1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
#![allow(deprecated)] // Silence warning until we actually remove IntersectionCompositeShapeShapeBestFirstVisitor

use crate::bounding_volume::SimdAabb;
use crate::math::{Isometry, Real, SimdReal, Vector, SIMD_WIDTH};
use crate::partitioning::{
    SimdBestFirstVisitStatus, SimdBestFirstVisitor, SimdVisitStatus, SimdVisitor,
};
use crate::query::QueryDispatcher;
use crate::shape::{Shape, TypedSimdCompositeShape};
use crate::utils::IsometryOpt;
use simba::simd::{SimdBool as _, SimdPartialOrd, SimdValue};

/// Intersection test between a composite shape (`Mesh`, `Compound`) and any other shape.
pub fn intersection_test_composite_shape_shape<D, G1>(
    dispatcher: &D,
    pos12: &Isometry<Real>,
    g1: &G1,
    g2: &dyn Shape,
) -> bool
where
    D: ?Sized + QueryDispatcher,
    G1: ?Sized + TypedSimdCompositeShape,
{
    let mut visitor = IntersectionCompositeShapeShapeVisitor::new(dispatcher, pos12, g1, g2);

    let _ = g1.typed_qbvh().traverse_depth_first(&mut visitor);
    visitor.found_intersection
}

/// Proximity between a shape and a composite (`Mesh`, `Compound`) shape.
pub fn intersection_test_shape_composite_shape<D, G2>(
    dispatcher: &D,
    pos12: &Isometry<Real>,
    g1: &dyn Shape,
    g2: &G2,
) -> bool
where
    D: ?Sized + QueryDispatcher,
    G2: ?Sized + TypedSimdCompositeShape,
{
    intersection_test_composite_shape_shape(dispatcher, &pos12.inverse(), g2, g1)
}

/// A visitor for checking if a composite-shape and a shape intersect.
pub struct IntersectionCompositeShapeShapeVisitor<'a, D: ?Sized, G1: ?Sized + 'a> {
    ls_aabb2: SimdAabb,

    dispatcher: &'a D,
    pos12: &'a Isometry<Real>,
    g1: &'a G1,
    g2: &'a dyn Shape,

    found_intersection: bool,
}

impl<'a, D, G1> IntersectionCompositeShapeShapeVisitor<'a, D, G1>
where
    D: ?Sized + QueryDispatcher,
    G1: ?Sized + TypedSimdCompositeShape,
{
    /// Initialize a visitor for checking if a composite-shape and a shape intersect.
    pub fn new(
        dispatcher: &'a D,
        pos12: &'a Isometry<Real>,
        g1: &'a G1,
        g2: &'a dyn Shape,
    ) -> IntersectionCompositeShapeShapeVisitor<'a, D, G1> {
        let ls_aabb2 = g2.compute_aabb(pos12);

        IntersectionCompositeShapeShapeVisitor {
            dispatcher,
            ls_aabb2: SimdAabb::splat(ls_aabb2),
            pos12,
            g1,
            g2,
            found_intersection: false,
        }
    }
}

impl<'a, D, G1> SimdVisitor<G1::PartId, SimdAabb>
    for IntersectionCompositeShapeShapeVisitor<'a, D, G1>
where
    D: ?Sized + QueryDispatcher,
    G1: ?Sized + TypedSimdCompositeShape,
{
    fn visit(
        &mut self,
        bv: &SimdAabb,
        data: Option<[Option<&G1::PartId>; SIMD_WIDTH]>,
    ) -> SimdVisitStatus {
        let mask = self.ls_aabb2.intersects(bv);

        if let Some(data) = data {
            let bitmask = mask.bitmask();
            let mut found_intersection = false;

            for (ii, data) in data.into_iter().enumerate() {
                if (bitmask & (1 << ii)) != 0 {
                    let Some(data) = data else { continue };
                    let part_id = *data;
                    self.g1.map_untyped_part_at(part_id, |part_pos1, g1, _| {
                        found_intersection = self.dispatcher.intersection_test(
                            &part_pos1.inv_mul(self.pos12),
                            g1,
                            self.g2,
                        ) == Ok(true);
                    });

                    if found_intersection {
                        self.found_intersection = true;
                        return SimdVisitStatus::ExitEarly;
                    }
                }
            }
        }

        SimdVisitStatus::MaybeContinue(mask)
    }
}

/// A visitor for checking if a composite-shape and a shape intersect.
#[deprecated(note = "Use IntersectionCompositeShapeShapeVisitor instead.")]
pub struct IntersectionCompositeShapeShapeBestFirstVisitor<'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, G1> IntersectionCompositeShapeShapeBestFirstVisitor<'a, D, G1>
where
    D: ?Sized + QueryDispatcher,
    G1: ?Sized + TypedSimdCompositeShape,
{
    /// Initialize a visitor for checking if a composite-shape and a shape intersect.
    pub fn new(
        dispatcher: &'a D,
        pos12: &'a Isometry<Real>,
        g1: &'a G1,
        g2: &'a dyn Shape,
    ) -> IntersectionCompositeShapeShapeBestFirstVisitor<'a, D, G1> {
        let ls_aabb2 = g2.compute_aabb(pos12);

        IntersectionCompositeShapeShapeBestFirstVisitor {
            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 IntersectionCompositeShapeShapeBestFirstVisitor<'a, D, G1>
where
    D: ?Sized + QueryDispatcher,
    G1: ?Sized + TypedSimdCompositeShape,
{
    type Result = (G1::PartId, bool);

    fn visit(
        &mut self,
        best: Real,
        bv: &SimdAabb,
        data: Option<[Option<&G1::PartId>; SIMD_WIDTH]>,
    ) -> SimdBestFirstVisitStatus<Self::Result> {
        // Compute the minkowski sum of the two Aabbs.
        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 found_intersection = false;

            for (ii, data) in data.into_iter().enumerate() {
                if (bitmask & (1 << ii)) != 0 && data.is_some() {
                    let part_id = *data.unwrap();
                    self.g1.map_untyped_part_at(part_id, |part_pos1, g1, _| {
                        found_intersection = self.dispatcher.intersection_test(
                            &part_pos1.inv_mul(self.pos12),
                            g1,
                            self.g2,
                        ) == Ok(true);
                    });

                    if found_intersection {
                        return SimdBestFirstVisitStatus::ExitEarly(Some((part_id, true)));
                    }
                }
            }
        }

        SimdBestFirstVisitStatus::MaybeContinue {
            weights: dist,
            mask,
            results: [None; SIMD_WIDTH],
        }
    }
}