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use crate::math::{Isometry, Point, Real, Vector};
use crate::shape::PackedFeatureId;
#[derive(Copy, Clone, Debug)]
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
#[cfg_attr(
feature = "rkyv",
derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize),
archive(check_bytes)
)]
/// A single contact between two shape.
pub struct TrackedContact<Data> {
/// The contact point in the local-space of the first shape.
pub local_p1: Point<Real>,
/// The contact point in the local-space of the second shape.
pub local_p2: Point<Real>,
/// The distance between the two contact points.
pub dist: Real,
/// The feature ID of the first shape involved in the contact.
pub fid1: PackedFeatureId,
/// The feature ID of the second shape involved in the contact.
pub fid2: PackedFeatureId,
/// User-data associated to this contact.
pub data: Data,
}
impl<Data: Default + Copy> TrackedContact<Data> {
/// Creates a new tracked contact.
pub fn new(
local_p1: Point<Real>,
local_p2: Point<Real>,
fid1: PackedFeatureId,
fid2: PackedFeatureId,
dist: Real,
) -> Self {
Self {
local_p1,
local_p2,
fid1,
fid2,
dist,
data: Data::default(),
}
}
/// Creates a new tracked contact where its input may need to be flipped.
pub fn flipped(
local_p1: Point<Real>,
local_p2: Point<Real>,
fid1: PackedFeatureId,
fid2: PackedFeatureId,
dist: Real,
flipped: bool,
) -> Self {
if !flipped {
Self::new(local_p1, local_p2, fid1, fid2, dist)
} else {
Self::new(local_p2, local_p1, fid2, fid1, dist)
}
}
/// Copy to `self` the geometric information from `contact`.
pub fn copy_geometry_from(&mut self, contact: Self) {
self.local_p1 = contact.local_p1;
self.local_p2 = contact.local_p2;
self.fid1 = contact.fid1;
self.fid2 = contact.fid2;
self.dist = contact.dist;
}
}
#[derive(Clone, Debug, Default)]
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
/// A contact manifold between two shapes.
///
/// A contact manifold describes a set of contacts between two shapes. All the contact
/// part of the same contact manifold share the same contact normal and contact kinematics.
pub struct ContactManifold<ManifoldData, ContactData> {
// NOTE: use a SmallVec instead?
// And for 2D use an ArrayVec since there will never be more than 2 contacts anyways.
/// The contacts points.
#[cfg(feature = "dim2")]
pub points: arrayvec::ArrayVec<TrackedContact<ContactData>, 2>,
/// The contacts points.
#[cfg(feature = "dim3")]
pub points: Vec<TrackedContact<ContactData>>,
/// The contact normal of all the contacts of this manifold, expressed in the local space of the first shape.
pub local_n1: Vector<Real>,
/// The contact normal of all the contacts of this manifold, expressed in the local space of the second shape.
pub local_n2: Vector<Real>,
/// The first subshape involved in this contact manifold.
///
/// This is zero if the first shape is not a composite shape.
pub subshape1: u32,
/// The second subshape involved in this contact manifold.
///
/// This is zero if the second shape is not a composite shape.
pub subshape2: u32,
/// If the first shape involved is a composite shape, this contains the position of its subshape
/// involved in this contact.
pub subshape_pos1: Option<Isometry<Real>>,
/// If the second shape involved is a composite shape, this contains the position of its subshape
/// involved in this contact.
pub subshape_pos2: Option<Isometry<Real>>,
/// Additional tracked data associated to this contact manifold.
pub data: ManifoldData,
}
impl<ManifoldData, ContactData: Default + Copy> ContactManifold<ManifoldData, ContactData> {
/// Create a new empty contact-manifold.
pub fn new() -> Self
where
ManifoldData: Default,
{
Self::default()
}
/// Create a new empty contact-manifold with the given associated data.
pub fn with_data(subshape1: u32, subshape2: u32, data: ManifoldData) -> Self {
Self {
#[cfg(feature = "dim2")]
points: arrayvec::ArrayVec::new(),
#[cfg(feature = "dim3")]
points: Vec::new(),
local_n1: Vector::zeros(),
local_n2: Vector::zeros(),
subshape1,
subshape2,
subshape_pos1: None,
subshape_pos2: None,
data,
}
}
/// Clones `self` and then remove all contact points from `self`.
pub fn take(&mut self) -> Self
where
ManifoldData: Clone,
{
#[cfg(feature = "dim2")]
let points = self.points.clone();
#[cfg(feature = "dim3")]
let points = std::mem::take(&mut self.points);
self.points.clear();
ContactManifold {
points,
local_n1: self.local_n1,
local_n2: self.local_n2,
subshape1: self.subshape1,
subshape2: self.subshape2,
subshape_pos1: self.subshape_pos1,
subshape_pos2: self.subshape_pos2,
data: self.data.clone(),
}
}
/*
pub(crate) fn single_manifold<'a, 'b>(
manifolds: &mut Vec<Self>,
data: &dyn Fn() -> ManifoldData,
) -> &'a mut Self {
if manifolds.is_empty() {
let manifold_data = data();
manifolds.push(ContactManifold::with_data((0, 0), manifold_data));
}
&mut manifolds[0]
}
*/
/// The slice of all the contacts, active or not, on this contact manifold.
#[inline]
pub fn contacts(&self) -> &[TrackedContact<ContactData>] {
&self.points
}
/// Attempts to use spatial coherence to update contacts points.
#[inline]
pub fn try_update_contacts(&mut self, pos12: &Isometry<Real>) -> bool {
// const DOT_THRESHOLD: Real = 0.crate::COS_10_DEGREES;
// const DOT_THRESHOLD: Real = crate::utils::COS_5_DEGREES;
const DOT_THRESHOLD: Real = crate::utils::COS_1_DEGREES;
const DIST_SQ_THRESHOLD: Real = 1.0e-6; // TODO: this should not be hard-coded.
self.try_update_contacts_eps(pos12, DOT_THRESHOLD, DIST_SQ_THRESHOLD)
}
/// Attempts to use spatial coherence to update contacts points, using user-defined tolerances.
#[inline]
pub fn try_update_contacts_eps(
&mut self,
pos12: &Isometry<Real>,
angle_dot_threshold: Real,
dist_sq_threshold: Real,
) -> bool {
if self.points.is_empty() {
return false;
}
let local_n2 = pos12 * self.local_n2;
if -self.local_n1.dot(&local_n2) < angle_dot_threshold {
return false;
}
for pt in &mut self.points {
let local_p2 = pos12 * pt.local_p2;
let dpt = local_p2 - pt.local_p1;
let dist = dpt.dot(&self.local_n1);
if dist * pt.dist < 0.0 {
// We switched between penetrating/non-penetrating.
// The may result in other contacts to appear.
return false;
}
let new_local_p1 = local_p2 - self.local_n1 * dist;
if na::distance_squared(&pt.local_p1, &new_local_p1) > dist_sq_threshold {
return false;
}
pt.dist = dist;
pt.local_p1 = new_local_p1;
}
true
}
/// Copy data associated to contacts from `old_contacts` to the new contacts in `self`
/// based on matching their feature-ids.
pub fn match_contacts(&mut self, old_contacts: &[TrackedContact<ContactData>]) {
for contact in &mut self.points {
for old_contact in old_contacts {
if contact.fid1 == old_contact.fid1 && contact.fid2 == old_contact.fid2 {
// Transfer the tracked data.
contact.data = old_contact.data;
}
}
}
}
/// Copy data associated to contacts from `old_contacts` to the new contacts in `self`
/// based on matching the contact positions.
pub fn match_contacts_using_positions(
&mut self,
old_contacts: &[TrackedContact<ContactData>],
dist_threshold: Real,
) {
let sq_threshold = dist_threshold * dist_threshold;
for contact in &mut self.points {
for old_contact in old_contacts {
if na::distance_squared(&contact.local_p1, &old_contact.local_p1) < sq_threshold
&& na::distance_squared(&contact.local_p2, &old_contact.local_p2) < sq_threshold
{
// Transfer the tracked data.
contact.data = old_contact.data;
}
}
}
}
/// Removes all the contacts from `self`.
pub fn clear(&mut self) {
self.points.clear();
}
/// Returns the contact with the smallest distance (i.e. the largest penetration depth).
pub fn find_deepest_contact(&self) -> Option<&TrackedContact<ContactData>> {
let mut deepest = self.points.first()?;
for pt in &self.points {
if pt.dist < deepest.dist {
deepest = pt;
}
}
Some(deepest)
}
}