Move all the contact manifold computations out of Rapier.

1 files changed, 43 insertions, 0 deletions

diff --git a/src/geometry/proximity_pair.rs b/src/geometry/proximity_pair.rs
new file mode 100644
index 0000000..d3e0dc4
--- /dev/null
+++ b/src/geometry/proximity_pair.rs
@@ -0,0 +1,43 @@
+use crate::geometry::proximity_detector::ProximityPhase;
+use crate::geometry::{ColliderPair, Proximity};
+use std::any::Any;
+
+#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
+/// The description of the proximity of two colliders.
+pub struct ProximityPair {
+    /// The pair of collider involved.
+    pub pair: ColliderPair,
+    /// The state of proximity between the two colliders.
+    pub proximity: Proximity,
+    #[cfg_attr(feature = "serde-serialize", serde(skip))]
+    pub(crate) detector: Option<ProximityPhase>,
+    #[cfg_attr(feature = "serde-serialize", serde(skip))]
+    pub(crate) detector_workspace: Option<Box<dyn Any + Send + Sync>>,
+}
+
+// TODO: use the `derive(Clone)` instead?
+impl Clone for ProximityPair {
+    fn clone(&self) -> Self {
+        ProximityPair {
+            pair: self.pair.clone(),
+            proximity: self.proximity.clone(),
+            detector: None,
+            detector_workspace: None,
+        }
+    }
+}
+
+impl ProximityPair {
+    pub(crate) fn new(
+        pair: ColliderPair,
+        detector: ProximityPhase,
+        detector_workspace: Option<Box<dyn Any + Send + Sync>>,
+    ) -> Self {
+        Self {
+            pair,
+            proximity: Proximity::Disjoint,
+            detector: Some(detector),
+            detector_workspace,
+        }
+    }
+}