diff options
Diffstat (limited to 'src/geometry/contact_generator')
10 files changed, 101 insertions, 108 deletions
diff --git a/src/geometry/contact_generator/ball_convex_contact_generator.rs b/src/geometry/contact_generator/ball_convex_contact_generator.rs index 0856029..62ebfab 100644 --- a/src/geometry/contact_generator/ball_convex_contact_generator.rs +++ b/src/geometry/contact_generator/ball_convex_contact_generator.rs @@ -5,30 +5,17 @@ use na::Unit; use ncollide::query::PointQuery; pub fn generate_contacts_ball_convex(ctxt: &mut PrimitiveContactGenerationContext) { - if let Shape::Ball(ball1) = ctxt.shape1 { + if let Some(ball1) = ctxt.shape1.as_ball() { ctxt.manifold.swap_identifiers(); - - match ctxt.shape2 { - Shape::Triangle(tri2) => do_generate_contacts(tri2, ball1, ctxt, true), - Shape::Cuboid(cube2) => do_generate_contacts(cube2, ball1, ctxt, true), - Shape::Capsule(capsule2) => do_generate_contacts(capsule2, ball1, ctxt, true), - Shape::Cylinder(cylinder2) => do_generate_contacts(cylinder2, ball1, ctxt, true), - _ => unimplemented!(), - } - } else if let Shape::Ball(ball2) = ctxt.shape2 { - match ctxt.shape1 { - Shape::Triangle(tri1) => do_generate_contacts(tri1, ball2, ctxt, false), - Shape::Cuboid(cube1) => do_generate_contacts(cube1, ball2, ctxt, false), - Shape::Capsule(capsule1) => do_generate_contacts(capsule1, ball2, ctxt, false), - Shape::Cylinder(cylinder1) => do_generate_contacts(cylinder1, ball2, ctxt, false), - _ => unimplemented!(), - } + do_generate_contacts(ctxt.shape2, ball1, ctxt, true); + } else if let Some(ball2) = ctxt.shape2.as_ball() { + do_generate_contacts(ctxt.shape1, ball2, ctxt, false); } ctxt.manifold.sort_contacts(ctxt.prediction_distance); } -fn do_generate_contacts<P: PointQuery<f32>>( +fn do_generate_contacts<P: ?Sized + PointQuery<f32>>( point_query1: &P, ball2: &Ball, ctxt: &mut PrimitiveContactGenerationContext, diff --git a/src/geometry/contact_generator/capsule_capsule_contact_generator.rs b/src/geometry/contact_generator/capsule_capsule_contact_generator.rs index 3800ce6..4d9bbc7 100644 --- a/src/geometry/contact_generator/capsule_capsule_contact_generator.rs +++ b/src/geometry/contact_generator/capsule_capsule_contact_generator.rs @@ -8,7 +8,7 @@ use na::Unit; use ncollide::shape::{Segment, SegmentPointLocation}; pub fn generate_contacts_capsule_capsule(ctxt: &mut PrimitiveContactGenerationContext) { - if let (Shape::Capsule(capsule1), Shape::Capsule(capsule2)) = (ctxt.shape1, ctxt.shape2) { + if let (Some(capsule1), Some(capsule2)) = (ctxt.shape1.as_capsule(), ctxt.shape2.as_capsule()) { generate_contacts( ctxt.prediction_distance, capsule1, @@ -94,7 +94,7 @@ pub fn generate_contacts<'a>( if dir1.dot(&dir2).abs() >= crate::utils::COS_FRAC_PI_8 && dir1.dot(&local_n1).abs() < crate::utils::SIN_FRAC_PI_8 { - // Capsules axii are almost parallel and are almost perpendicular to the normal. + // Capsules axes are almost parallel and are almost perpendicular to the normal. // Find a second contact point. if let Some((clip_a, clip_b)) = crate::geometry::clip_segments_with_normal( (capsule1.a, capsule1.b), @@ -156,17 +156,18 @@ pub fn generate_contacts<'a>( let pos12 = pos1.inverse() * pos2; let pos21 = pos12.inverse(); - let capsule2_1 = capsule1.transform_by(&pos12); + let seg1 = capsule1.segment(); + let seg2_1 = capsule2.segment().transformed(&pos12); let (loc1, loc2) = ncollide::query::closest_points_segment_segment_with_locations_nD( - (&capsule1.a, &capsule1.b), - (&capsule2_1.a, &capsule2_1.b), + (&seg1.a, &seg1.b), + (&seg2_1.a, &seg2_1.b), ); { let bcoords1 = loc1.barycentric_coordinates(); let bcoords2 = loc2.barycentric_coordinates(); - let local_p1 = capsule1.a * bcoords1[0] + capsule1.b.coords * bcoords1[1]; - let local_p2 = capsule2_1.a * bcoords2[0] + capsule2_1.b.coords * bcoords2[1]; + let local_p1 = seg1.a * bcoords1[0] + seg1.b.coords * bcoords1[1]; + let local_p2 = seg2_1.a * bcoords2[0] + seg2_1.b.coords * bcoords2[1]; let local_n1 = Unit::try_new(local_p2 - local_p1, f32::default_epsilon()).unwrap_or(Vector::y_axis()); diff --git a/src/geometry/contact_generator/contact_dispatcher.rs b/src/geometry/contact_generator/contact_dispatcher.rs index e925fd5..01bbc46 100644 --- a/src/geometry/contact_generator/contact_dispatcher.rs +++ b/src/geometry/contact_generator/contact_dispatcher.rs @@ -3,7 +3,7 @@ use crate::geometry::contact_generator::{ PfmPfmContactManifoldGeneratorWorkspace, PrimitiveContactGenerator, TrimeshShapeContactGeneratorWorkspace, }; -use crate::geometry::Shape; +use crate::geometry::{Shape, ShapeType}; use std::any::Any; /// Trait implemented by structures responsible for selecting a collision-detection algorithm @@ -12,8 +12,8 @@ pub trait ContactDispatcher { /// Select the collision-detection algorithm for the given pair of primitive shapes. fn dispatch_primitives( &self, - shape1: &Shape, - shape2: &Shape, + shape1: ShapeType, + shape2: ShapeType, ) -> ( PrimitiveContactGenerator, Option<Box<dyn Any + Send + Sync>>, @@ -21,8 +21,8 @@ pub trait ContactDispatcher { /// Select the collision-detection algorithm for the given pair of non-primitive shapes. fn dispatch( &self, - shape1: &Shape, - shape2: &Shape, + shape1: ShapeType, + shape2: ShapeType, ) -> (ContactPhase, Option<Box<dyn Any + Send + Sync>>); } @@ -32,14 +32,14 @@ pub struct DefaultContactDispatcher; impl ContactDispatcher for DefaultContactDispatcher { fn dispatch_primitives( &self, - shape1: &Shape, - shape2: &Shape, + shape1: ShapeType, + shape2: ShapeType, ) -> ( PrimitiveContactGenerator, Option<Box<dyn Any + Send + Sync>>, ) { match (shape1, shape2) { - (Shape::Ball(_), Shape::Ball(_)) => ( + (ShapeType::Ball, ShapeType::Ball) => ( PrimitiveContactGenerator { generate_contacts: super::generate_contacts_ball_ball, #[cfg(feature = "simd-is-enabled")] @@ -48,56 +48,58 @@ impl ContactDispatcher for DefaultContactDispatcher { }, None, ), - (Shape::Cuboid(_), Shape::Cuboid(_)) => ( + (ShapeType::Cuboid, ShapeType::Cuboid) => ( PrimitiveContactGenerator { generate_contacts: super::generate_contacts_cuboid_cuboid, ..PrimitiveContactGenerator::default() }, None, ), - (Shape::Polygon(_), Shape::Polygon(_)) => ( - PrimitiveContactGenerator { - generate_contacts: super::generate_contacts_polygon_polygon, - ..PrimitiveContactGenerator::default() - }, - None, - ), - (Shape::Capsule(_), Shape::Capsule(_)) => ( + // (ShapeType::Polygon, ShapeType::Polygon) => ( + // PrimitiveContactGenerator { + // generate_contacts: super::generate_contacts_polygon_polygon, + // ..PrimitiveContactGenerator::default() + // }, + // None, + // ), + (ShapeType::Capsule, ShapeType::Capsule) => ( PrimitiveContactGenerator { generate_contacts: super::generate_contacts_capsule_capsule, ..PrimitiveContactGenerator::default() }, None, ), - (Shape::Cuboid(_), Shape::Ball(_)) - | (Shape::Ball(_), Shape::Cuboid(_)) - | (Shape::Triangle(_), Shape::Ball(_)) - | (Shape::Ball(_), Shape::Triangle(_)) - | (Shape::Capsule(_), Shape::Ball(_)) - | (Shape::Ball(_), Shape::Capsule(_)) - | (Shape::Cylinder(_), Shape::Ball(_)) - | (Shape::Ball(_), Shape::Cylinder(_)) => ( + (ShapeType::Cuboid, ShapeType::Ball) + | (ShapeType::Ball, ShapeType::Cuboid) + | (ShapeType::Triangle, ShapeType::Ball) + | (ShapeType::Ball, ShapeType::Triangle) + | (ShapeType::Capsule, ShapeType::Ball) + | (ShapeType::Ball, ShapeType::Capsule) + | (ShapeType::Cylinder, ShapeType::Ball) + | (ShapeType::Ball, ShapeType::Cylinder) => ( PrimitiveContactGenerator { generate_contacts: super::generate_contacts_ball_convex, ..PrimitiveContactGenerator::default() }, None, ), - (Shape::Capsule(_), Shape::Cuboid(_)) | (Shape::Cuboid(_), Shape::Capsule(_)) => ( + (ShapeType::Capsule, ShapeType::Cuboid) | (ShapeType::Cuboid, ShapeType::Capsule) => ( PrimitiveContactGenerator { generate_contacts: super::generate_contacts_cuboid_capsule, ..PrimitiveContactGenerator::default() }, None, ), - (Shape::Triangle(_), Shape::Cuboid(_)) | (Shape::Cuboid(_), Shape::Triangle(_)) => ( - PrimitiveContactGenerator { - generate_contacts: super::generate_contacts_cuboid_triangle, - ..PrimitiveContactGenerator::default() - }, - None, - ), - (Shape::Cylinder(_), _) | (_, Shape::Cylinder(_)) => ( + (ShapeType::Triangle, ShapeType::Cuboid) | (ShapeType::Cuboid, ShapeType::Triangle) => { + ( + PrimitiveContactGenerator { + generate_contacts: super::generate_contacts_cuboid_triangle, + ..PrimitiveContactGenerator::default() + }, + None, + ) + } + (ShapeType::Cylinder, _) | (_, ShapeType::Cylinder) => ( PrimitiveContactGenerator { generate_contacts: super::generate_contacts_pfm_pfm, ..PrimitiveContactGenerator::default() @@ -110,18 +112,18 @@ impl ContactDispatcher for DefaultContactDispatcher { fn dispatch( &self, - shape1: &Shape, - shape2: &Shape, + shape1: ShapeType, + shape2: ShapeType, ) -> (ContactPhase, Option<Box<dyn Any + Send + Sync>>) { match (shape1, shape2) { - (Shape::Trimesh(_), _) | (_, Shape::Trimesh(_)) => ( + (ShapeType::Trimesh, _) | (_, ShapeType::Trimesh) => ( ContactPhase::NearPhase(ContactGenerator { generate_contacts: super::generate_contacts_trimesh_shape, ..ContactGenerator::default() }), Some(Box::new(TrimeshShapeContactGeneratorWorkspace::new())), ), - (Shape::HeightField(_), _) | (_, Shape::HeightField(_)) => ( + (ShapeType::HeightField, _) | (_, ShapeType::HeightField) => ( ContactPhase::NearPhase(ContactGenerator { generate_contacts: super::generate_contacts_heightfield_shape, ..ContactGenerator::default() diff --git a/src/geometry/contact_generator/cuboid_capsule_contact_generator.rs b/src/geometry/contact_generator/cuboid_capsule_contact_generator.rs index a7857a1..c3cf588 100644 --- a/src/geometry/contact_generator/cuboid_capsule_contact_generator.rs +++ b/src/geometry/contact_generator/cuboid_capsule_contact_generator.rs @@ -9,7 +9,7 @@ use crate::math::Vector; use ncollide::shape::Segment; pub fn generate_contacts_cuboid_capsule(ctxt: &mut PrimitiveContactGenerationContext) { - if let (Shape::Cuboid(cube1), Shape::Capsule(capsule2)) = (ctxt.shape1, ctxt.shape2) { + if let (Some(cube1), Some(capsule2)) = (ctxt.shape1.as_cuboid(), ctxt.shape2.as_capsule()) { generate_contacts( ctxt.prediction_distance, cube1, @@ -20,7 +20,9 @@ pub fn generate_contacts_cuboid_capsule(ctxt: &mut PrimitiveContactGenerationCon false, ); ctxt.manifold.update_warmstart_multiplier(); - } else if let (Shape::Capsule(capsule1), Shape::Cuboid(cube2)) = (ctxt.shape1, ctxt.shape2) { + } else if let (Some(capsule1), Some(cube2)) = + (ctxt.shape1.as_capsule(), ctxt.shape2.as_cuboid()) + { generate_contacts( ctxt.prediction_distance, cube2, @@ -53,7 +55,7 @@ pub fn generate_contacts<'a>( return; } - let segment2 = Segment::new(capsule2.a, capsule2.b); + let segment2 = capsule2.segment(); /* * diff --git a/src/geometry/contact_generator/cuboid_cuboid_contact_generator.rs b/src/geometry/contact_generator/cuboid_cuboid_contact_generator.rs index d879a22..596cfb1 100644 --- a/src/geometry/contact_generator/cuboid_cuboid_contact_generator.rs +++ b/src/geometry/contact_generator/cuboid_cuboid_contact_generator.rs @@ -6,7 +6,7 @@ use crate::math::Vector; use ncollide::shape::Cuboid; pub fn generate_contacts_cuboid_cuboid(ctxt: &mut PrimitiveContactGenerationContext) { - 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()) { generate_contacts( ctxt.prediction_distance, cube1, diff --git a/src/geometry/contact_generator/cuboid_triangle_contact_generator.rs b/src/geometry/contact_generator/cuboid_triangle_contact_generator.rs index 1a0358d..6744c0e 100644 --- a/src/geometry/contact_generator/cuboid_triangle_contact_generator.rs +++ b/src/geometry/contact_generator/cuboid_triangle_contact_generator.rs @@ -10,7 +10,7 @@ use crate::{ }; pub fn generate_contacts_cuboid_triangle(ctxt: &mut PrimitiveContactGenerationContext) { - 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()) { generate_contacts( ctxt.prediction_distance, cube1, @@ -21,7 +21,9 @@ pub fn generate_contacts_cuboid_triangle(ctxt: &mut PrimitiveContactGenerationCo false, ); ctxt.manifold.update_warmstart_multiplier(); - } 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()) + { generate_contacts( ctxt.prediction_distance, cube2, diff --git a/src/geometry/contact_generator/heightfield_shape_contact_generator.rs b/src/geometry/contact_generator/heightfield_shape_contact_generator.rs index 04afc65..f507caf 100644 --- a/src/geometry/contact_generator/heightfield_shape_contact_generator.rs +++ b/src/geometry/contact_generator/heightfield_shape_contact_generator.rs @@ -3,7 +3,7 @@ use crate::geometry::contact_generator::{ }; #[cfg(feature = "dim2")] use crate::geometry::Capsule; -use crate::geometry::{Collider, ContactManifold, HeightField, Shape}; +use crate::geometry::{Collider, ContactManifold, HeightField, Shape, ShapeType}; use crate::ncollide::bounding_volume::BoundingVolume; #[cfg(feature = "dim3")] use crate::{geometry::Triangle, math::Point}; @@ -38,9 +38,9 @@ pub fn generate_contacts_heightfield_shape(ctxt: &mut ContactGenerationContext) let collider1 = &ctxt.colliders[ctxt.pair.pair.collider1]; let collider2 = &ctxt.colliders[ctxt.pair.pair.collider2]; - if let Shape::HeightField(heightfield1) = collider1.shape() { + if let Some(heightfield1) = collider1.shape().as_heightfield() { do_generate_contacts(heightfield1, collider1, collider2, ctxt, false) - } else if let Shape::HeightField(heightfield2) = collider2.shape() { + } else if let Some(heightfield2) = collider2.shape().as_heightfield() { do_generate_contacts(heightfield2, collider2, collider1, ctxt, true) } } @@ -59,6 +59,7 @@ fn do_generate_contacts( .expect("The HeightFieldShapeContactGeneratorWorkspace is missing.") .downcast_mut() .expect("Invalid workspace type, expected a HeightFieldShapeContactGeneratorWorkspace."); + let shape_type2 = collider2.shape().shape_type(); /* * Detect if the detector context has been reset. @@ -76,19 +77,9 @@ fn do_generate_contacts( // subshape_id, manifold.subshape_index_pair // ); - // Use dummy shapes for the dispatch. - #[cfg(feature = "dim2")] - let sub_shape1 = - Shape::Capsule(Capsule::new(na::Point::origin(), na::Point::origin(), 0.0)); - #[cfg(feature = "dim3")] - let sub_shape1 = Shape::Triangle(Triangle::new( - Point::origin(), - Point::origin(), - Point::origin(), - )); let (generator, workspace2) = ctxt .dispatcher - .dispatch_primitives(&sub_shape1, collider2.shape()); + .dispatch_primitives(ShapeType::Capsule, shape_type2); let sub_detector = SubDetector { generator, @@ -120,12 +111,18 @@ fn do_generate_contacts( let manifolds = &mut ctxt.pair.manifolds; let prediction_distance = ctxt.prediction_distance; let dispatcher = ctxt.dispatcher; + let shape_type2 = collider2.shape().shape_type(); heightfield1.map_elements_in_local_aabb(&ls_aabb2, &mut |i, part1, _| { + let position1 = *collider1.position(); #[cfg(feature = "dim2")] - let sub_shape1 = Shape::Capsule(Capsule::new(part1.a, part1.b, 0.0)); + let (position1, sub_shape1) = { + let (dpos, height) = crate::utils::segment_to_capsule(&part1.a, &part1.b); + (position1 * dpos, Capsule::new(height, 0.0)); + }; #[cfg(feature = "dim3")] - let sub_shape1 = Shape::Triangle(*part1); + let sub_shape1 = *part1; + let sub_detector = match workspace.sub_detectors.entry(i) { Entry::Occupied(entry) => { let sub_detector = entry.into_mut(); @@ -137,7 +134,7 @@ fn do_generate_contacts( } Entry::Vacant(entry) => { let (generator, workspace2) = - dispatcher.dispatch_primitives(&sub_shape1, collider2.shape()); + dispatcher.dispatch_primitives(ShapeType::Triangle, shape_type2); let sub_detector = SubDetector { generator, manifold_id: manifolds.len(), @@ -162,7 +159,7 @@ fn do_generate_contacts( shape1: collider2.shape(), shape2: &sub_shape1, position1: collider2.position(), - position2: collider1.position(), + position2: &position1, manifold, workspace: sub_detector.workspace.as_deref_mut(), } @@ -173,7 +170,7 @@ fn do_generate_contacts( collider2, shape1: &sub_shape1, shape2: collider2.shape(), - position1: collider1.position(), + position1: &position1, position2: collider2.position(), manifold, workspace: sub_detector.workspace.as_deref_mut(), diff --git a/src/geometry/contact_generator/mod.rs b/src/geometry/contact_generator/mod.rs index d8a523f..0549420 100644 --- a/src/geometry/contact_generator/mod.rs +++ b/src/geometry/contact_generator/mod.rs @@ -22,7 +22,7 @@ pub use self::heightfield_shape_contact_generator::{ pub use self::pfm_pfm_contact_generator::{ generate_contacts_pfm_pfm, PfmPfmContactManifoldGeneratorWorkspace, }; -pub use self::polygon_polygon_contact_generator::generate_contacts_polygon_polygon; +// pub use self::polygon_polygon_contact_generator::generate_contacts_polygon_polygon; pub use self::trimesh_shape_contact_generator::{ generate_contacts_trimesh_shape, TrimeshShapeContactGeneratorWorkspace, }; diff --git a/src/geometry/contact_generator/polygon_polygon_contact_generator.rs b/src/geometry/contact_generator/polygon_polygon_contact_generator.rs index 33b54e4..c150e83 100644 --- a/src/geometry/contact_generator/polygon_polygon_contact_generator.rs +++ b/src/geometry/contact_generator/polygon_polygon_contact_generator.rs @@ -5,20 +5,21 @@ use crate::math::{Isometry, Point}; use crate::{math::Vector, utils}; pub fn generate_contacts_polygon_polygon(ctxt: &mut PrimitiveContactGenerationContext) { - if let (Shape::Polygon(polygon1), Shape::Polygon(polygon2)) = (ctxt.shape1, ctxt.shape2) { - generate_contacts( - polygon1, - &ctxt.position1, - polygon2, - &ctxt.position2, - ctxt.manifold, - ); - ctxt.manifold.update_warmstart_multiplier(); - } else { - unreachable!() - } - - ctxt.manifold.sort_contacts(ctxt.prediction_distance); + unimplemented!() + // if let (Shape::Polygon(polygon1), Shape::Polygon(polygon2)) = (ctxt.shape1, ctxt.shape2) { + // generate_contacts( + // polygon1, + // &ctxt.position1, + // polygon2, + // &ctxt.position2, + // ctxt.manifold, + // ); + // ctxt.manifold.update_warmstart_multiplier(); + // } else { + // unreachable!() + // } + // + // ctxt.manifold.sort_contacts(ctxt.prediction_distance); } fn generate_contacts<'a>( diff --git a/src/geometry/contact_generator/trimesh_shape_contact_generator.rs b/src/geometry/contact_generator/trimesh_shape_contact_generator.rs index 52ba9b7..49e9b40 100644 --- a/src/geometry/contact_generator/trimesh_shape_contact_generator.rs +++ b/src/geometry/contact_generator/trimesh_shape_contact_generator.rs @@ -1,7 +1,7 @@ use crate::geometry::contact_generator::{ ContactGenerationContext, PrimitiveContactGenerationContext, }; -use crate::geometry::{Collider, ContactManifold, Shape, Trimesh}; +use crate::geometry::{Collider, ContactManifold, Shape, ShapeType, Trimesh}; use crate::ncollide::bounding_volume::{BoundingVolume, AABB}; pub struct TrimeshShapeContactGeneratorWorkspace { @@ -26,9 +26,9 @@ pub fn generate_contacts_trimesh_shape(ctxt: &mut ContactGenerationContext) { 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_generate_contacts(trimesh1, collider1, collider2, ctxt, false) - } else if let Shape::Trimesh(trimesh2) = collider2.shape() { + } else if let Some(trimesh2) = collider2.shape().as_trimesh() { do_generate_contacts(trimesh2, collider2, collider1, ctxt, true) } } @@ -121,6 +121,7 @@ fn do_generate_contacts( let new_interferences = &workspace.interferences; let mut old_inter_it = workspace.old_interferences.drain(..).peekable(); let mut old_manifolds_it = workspace.old_manifolds.drain(..); + let shape_type2 = collider2.shape().shape_type(); for (i, triangle_id) in new_interferences.iter().enumerate() { if *triangle_id >= trimesh1.num_triangles() { @@ -159,10 +160,10 @@ fn do_generate_contacts( } let manifold = &mut ctxt.pair.manifolds[i]; - let triangle1 = Shape::Triangle(trimesh1.triangle(*triangle_id)); + let triangle1 = trimesh1.triangle(*triangle_id); let (generator, mut workspace2) = ctxt .dispatcher - .dispatch_primitives(&triangle1, collider2.shape()); + .dispatch_primitives(ShapeType::Triangle, shape_type2); let mut ctxt2 = if ctxt_pair_pair.collider1 != manifold.pair.collider1 { PrimitiveContactGenerationContext { |