use crate::bounding_volume::SimdAabb;
use crate::math::{Isometry, Real, SimdBool, SimdReal, Vector, SIMD_WIDTH};
use crate::partitioning::{SimdBestFirstVisitStatus, SimdBestFirstVisitor};
use crate::query::QueryDispatcher;
use crate::shape::{Shape, TypedSimdCompositeShape};
use crate::utils::IsometryOpt;
use simba::simd::{SimdBool as _, SimdPartialOrd, SimdValue};
pub fn distance_composite_shape_shape<D, G1>(
dispatcher: &D,
pos12: &Isometry<Real>,
g1: &G1,
g2: &dyn Shape,
) -> Real
where
D: ?Sized + QueryDispatcher,
G1: ?Sized + TypedSimdCompositeShape,
{
let mut visitor = CompositeShapeAgainstAnyDistanceVisitor::new(dispatcher, pos12, g1, g2);
g1.typed_qbvh()
.traverse_best_first(&mut visitor)
.expect("The composite shape must not be empty.")
.1
.1
}
pub fn distance_shape_composite_shape<D, G2>(
dispatcher: &D,
pos12: &Isometry<Real>,
g1: &dyn Shape,
g2: &G2,
) -> Real
where
D: ?Sized + QueryDispatcher,
G2: ?Sized + TypedSimdCompositeShape,
{
distance_composite_shape_shape(dispatcher, &pos12.inverse(), g2, g1)
}
pub struct CompositeShapeAgainstAnyDistanceVisitor<'a, D: ?Sized, G1: ?Sized + 'a> {
msum_shift: Vector<SimdReal>,
msum_margin: Vector<SimdReal>,
dispatcher: &'a D,
pos12: &'a Isometry<Real>,
g1: &'a G1,
g2: &'a dyn Shape,
}
impl<'a, D: ?Sized, G1: ?Sized + 'a> CompositeShapeAgainstAnyDistanceVisitor<'a, D, G1> {
pub fn new(
dispatcher: &'a D,
pos12: &'a Isometry<Real>,
g1: &'a G1,
g2: &'a dyn Shape,
) -> Self {
let ls_aabb2 = g2.compute_aabb(pos12);
Self {
dispatcher,
msum_shift: Vector::splat(-ls_aabb2.center().coords),
msum_margin: Vector::splat(ls_aabb2.half_extents()),
pos12,
g1,
g2,
}
}
}
impl<'a, D, G1> SimdBestFirstVisitor<G1::PartId, SimdAabb>
for CompositeShapeAgainstAnyDistanceVisitor<'a, D, G1>
where
D: ?Sized + QueryDispatcher,
G1: ?Sized + TypedSimdCompositeShape,
{
type Result = (G1::PartId, Real);
fn visit(
&mut self,
best: Real,
bv: &SimdAabb,
data: Option<[Option<&G1::PartId>; SIMD_WIDTH]>,
) -> SimdBestFirstVisitStatus<Self::Result> {
let msum = SimdAabb {
mins: bv.mins + self.msum_shift + (-self.msum_margin),
maxs: bv.maxs + self.msum_shift + self.msum_margin,
};
let dist = msum.distance_to_origin();
let mask = dist.simd_lt(SimdReal::splat(best));
if let Some(data) = data {
let bitmask = mask.bitmask();
let mut weights = [0.0; SIMD_WIDTH];
let mut mask = [false; SIMD_WIDTH];
let mut results = [None; SIMD_WIDTH];
for ii in 0..SIMD_WIDTH {
if (bitmask & (1 << ii)) != 0 && data[ii].is_some() {
let part_id = *data[ii].unwrap();
let mut dist = Ok(0.0);
self.g1.map_untyped_part_at(part_id, |part_pos1, g1, _| {
dist =
self.dispatcher
.distance(&part_pos1.inv_mul(self.pos12), g1, self.g2);
});
if let Ok(dist) = dist {
if dist == 0.0 {
return SimdBestFirstVisitStatus::ExitEarly(Some((part_id, 0.0)));
} else {
weights[ii] = dist;
mask[ii] = dist < best;
results[ii] = Some((part_id, dist));
}
}
}
}
SimdBestFirstVisitStatus::MaybeContinue {
weights: SimdReal::from(weights),
mask: SimdBool::from(mask),
results,
}
} else {
SimdBestFirstVisitStatus::MaybeContinue {
weights: dist,
mask,
results: [None; SIMD_WIDTH],
}
}
}
}