parry3d/query/contact/
contact_support_map_support_map.rs

1use crate::math::{Isometry, Real, Vector};
2use crate::query::epa::EPA;
3use crate::query::gjk::{self, CSOPoint, GJKResult, VoronoiSimplex};
4use crate::query::Contact;
5use crate::shape::SupportMap;
6
7use na::Unit;
8
9/// Contact between support-mapped shapes (`Cuboid`, `ConvexHull`, etc.)
10pub fn contact_support_map_support_map<G1, G2>(
11    pos12: &Isometry<Real>,
12    g1: &G1,
13    g2: &G2,
14    prediction: Real,
15) -> Option<Contact>
16where
17    G1: ?Sized + SupportMap,
18    G2: ?Sized + SupportMap,
19{
20    let simplex = &mut VoronoiSimplex::new();
21    match contact_support_map_support_map_with_params(pos12, g1, g2, prediction, simplex, None) {
22        GJKResult::ClosestPoints(point1, point2_1, normal1) => {
23            let dist = (point2_1 - point1).dot(&normal1);
24            let point2 = pos12.inverse_transform_point(&point2_1);
25            let normal2 = pos12.inverse_transform_unit_vector(&-normal1);
26            Some(Contact::new(point1, point2, normal1, normal2, dist))
27        }
28        GJKResult::NoIntersection(_) => None,
29        GJKResult::Intersection => unreachable!(),
30        GJKResult::Proximity(_) => unreachable!(),
31    }
32}
33
34/// Contact between support-mapped shapes (`Cuboid`, `ConvexHull`, etc.)
35///
36/// This allows a more fine grained control other the underlying GJK algorigtm.
37/// The vector-typed result is the vector that should be passed as `init` for
38/// subsequent executions of the algorithm. It is also the contact
39/// normal (that points toward the outside of the first solid).
40pub fn contact_support_map_support_map_with_params<G1, G2>(
41    pos12: &Isometry<Real>,
42    g1: &G1,
43    g2: &G2,
44    prediction: Real,
45    simplex: &mut VoronoiSimplex,
46    init_dir: Option<Unit<Vector<Real>>>,
47) -> GJKResult
48where
49    G1: ?Sized + SupportMap,
50    G2: ?Sized + SupportMap,
51{
52    let dir = if let Some(init_dir) = init_dir {
53        init_dir
54    } else if let Some(init_dir) =
55        Unit::try_new(pos12.translation.vector, crate::math::DEFAULT_EPSILON)
56    {
57        init_dir
58    } else {
59        Vector::x_axis()
60    };
61
62    simplex.reset(CSOPoint::from_shapes(pos12, g1, g2, &dir));
63
64    let cpts = gjk::closest_points(pos12, g1, g2, prediction, true, simplex);
65    if cpts != GJKResult::Intersection {
66        return cpts;
67    }
68
69    // The point is inside of the CSO: use the fallback algorithm
70    let mut epa = EPA::new();
71    if let Some((p1, p2, n)) = epa.closest_points(pos12, g1, g2, simplex) {
72        return GJKResult::ClosestPoints(p1, p2, n);
73    }
74
75    // Everything failed
76    GJKResult::NoIntersection(Vector::x_axis())
77}
parry3d/query/contact/contact_support_map_support_map.rs

parry3d/query/contact/
contact_support_map_support_map.rs
