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|
use crate::geometry::contact_generator::{
ContactGenerator, ContactPhase, HeightFieldShapeContactGeneratorWorkspace,
PrimitiveContactGenerator, TrimeshShapeContactGeneratorWorkspace,
};
use crate::geometry::Shape;
use std::any::Any;
/// 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: &Shape,
shape2: &Shape,
) -> (
PrimitiveContactGenerator,
Option<Box<dyn Any + Send + Sync>>,
);
/// Select the collision-detection algorithm for the given pair of non-primitive shapes.
fn dispatch(
&self,
shape1: &Shape,
shape2: &Shape,
) -> (ContactPhase, Option<Box<dyn Any + Send + Sync>>);
}
/// The default contact dispatcher used by Rapier.
pub struct DefaultContactDispatcher;
impl ContactDispatcher for DefaultContactDispatcher {
fn dispatch_primitives(
&self,
shape1: &Shape,
shape2: &Shape,
) -> (
PrimitiveContactGenerator,
Option<Box<dyn Any + Send + Sync>>,
) {
match (shape1, shape2) {
(Shape::Ball(_), Shape::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,
),
(Shape::Cuboid(_), Shape::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(_)) => (
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(_)) => (
PrimitiveContactGenerator {
generate_contacts: super::generate_contacts_ball_convex,
..PrimitiveContactGenerator::default()
},
None,
),
(Shape::Capsule(_), Shape::Cuboid(_)) | (Shape::Cuboid(_), Shape::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,
),
_ => (PrimitiveContactGenerator::default(), None),
}
}
fn dispatch(
&self,
shape1: &Shape,
shape2: &Shape,
) -> (ContactPhase, Option<Box<dyn Any + Send + Sync>>) {
match (shape1, shape2) {
(Shape::Trimesh(_), _) | (_, Shape::Trimesh(_)) => (
ContactPhase::NearPhase(ContactGenerator {
generate_contacts: super::generate_contacts_trimesh_shape,
..ContactGenerator::default()
}),
Some(Box::new(TrimeshShapeContactGeneratorWorkspace::new())),
),
(Shape::HeightField(_), _) | (_, Shape::HeightField(_)) => (
ContactPhase::NearPhase(ContactGenerator {
generate_contacts: super::generate_contacts_heightfield_shape,
..ContactGenerator::default()
}),
Some(Box::new(HeightFieldShapeContactGeneratorWorkspace::new())),
),
_ => {
let (gen, workspace) = self.dispatch_primitives(shape1, shape2);
(ContactPhase::ExactPhase(gen), workspace)
}
}
}
}
|
