Collider shape: use a trait-object instead of an enum.

6 files changed, 48 insertions, 52 deletions

diff --git a/src/geometry/proximity_detector/ball_convex_proximity_detector.rs b/src/geometry/proximity_detector/ball_convex_proximity_detector.rs
index b00337d..d7c5d02 100644
--- a/src/geometry/proximity_detector/ball_convex_proximity_detector.rs
+++ b/src/geometry/proximity_detector/ball_convex_proximity_detector.rs
@@ -4,24 +4,16 @@ use crate::math::Isometry;
 use ncollide::query::PointQuery;
 
 pub fn detect_proximity_ball_convex(ctxt: &mut PrimitiveProximityDetectionContext) -> Proximity {
-    if let Shape::Ball(ball1) = ctxt.shape1 {
-        match ctxt.shape2 {
-            Shape::Triangle(tri2) => do_detect_proximity(tri2, ball1, &ctxt),
-            Shape::Cuboid(cube2) => do_detect_proximity(cube2, ball1, &ctxt),
-            _ => unimplemented!(),
-        }
-    } else if let Shape::Ball(ball2) = ctxt.shape2 {
-        match ctxt.shape1 {
-            Shape::Triangle(tri1) => do_detect_proximity(tri1, ball2, &ctxt),
-            Shape::Cuboid(cube1) => do_detect_proximity(cube1, ball2, &ctxt),
-            _ => unimplemented!(),
-        }
+    if let Some(ball1) = ctxt.shape1.as_ball() {
+        do_detect_proximity(ctxt.shape2, ball1, &ctxt)
+    } else if let Some(ball2) = ctxt.shape2.as_ball() {
+        do_detect_proximity(ctxt.shape1, ball2, &ctxt)
     } else {
         panic!("Invalid shape types provide.")
     }
 }
 
-fn do_detect_proximity<P: PointQuery<f32>>(
+fn do_detect_proximity<P: ?Sized + PointQuery<f32>>(
     point_query1: &P,
     ball2: &Ball,
     ctxt: &PrimitiveProximityDetectionContext,
diff --git a/src/geometry/proximity_detector/cuboid_cuboid_proximity_detector.rs b/src/geometry/proximity_detector/cuboid_cuboid_proximity_detector.rs
index b68ebf9..2462fc9 100644
--- a/src/geometry/proximity_detector/cuboid_cuboid_proximity_detector.rs
+++ b/src/geometry/proximity_detector/cuboid_cuboid_proximity_detector.rs
@@ -4,7 +4,7 @@ use crate::math::Isometry;
 use ncollide::shape::Cuboid;
 
 pub fn detect_proximity_cuboid_cuboid(ctxt: &mut PrimitiveProximityDetectionContext) -> Proximity {
-    if let (Shape::Cuboid(cube1), Shape::Cuboid(cube2)) = (ctxt.shape1, ctxt.shape2) {
+    if let (Some(cube1), Some(cube2)) = (ctxt.shape1.as_cuboid(), ctxt.shape2.as_cuboid()) {
         detect_proximity(
             ctxt.prediction_distance,
             cube1,
diff --git a/src/geometry/proximity_detector/cuboid_triangle_proximity_detector.rs b/src/geometry/proximity_detector/cuboid_triangle_proximity_detector.rs
index 12f3b4a..45991c7 100644
--- a/src/geometry/proximity_detector/cuboid_triangle_proximity_detector.rs
+++ b/src/geometry/proximity_detector/cuboid_triangle_proximity_detector.rs
@@ -5,7 +5,7 @@ use crate::math::Isometry;
 pub fn detect_proximity_cuboid_triangle(
     ctxt: &mut PrimitiveProximityDetectionContext,
 ) -> Proximity {
-    if let (Shape::Cuboid(cube1), Shape::Triangle(triangle2)) = (ctxt.shape1, ctxt.shape2) {
+    if let (Some(cube1), Some(triangle2)) = (ctxt.shape1.as_cuboid(), ctxt.shape2.as_triangle()) {
         detect_proximity(
             ctxt.prediction_distance,
             cube1,
@@ -13,7 +13,9 @@ pub fn detect_proximity_cuboid_triangle(
             triangle2,
             ctxt.position2,
         )
-    } else if let (Shape::Triangle(triangle1), Shape::Cuboid(cube2)) = (ctxt.shape1, ctxt.shape2) {
+    } else if let (Some(triangle1), Some(cube2)) =
+        (ctxt.shape1.as_triangle(), ctxt.shape2.as_cuboid())
+    {
         detect_proximity(
             ctxt.prediction_distance,
             cube2,
diff --git a/src/geometry/proximity_detector/polygon_polygon_proximity_detector.rs b/src/geometry/proximity_detector/polygon_polygon_proximity_detector.rs
index f0e049f..5b89dc5 100644
--- a/src/geometry/proximity_detector/polygon_polygon_proximity_detector.rs
+++ b/src/geometry/proximity_detector/polygon_polygon_proximity_detector.rs
@@ -5,17 +5,18 @@ use crate::math::Isometry;
 pub fn detect_proximity_polygon_polygon(
     ctxt: &mut PrimitiveProximityDetectionContext,
 ) -> Proximity {
-    if let (Shape::Polygon(polygon1), Shape::Polygon(polygon2)) = (ctxt.shape1, ctxt.shape2) {
-        detect_proximity(
-            ctxt.prediction_distance,
-            polygon1,
-            &ctxt.position1,
-            polygon2,
-            &ctxt.position2,
-        )
-    } else {
-        unreachable!()
-    }
+    unimplemented!()
+    // if let (Some(polygon1), Some(polygon2)) = (ctxt.shape1.as_polygon(), ctxt.shape2.as_polygon()) {
+    //     detect_proximity(
+    //         ctxt.prediction_distance,
+    //         polygon1,
+    //         &ctxt.position1,
+    //         polygon2,
+    //         &ctxt.position2,
+    //     )
+    // } else {
+    //     unreachable!()
+    // }
 }
 
 fn detect_proximity<'a>(
diff --git a/src/geometry/proximity_detector/proximity_dispatcher.rs b/src/geometry/proximity_detector/proximity_dispatcher.rs
index 6d6b4c5..62f50f7 100644
--- a/src/geometry/proximity_detector/proximity_dispatcher.rs
+++ b/src/geometry/proximity_detector/proximity_dispatcher.rs
@@ -2,7 +2,7 @@ use crate::geometry::proximity_detector::{
     PrimitiveProximityDetector, ProximityDetector, ProximityPhase,
     TrimeshShapeProximityDetectorWorkspace,
 };
-use crate::geometry::Shape;
+use crate::geometry::{Shape, ShapeType};
 use std::any::Any;
 
 /// Trait implemented by structures responsible for selecting a collision-detection algorithm
@@ -11,8 +11,8 @@ pub trait ProximityDispatcher {
     /// Select the proximity detection algorithm for the given pair of primitive shapes.
     fn dispatch_primitives(
         &self,
-        shape1: &Shape,
-        shape2: &Shape,
+        shape1: ShapeType,
+        shape2: ShapeType,
     ) -> (
         PrimitiveProximityDetector,
         Option<Box<dyn Any + Send + Sync>>,
@@ -20,8 +20,8 @@ pub trait ProximityDispatcher {
     /// Select the proximity detection algorithm for the given pair of non-primitive shapes.
     fn dispatch(
         &self,
-        shape1: &Shape,
-        shape2: &Shape,
+        shape1: ShapeType,
+        shape2: ShapeType,
     ) -> (ProximityPhase, Option<Box<dyn Any + Send + Sync>>);
 }
 
@@ -31,14 +31,14 @@ pub struct DefaultProximityDispatcher;
 impl ProximityDispatcher for DefaultProximityDispatcher {
     fn dispatch_primitives(
         &self,
-        shape1: &Shape,
-        shape2: &Shape,
+        shape1: ShapeType,
+        shape2: ShapeType,
     ) -> (
         PrimitiveProximityDetector,
         Option<Box<dyn Any + Send + Sync>>,
     ) {
         match (shape1, shape2) {
-            (Shape::Ball(_), Shape::Ball(_)) => (
+            (ShapeType::Ball, ShapeType::Ball) => (
                 PrimitiveProximityDetector {
                     #[cfg(feature = "simd-is-enabled")]
                     detect_proximity_simd: super::detect_proximity_ball_ball_simd,
@@ -47,56 +47,56 @@ impl ProximityDispatcher for DefaultProximityDispatcher {
                 },
                 None,
             ),
-            (Shape::Cuboid(_), Shape::Cuboid(_)) => (
+            (ShapeType::Cuboid, ShapeType::Cuboid) => (
                 PrimitiveProximityDetector {
                     detect_proximity: super::detect_proximity_cuboid_cuboid,
                     ..PrimitiveProximityDetector::default()
                 },
                 None,
             ),
-            (Shape::Polygon(_), Shape::Polygon(_)) => (
+            (ShapeType::Polygon, ShapeType::Polygon) => (
                 PrimitiveProximityDetector {
                     detect_proximity: super::detect_proximity_polygon_polygon,
                     ..PrimitiveProximityDetector::default()
                 },
                 None,
             ),
-            (Shape::Triangle(_), Shape::Ball(_)) => (
+            (ShapeType::Triangle, ShapeType::Ball) => (
                 PrimitiveProximityDetector {
                     detect_proximity: super::detect_proximity_ball_convex,
                     ..PrimitiveProximityDetector::default()
                 },
                 None,
             ),
-            (Shape::Ball(_), Shape::Triangle(_)) => (
+            (ShapeType::Ball, ShapeType::Triangle) => (
                 PrimitiveProximityDetector {
                     detect_proximity: super::detect_proximity_ball_convex,
                     ..PrimitiveProximityDetector::default()
                 },
                 None,
             ),
-            (Shape::Cuboid(_), Shape::Ball(_)) => (
+            (ShapeType::Cuboid, ShapeType::Ball) => (
                 PrimitiveProximityDetector {
                     detect_proximity: super::detect_proximity_ball_convex,
                     ..PrimitiveProximityDetector::default()
                 },
                 None,
             ),
-            (Shape::Ball(_), Shape::Cuboid(_)) => (
+            (ShapeType::Ball, ShapeType::Cuboid) => (
                 PrimitiveProximityDetector {
                     detect_proximity: super::detect_proximity_ball_convex,
                     ..PrimitiveProximityDetector::default()
                 },
                 None,
             ),
-            (Shape::Triangle(_), Shape::Cuboid(_)) => (
+            (ShapeType::Triangle, ShapeType::Cuboid) => (
                 PrimitiveProximityDetector {
                     detect_proximity: super::detect_proximity_cuboid_triangle,
                     ..PrimitiveProximityDetector::default()
                 },
                 None,
             ),
-            (Shape::Cuboid(_), Shape::Triangle(_)) => (
+            (ShapeType::Cuboid, ShapeType::Triangle) => (
                 PrimitiveProximityDetector {
                     detect_proximity: super::detect_proximity_cuboid_triangle,
                     ..PrimitiveProximityDetector::default()
@@ -109,18 +109,18 @@ impl ProximityDispatcher for DefaultProximityDispatcher {
 
     fn dispatch(
         &self,
-        shape1: &Shape,
-        shape2: &Shape,
+        shape1: ShapeType,
+        shape2: ShapeType,
     ) -> (ProximityPhase, Option<Box<dyn Any + Send + Sync>>) {
         match (shape1, shape2) {
-            (Shape::Trimesh(_), _) => (
+            (ShapeType::Trimesh, _) => (
                 ProximityPhase::NearPhase(ProximityDetector {
                     detect_proximity: super::detect_proximity_trimesh_shape,
                     ..ProximityDetector::default()
                 }),
                 Some(Box::new(TrimeshShapeProximityDetectorWorkspace::new())),
             ),
-            (_, Shape::Trimesh(_)) => (
+            (_, ShapeType::Trimesh) => (
                 ProximityPhase::NearPhase(ProximityDetector {
                     detect_proximity: super::detect_proximity_trimesh_shape,
                     ..ProximityDetector::default()
diff --git a/src/geometry/proximity_detector/trimesh_shape_proximity_detector.rs b/src/geometry/proximity_detector/trimesh_shape_proximity_detector.rs
index edf3085..cce46d2 100644
--- a/src/geometry/proximity_detector/trimesh_shape_proximity_detector.rs
+++ b/src/geometry/proximity_detector/trimesh_shape_proximity_detector.rs
@@ -1,7 +1,7 @@
 use crate::geometry::proximity_detector::{
     PrimitiveProximityDetectionContext, ProximityDetectionContext,
 };
-use crate::geometry::{Collider, Proximity, Shape, Trimesh};
+use crate::geometry::{Collider, Proximity, Shape, ShapeType, Trimesh};
 use crate::ncollide::bounding_volume::{BoundingVolume, AABB};
 
 pub struct TrimeshShapeProximityDetectorWorkspace {
@@ -24,9 +24,9 @@ pub fn detect_proximity_trimesh_shape(ctxt: &mut ProximityDetectionContext) -> P
     let collider1 = &ctxt.colliders[ctxt.pair.pair.collider1];
     let collider2 = &ctxt.colliders[ctxt.pair.pair.collider2];
 
-    if let Shape::Trimesh(trimesh1) = collider1.shape() {
+    if let Some(trimesh1) = collider1.shape().as_trimesh() {
         do_detect_proximity(trimesh1, collider1, collider2, ctxt)
-    } else if let Shape::Trimesh(trimesh2) = collider2.shape() {
+    } else if let Some(trimesh2) = collider2.shape().as_trimesh() {
         do_detect_proximity(trimesh2, collider2, collider1, ctxt)
     } else {
         panic!("Invalid shape types provided.")
@@ -83,6 +83,7 @@ fn do_detect_proximity(
     let new_interferences = &workspace.interferences;
     let mut old_inter_it = workspace.old_interferences.drain(..).peekable();
     let mut best_proximity = Proximity::Disjoint;
+    let shape_type2 = collider2.shape().shape_type();
 
     for triangle_id in new_interferences.iter() {
         if *triangle_id >= trimesh1.num_triangles() {
@@ -107,10 +108,10 @@ fn do_detect_proximity(
             };
         }
 
-        let triangle1 = Shape::Triangle(trimesh1.triangle(*triangle_id));
+        let triangle1 = trimesh1.triangle(*triangle_id);
         let (proximity_detector, mut workspace2) = ctxt
             .dispatcher
-            .dispatch_primitives(&triangle1, collider2.shape());
+            .dispatch_primitives(ShapeType::Triangle, shape_type2);
 
         let mut ctxt2 = PrimitiveProximityDetectionContext {
             prediction_distance: ctxt.prediction_distance,