use crate::bounding_volume::BoundingVolume;
use crate::math::{Isometry, Real};
use crate::query::contact_manifolds::contact_manifolds_workspace::{
TypedWorkspaceData, WorkspaceData,
};
use crate::query::contact_manifolds::{ContactManifoldsWorkspace, NormalConstraints};
use crate::query::query_dispatcher::PersistentQueryDispatcher;
use crate::query::visitors::BoundingVolumeIntersectionsVisitor;
use crate::query::ContactManifold;
#[cfg(feature = "dim2")]
use crate::shape::Capsule;
use crate::shape::{HeightField, Shape, SimdCompositeShape};
use crate::utils::hashmap::{Entry, HashMap};
use crate::utils::IsometryOpt;
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
#[cfg_attr(
feature = "rkyv",
derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize),
archive(check_bytes)
)]
#[derive(Clone)]
struct SubDetector {
manifold_id: usize,
timestamp: bool,
}
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
#[derive(Clone, Default)]
pub struct HeightFieldCompositeShapeContactManifoldsWorkspace {
timestamp: bool,
sub_detectors: HashMap<(u32, u32), SubDetector>,
}
impl HeightFieldCompositeShapeContactManifoldsWorkspace {
pub fn new() -> Self {
Self::default()
}
}
fn ensure_workspace_exists(workspace: &mut Option<ContactManifoldsWorkspace>) {
if workspace
.as_ref()
.and_then(|w| {
w.0.downcast_ref::<HeightFieldCompositeShapeContactManifoldsWorkspace>()
})
.is_some()
{
return;
}
*workspace = Some(ContactManifoldsWorkspace(Box::new(
HeightFieldCompositeShapeContactManifoldsWorkspace::new(),
)));
}
pub fn contact_manifolds_heightfield_composite_shape<ManifoldData, ContactData>(
dispatcher: &dyn PersistentQueryDispatcher<ManifoldData, ContactData>,
pos12: &Isometry<Real>,
pos21: &Isometry<Real>,
heightfield1: &HeightField,
composite2: &dyn SimdCompositeShape,
prediction: Real,
manifolds: &mut Vec<ContactManifold<ManifoldData, ContactData>>,
workspace: &mut Option<ContactManifoldsWorkspace>,
flipped: bool,
) where
ManifoldData: Default + Clone,
ContactData: Default + Copy,
{
ensure_workspace_exists(workspace);
let workspace: &mut HeightFieldCompositeShapeContactManifoldsWorkspace =
workspace.as_mut().unwrap().0.downcast_mut().unwrap();
let new_timestamp = !workspace.timestamp;
workspace.timestamp = new_timestamp;
let qbvh2 = composite2.qbvh();
let mut stack2 = Vec::new();
let ls_aabb2_1 = qbvh2.root_aabb().transform_by(pos12).loosened(prediction);
let mut old_manifolds = std::mem::take(manifolds);
heightfield1.map_elements_in_local_aabb(&ls_aabb2_1, &mut |leaf1, part1| {
#[cfg(feature = "dim2")]
let sub_shape1 = Capsule::new(part1.a, part1.b, 0.0); #[cfg(feature = "dim3")]
let sub_shape1 = *part1;
let ls_aabb1_2 = part1.compute_aabb(pos21).loosened(prediction);
let mut leaf_fn2 = |leaf2: &u32| {
composite2.map_part_at(
*leaf2,
&mut |part_pos2, part_shape2, normal_constraints2| {
let sub_detector = match workspace.sub_detectors.entry((leaf1, *leaf2)) {
Entry::Occupied(entry) => {
let sub_detector = entry.into_mut();
let manifold = old_manifolds[sub_detector.manifold_id].take();
sub_detector.manifold_id = manifolds.len();
sub_detector.timestamp = new_timestamp;
manifolds.push(manifold);
sub_detector
}
Entry::Vacant(entry) => {
let sub_detector = SubDetector {
manifold_id: manifolds.len(),
timestamp: new_timestamp,
};
let mut manifold = ContactManifold::new();
if flipped {
manifold.subshape1 = *leaf2;
manifold.subshape2 = leaf1;
manifold.subshape_pos1 = part_pos2.copied();
} else {
manifold.subshape1 = leaf1;
manifold.subshape2 = *leaf2;
manifold.subshape_pos2 = part_pos2.copied();
};
manifolds.push(manifold);
entry.insert(sub_detector)
}
};
let manifold = &mut manifolds[sub_detector.manifold_id];
#[cfg(feature = "dim2")]
let triangle_normals = None::<()>;
#[cfg(feature = "dim3")]
let triangle_normals = heightfield1.triangle_normal_constraints(leaf1);
let normal_constraints1 = triangle_normals
.as_ref()
.map(|proj| proj as &dyn NormalConstraints);
if flipped {
let _ = dispatcher.contact_manifold_convex_convex(
&part_pos2.inv_mul(pos21),
part_shape2,
&sub_shape1,
normal_constraints2,
normal_constraints1,
prediction,
manifold,
);
} else {
let _ = dispatcher.contact_manifold_convex_convex(
&part_pos2.prepend_to(pos12),
&sub_shape1,
part_shape2,
normal_constraints1,
normal_constraints2,
prediction,
manifold,
);
}
},
);
true
};
let mut visitor2 = BoundingVolumeIntersectionsVisitor::new(&ls_aabb1_2, &mut leaf_fn2);
let _ = qbvh2.traverse_depth_first_with_stack(&mut visitor2, &mut stack2);
});
workspace
.sub_detectors
.retain(|_, detector| detector.timestamp == new_timestamp);
}
impl WorkspaceData for HeightFieldCompositeShapeContactManifoldsWorkspace {
fn as_typed_workspace_data(&self) -> TypedWorkspaceData {
TypedWorkspaceData::HeightfieldCompositeShapeContactManifoldsWorkspace(self)
}
fn clone_dyn(&self) -> Box<dyn WorkspaceData> {
Box::new(self.clone())
}
}