parry2d/query/contact/
contact_support_map_support_map.rs

1use crate::math::{Pose, Real, Vector};
2use crate::query::epa::EPA;
3use crate::query::gjk::{self, CsoPoint, GJKResult, VoronoiSimplex};
4use crate::query::Contact;
5use crate::shape::SupportMap;
6
7/// Contact between support-mapped shapes (`Cuboid`, `ConvexHull`, etc.)
8pub fn contact_support_map_support_map<G1, G2>(
9    pos12: &Pose,
10    g1: &G1,
11    g2: &G2,
12    prediction: Real,
13) -> Option<Contact>
14where
15    G1: ?Sized + SupportMap,
16    G2: ?Sized + SupportMap,
17{
18    let simplex = &mut VoronoiSimplex::new();
19    match contact_support_map_support_map_with_params(pos12, g1, g2, prediction, simplex, None) {
20        GJKResult::ClosestPoints(point1, point2_1, normal1) => {
21            let dist = (point2_1 - point1).dot(normal1);
22            let point2 = pos12.inverse_transform_point(point2_1);
23            let normal2 = pos12.rotation.inverse() * -normal1;
24            Some(Contact::new(point1, point2, normal1, normal2, dist))
25        }
26        GJKResult::NoIntersection(_) => None,
27        GJKResult::Intersection => unreachable!(),
28        GJKResult::Proximity(_) => unreachable!(),
29    }
30}
31
32/// Contact between support-mapped shapes (`Cuboid`, `ConvexHull`, etc.)
33///
34/// This allows a more fine grained control other the underlying GJK algorigtm.
35/// The vector-typed result is the vector that should be passed as `init` for
36/// subsequent executions of the algorithm. It is also the contact
37/// normal (that points toward the outside of the first solid).
38pub fn contact_support_map_support_map_with_params<G1, G2>(
39    pos12: &Pose,
40    g1: &G1,
41    g2: &G2,
42    prediction: Real,
43    simplex: &mut VoronoiSimplex,
44    init_dir: Option<Vector>,
45) -> GJKResult
46where
47    G1: ?Sized + SupportMap,
48    G2: ?Sized + SupportMap,
49{
50    let dir = if let Some(init_dir) = init_dir {
51        init_dir
52    } else if let Some(init_dir) = (pos12.translation).try_normalize() {
53        init_dir
54    } else {
55        Vector::X
56    };
57
58    simplex.reset(CsoPoint::from_shapes(pos12, g1, g2, dir));
59
60    let cpts = gjk::closest_points(pos12, g1, g2, prediction, true, simplex);
61    if cpts != GJKResult::Intersection {
62        return cpts;
63    }
64
65    // The point is inside of the CSO: use the fallback algorithm
66    let mut epa = EPA::new();
67    if let Some((p1, p2, n)) = epa.closest_points(pos12, g1, g2, simplex) {
68        return GJKResult::ClosestPoints(p1, p2, n);
69    }
70
71    // Everything failed
72    GJKResult::NoIntersection(Vector::X)
73}
parry2d/query/contact/contact_support_map_support_map.rs

parry2d/query/contact/
contact_support_map_support_map.rs
