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use crate::math::{Isometry, Real, Vector};
use crate::query::details::ShapeCastOptions;
#[cfg(feature = "std")]
use crate::query::{
contact_manifolds::{ContactManifoldsWorkspace, NormalConstraints},
ContactManifold,
};
use crate::query::{ClosestPoints, Contact, NonlinearRigidMotion, ShapeCastHit, Unsupported};
use crate::shape::Shape;
#[cfg(feature = "std")]
/// A query dispatcher for queries relying on spatial coherence, including contact-manifold computation.
pub trait PersistentQueryDispatcher<ManifoldData = (), ContactData = ()>: QueryDispatcher {
/// Compute all the contacts between two shapes.
///
/// The output is written into `manifolds` and `context`. Both can persist
/// between multiple calls to `contacts` by re-using the result of the previous
/// call to `contacts`. This persistence can significantly improve collision
/// detection performances by allowing the underlying algorithms to exploit
/// spatial and temporal coherence.
fn contact_manifolds(
&self,
pos12: &Isometry<Real>,
g1: &dyn Shape,
g2: &dyn Shape,
prediction: Real,
manifolds: &mut Vec<ContactManifold<ManifoldData, ContactData>>,
workspace: &mut Option<ContactManifoldsWorkspace>,
) -> Result<(), Unsupported>;
/// Computes the contact-manifold between two convex shapes.
fn contact_manifold_convex_convex(
&self,
pos12: &Isometry<Real>,
g1: &dyn Shape,
g2: &dyn Shape,
normal_constraints1: Option<&dyn NormalConstraints>,
normal_constraints2: Option<&dyn NormalConstraints>,
prediction: Real,
manifold: &mut ContactManifold<ManifoldData, ContactData>,
) -> Result<(), Unsupported>;
}
/// Dispatcher for pairwise queries.
///
/// Custom implementations allow crates that support an abstract `QueryDispatcher` to handle custom
/// shapes.
///
/// The `pos12` argument to most queries is the transform from the local space of `g2` to that of
/// `g1`.
pub trait QueryDispatcher: Send + Sync {
/// Tests whether two shapes are intersecting.
fn intersection_test(
&self,
pos12: &Isometry<Real>,
g1: &dyn Shape,
g2: &dyn Shape,
) -> Result<bool, Unsupported>;
/// Computes the minimum distance separating two shapes.
///
/// Returns `0.0` if the objects are touching or penetrating.
fn distance(
&self,
pos12: &Isometry<Real>,
g1: &dyn Shape,
g2: &dyn Shape,
) -> Result<Real, Unsupported>;
/// Computes one pair of contact points point between two shapes.
///
/// Returns `None` if the objects are separated by a distance greater than `prediction`.
fn contact(
&self,
pos12: &Isometry<Real>,
g1: &dyn Shape,
g2: &dyn Shape,
prediction: Real,
) -> Result<Option<Contact>, Unsupported>;
/// Computes the pair of closest points between two shapes.
///
/// Returns `ClosestPoints::Disjoint` if the objects are separated by a distance greater than `max_dist`.
fn closest_points(
&self,
pos12: &Isometry<Real>,
g1: &dyn Shape,
g2: &dyn Shape,
max_dist: Real,
) -> Result<ClosestPoints, Unsupported>;
/// Computes the smallest time when two shapes under translational movement are separated by a
/// distance smaller or equal to `distance`.
///
/// Returns `0.0` if the objects are touching or penetrating.
///
/// # Parameters
/// - `pos12`: the position of the second shape relative to the first shape.
/// - `local_vel12`: the relative velocity between the two shapes, expressed in the local-space
/// of the first shape. In other world: `pos1.inverse() * (vel2 - vel1)`.
/// - `g1`: the first shape involved in the shape-cast.
/// - `g2`: the second shape involved in the shape-cast.
/// - `target_dist`: a hit will be returned as soon as the two shapes get closer than `target_dist`.
/// - `max_time_of_impact`: the maximum allowed travel time. This method returns `None` if the time-of-impact
/// detected is theater than this value.
fn cast_shapes(
&self,
pos12: &Isometry<Real>,
local_vel12: &Vector<Real>,
g1: &dyn Shape,
g2: &dyn Shape,
options: ShapeCastOptions,
) -> Result<Option<ShapeCastHit>, Unsupported>;
/// Construct a `QueryDispatcher` that falls back on `other` for cases not handled by `self`
fn chain<U: QueryDispatcher>(self, other: U) -> QueryDispatcherChain<Self, U>
where
Self: Sized,
{
QueryDispatcherChain(self, other)
}
/// Computes the smallest time of impact of two shapes under translational and rotational movement.
///
/// # Parameters
/// * `motion1` - The motion of the first shape.
/// * `g1` - The first shape involved in the query.
/// * `motion2` - The motion of the second shape.
/// * `g2` - The second shape involved in the query.
/// * `start_time` - The starting time of the interval where the motion takes place.
/// * `end_time` - The end time of the interval where the motion takes place.
/// * `stop_at_penetration` - If the casted shape starts in a penetration state with any
/// collider, two results are possible. If `stop_at_penetration` is `true` then, the
/// result will have a `time_of_impact` equal to `start_time`. If `stop_at_penetration` is `false`
/// then the nonlinear shape-casting will see if further motion wrt. the penetration normal
/// would result in tunnelling. If it does not (i.e. we have a separating velocity along
/// that normal) then the nonlinear shape-casting will attempt to find another impact,
/// at a time `> start_time` that could result in tunnelling.
fn cast_shapes_nonlinear(
&self,
motion1: &NonlinearRigidMotion,
g1: &dyn Shape,
motion2: &NonlinearRigidMotion,
g2: &dyn Shape,
start_time: Real,
end_time: Real,
stop_at_penetration: bool,
) -> Result<Option<ShapeCastHit>, Unsupported>;
}
/// The composition of two dispatchers
pub struct QueryDispatcherChain<T, U>(T, U);
macro_rules! chain_method {
($name:ident ( $( $arg:ident : $ty:ty,)*) -> $result:ty) => {
fn $name(&self, $($arg : $ty,)*
) -> Result<$result, Unsupported> {
(self.0).$name($($arg,)*)
.or_else(|Unsupported| (self.1).$name($($arg,)*))
}
}
}
impl<T, U> QueryDispatcher for QueryDispatcherChain<T, U>
where
T: QueryDispatcher,
U: QueryDispatcher,
{
chain_method!(intersection_test(
pos12: &Isometry<Real>,
g1: &dyn Shape,
g2: &dyn Shape,
) -> bool);
chain_method!(distance(pos12: &Isometry<Real>, g1: &dyn Shape, g2: &dyn Shape,) -> Real);
chain_method!(contact(
pos12: &Isometry<Real>,
g1: &dyn Shape,
g2: &dyn Shape,
prediction: Real,
) -> Option<Contact>);
chain_method!(closest_points(
pos12: &Isometry<Real>,
g1: &dyn Shape,
g2: &dyn Shape,
max_dist: Real,
) -> ClosestPoints);
chain_method!(cast_shapes(
pos12: &Isometry<Real>,
vel12: &Vector<Real>,
g1: &dyn Shape,
g2: &dyn Shape,
options: ShapeCastOptions,
) -> Option<ShapeCastHit>);
chain_method!(cast_shapes_nonlinear(
motion1: &NonlinearRigidMotion,
g1: &dyn Shape,
motion2: &NonlinearRigidMotion,
g2: &dyn Shape,
start_time: Real,
end_time: Real,
stop_at_penetration: bool,
) -> Option<ShapeCastHit>);
}
#[cfg(feature = "std")]
impl<ManifoldData, ContactData, T, U> PersistentQueryDispatcher<ManifoldData, ContactData>
for QueryDispatcherChain<T, U>
where
T: PersistentQueryDispatcher<ManifoldData, ContactData>,
U: PersistentQueryDispatcher<ManifoldData, ContactData>,
{
chain_method!(contact_manifolds(
pos12: &Isometry<Real>,
g1: &dyn Shape,
g2: &dyn Shape,
prediction: Real,
manifolds: &mut Vec<ContactManifold<ManifoldData, ContactData>>,
workspace: &mut Option<ContactManifoldsWorkspace>,
) -> ());
chain_method!(contact_manifold_convex_convex(
pos12: &Isometry<Real>,
g1: &dyn Shape,
g2: &dyn Shape,
normal_constraints1: Option<&dyn NormalConstraints>,
normal_constraints2: Option<&dyn NormalConstraints>,
prediction: Real,
manifold: &mut ContactManifold<ManifoldData, ContactData>,
) -> ());
}