diff options
Diffstat (limited to 'src/geometry/proximity_detector')
| -rw-r--r-- | src/geometry/proximity_detector/trimesh_shape_proximity_detector.rs | 13 |
1 files changed, 7 insertions, 6 deletions
diff --git a/src/geometry/proximity_detector/trimesh_shape_proximity_detector.rs b/src/geometry/proximity_detector/trimesh_shape_proximity_detector.rs index 3dd7381..edf3085 100644 --- a/src/geometry/proximity_detector/trimesh_shape_proximity_detector.rs +++ b/src/geometry/proximity_detector/trimesh_shape_proximity_detector.rs @@ -1,11 +1,11 @@ use crate::geometry::proximity_detector::{ PrimitiveProximityDetectionContext, ProximityDetectionContext, }; -use crate::geometry::{Collider, Proximity, Shape, Trimesh, WAABBHierarchyIntersections}; +use crate::geometry::{Collider, Proximity, Shape, Trimesh}; use crate::ncollide::bounding_volume::{BoundingVolume, AABB}; pub struct TrimeshShapeProximityDetectorWorkspace { - interferences: WAABBHierarchyIntersections, + interferences: Vec<usize>, local_aabb2: AABB<f32>, old_interferences: Vec<usize>, } @@ -13,7 +13,7 @@ pub struct TrimeshShapeProximityDetectorWorkspace { impl TrimeshShapeProximityDetectorWorkspace { pub fn new() -> Self { Self { - interferences: WAABBHierarchyIntersections::new(), + interferences: Vec::new(), local_aabb2: AABB::new_invalid(), old_interferences: Vec::new(), } @@ -67,19 +67,20 @@ fn do_detect_proximity( let local_aabb2 = new_local_aabb2; // .loosened(ctxt.prediction_distance * 2.0); // FIXME: what would be the best value? std::mem::swap( &mut workspace.old_interferences, - &mut workspace.interferences.computed_interferences_mut(), + &mut workspace.interferences, ); + workspace.interferences.clear(); trimesh1 .waabbs() - .compute_interferences_with(local_aabb2, &mut workspace.interferences); + .intersect_aabb(&local_aabb2, &mut workspace.interferences); workspace.local_aabb2 = local_aabb2; } /* * Dispatch to the specific solver by keeping the previous manifold if we already had one. */ - let new_interferences = workspace.interferences.computed_interferences(); + let new_interferences = &workspace.interferences; let mut old_inter_it = workspace.old_interferences.drain(..).peekable(); let mut best_proximity = Proximity::Disjoint; |