODO: angular velocity for objects without collisions, static objects