diff options
Diffstat (limited to 'src/geometry')
31 files changed, 70 insertions, 2320 deletions
diff --git a/src/geometry/broad_phase_multi_sap.rs b/src/geometry/broad_phase_multi_sap.rs index 56c05df..4242d77 100644 --- a/src/geometry/broad_phase_multi_sap.rs +++ b/src/geometry/broad_phase_multi_sap.rs @@ -1,10 +1,10 @@ -use crate::data::hashmap::HashMap; use crate::data::pubsub::Subscription; use crate::dynamics::RigidBodySet; use crate::geometry::{ColliderHandle, ColliderSet, RemovedCollider}; use crate::math::{Point, Vector, DIM}; use bit_vec::BitVec; -use buckler::bounding_volume::{BoundingVolume, AABB}; +use eagl::bounding_volume::{BoundingVolume, AABB}; +use eagl::utils::hashmap::HashMap; use std::cmp::Ordering; use std::ops::{Index, IndexMut}; @@ -477,8 +477,8 @@ pub struct BroadPhase { #[cfg_attr( feature = "serde-serialize", serde( - serialize_with = "crate::data::hashmap::serialize_hashmap_capacity", - deserialize_with = "crate::data::hashmap::deserialize_hashmap_capacity" + serialize_with = "eagl::utils::hashmap::serialize_hashmap_capacity", + deserialize_with = "eagl::utils::hashmap::deserialize_hashmap_capacity" ) )] reporting: HashMap<(u32, u32), bool>, // Workspace diff --git a/src/geometry/collider.rs b/src/geometry/collider.rs index 1275358..db418a3 100644 --- a/src/geometry/collider.rs +++ b/src/geometry/collider.rs @@ -1,13 +1,13 @@ -use crate::buckler::shape::HalfSpace; use crate::dynamics::{MassProperties, RigidBodyHandle, RigidBodySet}; +use crate::eagl::shape::HalfSpace; use crate::geometry::InteractionGroups; use crate::math::{AngVector, Isometry, Point, Rotation, Vector}; -use buckler::bounding_volume::AABB; -use buckler::shape::{ +use eagl::bounding_volume::AABB; +use eagl::shape::{ Ball, Capsule, Cuboid, HeightField, Segment, Shape, ShapeType, TriMesh, Triangle, }; #[cfg(feature = "dim3")] -use buckler::shape::{Cone, Cylinder, RoundCylinder}; +use eagl::shape::{Cone, Cylinder, RoundCylinder}; use na::Point3; use std::ops::Deref; use std::sync::Arc; diff --git a/src/geometry/contact_generator/ball_ball_contact_generator.rs b/src/geometry/contact_generator/ball_ball_contact_generator.rs deleted file mode 100644 index f2ca7af..0000000 --- a/src/geometry/contact_generator/ball_ball_contact_generator.rs +++ /dev/null @@ -1,103 +0,0 @@ -use crate::geometry::contact_generator::PrimitiveContactGenerationContext; -use crate::geometry::{Contact, ContactManifoldData, KinematicsCategory}; -use crate::math::{Point, Vector}; -#[cfg(feature = "simd-is-enabled")] -use { - crate::geometry::contact_generator::PrimitiveContactGenerationContextSimd, - crate::geometry::{WBall, WContact}, - crate::math::{Isometry, SimdReal, SIMD_WIDTH}, - simba::simd::SimdValue, -}; - -#[cfg(feature = "simd-is-enabled")] -fn generate_contacts_simd(ball1: &WBall, ball2: &WBall, pos21: &Isometry<SimdReal>) -> WContact { - let dcenter = ball2.center - ball1.center; - let center_dist = dcenter.magnitude(); - let normal = dcenter / center_dist; - - WContact { - local_p1: ball1.center + normal * ball1.radius, - local_p2: pos21 * (ball2.center - normal * ball2.radius), - local_n1: normal, - local_n2: pos21 * -normal, - fid1: [0; SIMD_WIDTH], - fid2: [0; SIMD_WIDTH], - dist: center_dist - ball1.radius - ball2.radius, - } -} - -#[cfg(feature = "simd-is-enabled")] -pub fn generate_contacts_ball_ball_simd(ctxt: &mut PrimitiveContactGenerationContextSimd) { - let pos_ba = ctxt.positions2.inverse() * ctxt.positions1; - let radii_a = - SimdReal::from(array![|ii| ctxt.shapes1[ii].as_ball().unwrap().radius; SIMD_WIDTH]); - let radii_b = - SimdReal::from(array![|ii| ctxt.shapes2[ii].as_ball().unwrap().radius; SIMD_WIDTH]); - - let wball_a = WBall::new(Point::origin(), radii_a); - let wball_b = WBall::new(pos_ba.inverse_transform_point(&Point::origin()), radii_b); - let contacts = generate_contacts_simd(&wball_a, &wball_b, &pos_ba); - - for (i, manifold) in ctxt.manifolds.iter_mut().enumerate() { - // FIXME: compare the dist before extracting the contact. - let (contact, local_n1, local_n2) = contacts.extract(i); - if contact.dist <= ctxt.prediction_distance { - if manifold.points.len() != 0 { - manifold.points[0].copy_geometry_from(contact); - } else { - manifold.points.push(contact); - } - - manifold.local_n1 = local_n1; - manifold.local_n2 = local_n2; - manifold.kinematics.category = KinematicsCategory::PointPoint; - manifold.kinematics.radius1 = radii_a.extract(i); - manifold.kinematics.radius2 = radii_b.extract(i); - ContactManifoldData::update_warmstart_multiplier(manifold); - } else { - manifold.points.clear(); - } - - manifold.sort_contacts(ctxt.prediction_distance); - } -} - -pub fn generate_contacts_ball_ball(ctxt: &mut PrimitiveContactGenerationContext) { - let pos_ba = ctxt.position2.inverse() * ctxt.position1; - let radius_a = ctxt.shape1.as_ball().unwrap().radius; - let radius_b = ctxt.shape2.as_ball().unwrap().radius; - - let dcenter = pos_ba.inverse_transform_point(&Point::origin()).coords; - let center_dist = dcenter.magnitude(); - let dist = center_dist - radius_a - radius_b; - - if dist < ctxt.prediction_distance { - let local_n1 = if center_dist != 0.0 { - dcenter / center_dist - } else { - Vector::y() - }; - - let local_n2 = pos_ba.inverse_transform_vector(&-local_n1); - let local_p1 = local_n1 * radius_a; - let local_p2 = local_n2 * radius_b; - let contact = Contact::new(local_p1.into(), local_p2.into(), 0, 0, dist); - - if ctxt.manifold.points.len() != 0 { - ctxt.manifold.points[0].copy_geometry_from(contact); - } else { - ctxt.manifold.points.push(contact); - } - - ctxt.manifold.local_n1 = local_n1; - ctxt.manifold.local_n2 = local_n2; - ctxt.manifold.kinematics.category = KinematicsCategory::PointPoint; - ctxt.manifold.kinematics.radius1 = radius_a; - ctxt.manifold.kinematics.radius2 = radius_b; - ContactManifoldData::update_warmstart_multiplier(ctxt.manifold); - } else { - ctxt.manifold.points.clear(); - } - - ctxt.manifold.sort_contacts(ctxt.prediction_distance); -} diff --git a/src/geometry/contact_generator/ball_convex_contact_generator.rs b/src/geometry/contact_generator/ball_convex_contact_generator.rs deleted file mode 100644 index 88f1912..0000000 --- a/src/geometry/contact_generator/ball_convex_contact_generator.rs +++ /dev/null @@ -1,70 +0,0 @@ -use crate::geometry::contact_generator::PrimitiveContactGenerationContext; -use crate::geometry::{Ball, Contact, ContactManifoldData, KinematicsCategory}; -use crate::math::Isometry; -use buckler::query::PointQuery; -use na::Unit; - -pub fn generate_contacts_ball_convex(ctxt: &mut PrimitiveContactGenerationContext) { - if let Some(ball1) = ctxt.shape1.as_ball() { - ctxt.manifold.swap_identifiers(); - 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: ?Sized + PointQuery>( - point_query1: &P, - ball2: &Ball, - ctxt: &mut PrimitiveContactGenerationContext, - swapped: bool, -) { - let position1; - let position2; - - if swapped { - position1 = ctxt.position2; - position2 = ctxt.position1; - } else { - position1 = ctxt.position1; - position2 = ctxt.position2; - } - - let local_p2_1 = position1.inverse_transform_point(&position2.translation.vector.into()); - let proj = point_query1.project_local_point(&local_p2_1, cfg!(feature = "dim3")); - let dpos = local_p2_1 - proj.local_point; - - #[allow(unused_mut)] // Because `mut local_n1, mut dist` is needed in 2D but not in 3D. - if let Some((mut local_n1, mut dist)) = Unit::try_new_and_get(dpos, 0.0) { - #[cfg(feature = "dim2")] - if proj.is_inside { - local_n1 = -local_n1; - dist = -dist; - } - - if dist <= ball2.radius + ctxt.prediction_distance { - let local_n2 = position2.inverse_transform_vector(&(position1 * -*local_n1)); - let local_p2 = (local_n2 * ball2.radius).into(); - let contact_point = Contact::new(proj.local_point, local_p2, 0, 0, dist - ball2.radius); - - if ctxt.manifold.points.len() != 1 { - ctxt.manifold.points.clear(); - ctxt.manifold.points.push(contact_point); - } else { - // Copy only the geometry so we keep the warmstart impulses. - ctxt.manifold.points[0].copy_geometry_from(contact_point); - } - - ctxt.manifold.local_n1 = *local_n1; - ctxt.manifold.local_n2 = local_n2; - ctxt.manifold.kinematics.category = KinematicsCategory::PlanePoint; - ctxt.manifold.kinematics.radius1 = 0.0; - ctxt.manifold.kinematics.radius2 = ball2.radius; - ContactManifoldData::update_warmstart_multiplier(ctxt.manifold); - } else { - ctxt.manifold.points.clear(); - } - } -} diff --git a/src/geometry/contact_generator/ball_polygon_contact_generator.rs b/src/geometry/contact_generator/ball_polygon_contact_generator.rs deleted file mode 100644 index 8b13789..0000000 --- a/src/geometry/contact_generator/ball_polygon_contact_generator.rs +++ /dev/null @@ -1 +0,0 @@ - diff --git a/src/geometry/contact_generator/capsule_capsule_contact_generator.rs b/src/geometry/contact_generator/capsule_capsule_contact_generator.rs deleted file mode 100644 index 9090b36..0000000 --- a/src/geometry/contact_generator/capsule_capsule_contact_generator.rs +++ /dev/null @@ -1,202 +0,0 @@ -use crate::geometry::contact_generator::PrimitiveContactGenerationContext; -use crate::geometry::{Capsule, Contact, ContactManifold, ContactManifoldData, KinematicsCategory}; -use crate::math::Isometry; -use crate::math::Vector; -use approx::AbsDiffEq; -#[cfg(feature = "dim2")] -use buckler::shape::SegmentPointLocation; -use na::Unit; - -pub fn generate_contacts_capsule_capsule(ctxt: &mut PrimitiveContactGenerationContext) { - if let (Some(capsule1), Some(capsule2)) = (ctxt.shape1.as_capsule(), ctxt.shape2.as_capsule()) { - generate_contacts( - ctxt.prediction_distance, - capsule1, - ctxt.position1, - capsule2, - ctxt.position2, - ctxt.manifold, - ); - } - - ContactManifoldData::update_warmstart_multiplier(ctxt.manifold); - ctxt.manifold.sort_contacts(ctxt.prediction_distance); -} - -#[cfg(feature = "dim2")] -pub fn generate_contacts<'a>( - prediction_distance: f32, - capsule1: &'a Capsule, - pos1: &'a Isometry<f32>, - capsule2: &'a Capsule, - pos2: &'a Isometry<f32>, - manifold: &mut ContactManifold, -) { - // FIXME: the contact kinematics is not correctly set here. - // We use the common "Point-Plane" kinematics with zero radius everytime. - // Instead we should select point/point ore point-plane (with non-zero - // radius for the point) depending on the features involved in the contact. - let pos12 = pos1.inverse() * pos2; - let pos21 = pos12.inverse(); - - let seg1 = capsule1.segment; - let seg2_1 = capsule2.segment.transformed(&pos12); - let (loc1, loc2) = buckler::query::details::closest_points_segment_segment_with_locations_nD( - (&seg1.a, &seg1.b), - (&seg2_1.a, &seg2_1.b), - ); - - // We do this clone to perform contact tracking and transfer impulses. - // FIXME: find a more efficient way of doing this. - let old_manifold_points = manifold.points.clone(); - manifold.points.clear(); - - let swapped = false; - - let fid1 = if let SegmentPointLocation::OnVertex(v1) = loc1 { - v1 as u8 * 2 - } else { - 1 - }; - let fid2 = if let SegmentPointLocation::OnVertex(v2) = loc2 { - v2 as u8 * 2 - } else { - 1 - }; - - let bcoords1 = loc1.barycentric_coordinates(); - let bcoords2 = loc2.barycentric_coordinates(); - 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()); - let dist = (local_p2 - local_p1).dot(&local_n1) - capsule1.radius - capsule2.radius; - - if dist <= prediction_distance { - let local_n2 = pos21 * -local_n1; - let contact = Contact::new(local_p1, pos21 * local_p2, fid1, fid2, dist); - manifold.points.push(contact); - - manifold.local_n1 = *local_n1; - manifold.local_n2 = *local_n2; - manifold.kinematics.category = KinematicsCategory::PlanePoint; - manifold.kinematics.radius1 = 0.0; - manifold.kinematics.radius2 = 0.0; - } else { - // No contact within tolerance. - return; - } - - if let (Some(dir1), Some(dir2)) = (seg1.direction(), seg2_1.direction()) { - if dir1.dot(&dir2).abs() >= crate::utils::COS_FRAC_PI_8 - && dir1.dot(&local_n1).abs() < crate::utils::SIN_FRAC_PI_8 - { - // Capsules axes are almost parallel and are almost perpendicular to the normal. - // Find a second contact point. - if let Some((clip_a, clip_b)) = - buckler::query::details::clip_segment_segment_with_normal( - (seg1.a, seg1.b), - (seg2_1.a, seg2_1.b), - *local_n1, - ) - { - let contact = - if (clip_a.0 - local_p1).norm_squared() > f32::default_epsilon() * 100.0 { - // Use clip_a as the second contact. - Contact::new( - clip_a.0, - pos21 * clip_a.1, - clip_a.2 as u8, - clip_a.3 as u8, - (clip_a.1 - clip_a.0).dot(&local_n1), - ) - } else { - // Use clip_b as the second contact. - Contact::new( - clip_b.0, - pos21 * clip_b.1, - clip_b.2 as u8, - clip_b.3 as u8, - (clip_b.1 - clip_b.0).dot(&local_n1), - ) - }; - - manifold.points.push(contact); - } - } - } - - if swapped { - for point in &mut manifold.points { - point.local_p1 += manifold.local_n1 * capsule2.radius; - point.local_p2 += manifold.local_n2 * capsule1.radius; - point.dist -= capsule1.radius + capsule2.radius; - } - } else { - for point in &mut manifold.points { - point.local_p1 += manifold.local_n1 * capsule1.radius; - point.local_p2 += manifold.local_n2 * capsule2.radius; - point.dist -= capsule1.radius + capsule2.radius; - } - } - - manifold.match_contacts(&old_manifold_points, swapped); -} - -#[cfg(feature = "dim3")] -pub fn generate_contacts<'a>( - prediction_distance: f32, - capsule1: &'a Capsule, - pos1: &'a Isometry<f32>, - capsule2: &'a Capsule, - pos2: &'a Isometry<f32>, - manifold: &mut ContactManifold, -) { - let pos12 = pos1.inverse() * pos2; - let pos21 = pos12.inverse(); - - let seg1 = capsule1.segment; - let seg2_1 = capsule2.segment.transformed(&pos12); - let (loc1, loc2) = - buckler::query::closest_points::closest_points_segment_segment_with_locations_nD( - (&seg1.a, &seg1.b), - (&seg2_1.a, &seg2_1.b), - ); - - { - let bcoords1 = loc1.barycentric_coordinates(); - let bcoords2 = loc2.barycentric_coordinates(); - 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()); - let dist = (local_p2 - local_p1).dot(&local_n1) - capsule1.radius - capsule2.radius; - - if dist <= prediction_distance { - let local_n2 = pos21 * -local_n1; - let contact = Contact::new( - local_p1 + *local_n1 * capsule1.radius, - pos21 * local_p2 + *local_n2 * capsule2.radius, - 0, - 0, - dist, - ); - - if manifold.points.len() != 0 { - manifold.points[0].copy_geometry_from(contact); - } else { - manifold.points.push(contact); - } - - manifold.local_n1 = *local_n1; - manifold.local_n2 = *local_n2; - manifold.kinematics.category = KinematicsCategory::PlanePoint; - manifold.kinematics.radius1 = 0.0; - manifold.kinematics.radius2 = 0.0; - } else { - manifold.points.clear(); - } - } -} diff --git a/src/geometry/contact_generator/contact_dispatcher.rs b/src/geometry/contact_generator/contact_dispatcher.rs deleted file mode 100644 index 9b247f3..0000000 --- a/src/geometry/contact_generator/contact_dispatcher.rs +++ /dev/null @@ -1,141 +0,0 @@ -#[cfg(feature = "dim3")] -use crate::geometry::contact_generator::PfmPfmContactManifoldGeneratorWorkspace; -use crate::geometry::contact_generator::{ - ContactGenerator, ContactGeneratorWorkspace, ContactPhase, - HeightFieldShapeContactGeneratorWorkspace, PrimitiveContactGenerator, - TriMeshShapeContactGeneratorWorkspace, -}; -use buckler::shape::ShapeType; - -/// Trait implemented by structures responsible for selecting a collision-detection algorithm -/// for a given pair of shapes. -pub trait ContactDispatcher { - /// Select the collision-detection algorithm for the given pair of primitive shapes. - fn dispatch_primitives( - &self, - shape1: ShapeType, - shape2: ShapeType, - ) -> (PrimitiveContactGenerator, Option<ContactGeneratorWorkspace>); - /// Select the collision-detection algorithm for the given pair of non-primitive shapes. - fn dispatch( - &self, - shape1: ShapeType, - shape2: ShapeType, - ) -> (ContactPhase, Option<ContactGeneratorWorkspace>); -} - -/// The default contact dispatcher used by Rapier. -pub struct DefaultContactDispatcher; - -impl ContactDispatcher for DefaultContactDispatcher { - fn dispatch_primitives( - &self, - shape1: ShapeType, - shape2: ShapeType, - ) -> (PrimitiveContactGenerator, Option<ContactGeneratorWorkspace>) { - match (shape1, shape2) { - (ShapeType::Ball, ShapeType::Ball) => ( - PrimitiveContactGenerator { - generate_contacts: super::generate_contacts_ball_ball, - #[cfg(feature = "simd-is-enabled")] - generate_contacts_simd: super::generate_contacts_ball_ball_simd, - ..PrimitiveContactGenerator::default() - }, - None, - ), - (ShapeType::Cuboid, ShapeType::Cuboid) => ( - PrimitiveContactGenerator { - generate_contacts: super::generate_contacts_cuboid_cuboid, - ..PrimitiveContactGenerator::default() - }, - None, - ), - // (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, - ), - (_, ShapeType::Ball) | (ShapeType::Ball, _) => ( - PrimitiveContactGenerator { - generate_contacts: super::generate_contacts_ball_convex, - ..PrimitiveContactGenerator::default() - }, - None, - ), - (ShapeType::Capsule, ShapeType::Cuboid) | (ShapeType::Cuboid, ShapeType::Capsule) => ( - PrimitiveContactGenerator { - generate_contacts: super::generate_contacts_cuboid_capsule, - ..PrimitiveContactGenerator::default() - }, - None, - ), - (ShapeType::Triangle, ShapeType::Cuboid) | (ShapeType::Cuboid, ShapeType::Triangle) => { - ( - PrimitiveContactGenerator { - generate_contacts: super::generate_contacts_cuboid_triangle, - ..PrimitiveContactGenerator::default() - }, - None, - ) - } - #[cfg(feature = "dim3")] - (ShapeType::Cylinder, _) - | (_, ShapeType::Cylinder) - | (ShapeType::Cone, _) - | (_, ShapeType::Cone) - | (ShapeType::RoundCylinder, _) - | (_, ShapeType::RoundCylinder) - | (ShapeType::Capsule, _) - | (_, ShapeType::Capsule) => ( - PrimitiveContactGenerator { - generate_contacts: super::generate_contacts_pfm_pfm, - ..PrimitiveContactGenerator::default() - }, - Some(ContactGeneratorWorkspace::from( - PfmPfmContactManifoldGeneratorWorkspace::default(), - )), - ), - _ => (PrimitiveContactGenerator::default(), None), - } - } - - fn dispatch( - &self, - shape1: ShapeType, - shape2: ShapeType, - ) -> (ContactPhase, Option<ContactGeneratorWorkspace>) { - match (shape1, shape2) { - (ShapeType::TriMesh, _) | (_, ShapeType::TriMesh) => ( - ContactPhase::NearPhase(ContactGenerator { - generate_contacts: super::generate_contacts_trimesh_shape, - ..ContactGenerator::default() - }), - Some(ContactGeneratorWorkspace::from( - TriMeshShapeContactGeneratorWorkspace::new(), - )), - ), - (ShapeType::HeightField, _) | (_, ShapeType::HeightField) => ( - ContactPhase::NearPhase(ContactGenerator { - generate_contacts: super::generate_contacts_heightfield_shape, - ..ContactGenerator::default() - }), - Some(ContactGeneratorWorkspace::from( - HeightFieldShapeContactGeneratorWorkspace::new(), - )), - ), - _ => { - let (gen, workspace) = self.dispatch_primitives(shape1, shape2); - (ContactPhase::ExactPhase(gen), workspace) - } - } - } -} diff --git a/src/geometry/contact_generator/contact_generator.rs b/src/geometry/contact_generator/contact_generator.rs deleted file mode 100644 index 06ab265..0000000 --- a/src/geometry/contact_generator/contact_generator.rs +++ /dev/null @@ -1,228 +0,0 @@ -use crate::data::MaybeSerializableData; -use crate::geometry::{ - Collider, ColliderSet, ContactDispatcher, ContactEvent, ContactManifold, ContactPair, Shape, - ShapeType, SolverFlags, -}; -use crate::math::Isometry; -#[cfg(feature = "simd-is-enabled")] -use crate::math::{SimdReal, SIMD_WIDTH}; -use crate::pipeline::EventHandler; - -#[derive(Copy, Clone)] -pub enum ContactPhase { - NearPhase(ContactGenerator), - ExactPhase(PrimitiveContactGenerator), -} - -impl ContactPhase { - #[inline] - pub fn generate_contacts( - self, - mut context: ContactGenerationContext, - events: &dyn EventHandler, - ) { - let had_contacts_before = context.pair.has_any_active_contact(); - - match self { - Self::NearPhase(gen) => (gen.generate_contacts)(&mut context), - Self::ExactPhase(gen) => { - // Build the primitive context from the non-primitive context and dispatch. - let (collider1, collider2, manifold, workspace) = context - .pair - .single_manifold(context.colliders, context.solver_flags); - let mut context2 = PrimitiveContactGenerationContext { - prediction_distance: context.prediction_distance, - collider1, - collider2, - shape1: collider1.shape(), - shape2: collider2.shape(), - position1: collider1.position(), - position2: collider2.position(), - manifold, - workspace, - }; - - (gen.generate_contacts)(&mut context2) - } - } - - if had_contacts_before != context.pair.has_any_active_contact() { - if had_contacts_before { - events.handle_contact_event(ContactEvent::Stopped( - context.pair.pair.collider1, - context.pair.pair.collider2, - )); - } else { - events.handle_contact_event(ContactEvent::Started( - context.pair.pair.collider1, - context.pair.pair.collider2, - )) - } - } - } - - #[cfg(feature = "simd-is-enabled")] - #[inline] - pub fn generate_contacts_simd( - self, - mut context: ContactGenerationContextSimd, - events: &dyn EventHandler, - ) { - let mut had_contacts_before = [false; SIMD_WIDTH]; - - for (i, pair) in context.pairs.iter().enumerate() { - had_contacts_before[i] = pair.has_any_active_contact() - } - - match self { - Self::NearPhase(gen) => (gen.generate_contacts_simd)(&mut context), - Self::ExactPhase(gen) => { - // Build the primitive context from the non-primitive context and dispatch. - use arrayvec::ArrayVec; - let mut colliders_arr: ArrayVec<[(&Collider, &Collider); SIMD_WIDTH]> = - ArrayVec::new(); - let mut manifold_arr: ArrayVec<[&mut ContactManifold; SIMD_WIDTH]> = - ArrayVec::new(); - let mut workspace_arr: ArrayVec< - [Option<&mut (dyn MaybeSerializableData)>; SIMD_WIDTH], - > = ArrayVec::new(); - - for (pair, solver_flags) in - context.pairs.iter_mut().zip(context.solver_flags.iter()) - { - let (collider1, collider2, manifold, workspace) = - pair.single_manifold(context.colliders, *solver_flags); - colliders_arr.push((collider1, collider2)); - manifold_arr.push(manifold); - workspace_arr.push(workspace); - } - - let max_index = colliders_arr.len() - 1; - let colliders1 = array![|ii| colliders_arr[ii.min(max_index)].0; SIMD_WIDTH]; - let colliders2 = array![|ii| colliders_arr[ii.min(max_index)].1; SIMD_WIDTH]; - - let mut context2 = PrimitiveContactGenerationContextSimd { - prediction_distance: context.prediction_distance, - colliders1, - colliders2, - shapes1: array![|ii| colliders1[ii].shape(); SIMD_WIDTH], - shapes2: array![|ii| colliders2[ii].shape(); SIMD_WIDTH], - positions1: &Isometry::from( - array![|ii| *colliders1[ii].position(); SIMD_WIDTH], - ), - p |