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use crate::math::Isometry;
use crate::pipeline::narrow_phase::{
ContactAlgorithm, ContactDispatcher, ContactManifoldGenerator,
};
use crate::query::{
visitors::AABBSetsInterferencesCollector, ContactManifold, ContactPrediction,
ContactPreprocessor,
};
use crate::shape::{CompositeShape, Shape};
use crate::utils::DeterministicState;
use na::RealField;
use std::collections::{hash_map::Entry, HashMap};
pub struct CompositeShapeCompositeShapeManifoldGenerator<N> {
sub_detectors: HashMap<(usize, usize), (ContactAlgorithm<N>, usize), DeterministicState>,
interferences: Vec<(usize, usize)>,
timestamp: usize,
}
impl<N> CompositeShapeCompositeShapeManifoldGenerator<N> {
pub fn new() -> CompositeShapeCompositeShapeManifoldGenerator<N> {
CompositeShapeCompositeShapeManifoldGenerator {
sub_detectors: HashMap::with_hasher(DeterministicState),
interferences: Vec::new(),
timestamp: 0,
}
}
}
impl<N: RealField> CompositeShapeCompositeShapeManifoldGenerator<N> {
fn do_update(
&mut self,
dispatcher: &dyn ContactDispatcher<N>,
m1: &Isometry<N>,
g1: &dyn CompositeShape<N>,
proc1: Option<&dyn ContactPreprocessor<N>>,
m2: &Isometry<N>,
g2: &dyn CompositeShape<N>,
proc2: Option<&dyn ContactPreprocessor<N>>,
prediction: &ContactPrediction<N>,
manifold: &mut ContactManifold<N>,
) {
self.timestamp += 1;
let ls_m2 = m1.inverse() * m2;
let ls_m2_abs_rot = ls_m2.rotation.to_rotation_matrix().matrix().abs();
{
let mut visitor = AABBSetsInterferencesCollector::new(
prediction.linear(),
&ls_m2,
&ls_m2_abs_rot,
&mut self.interferences,
);
g1.bvh().visit_bvtt(g2.bvh(), &mut visitor);
}
for id in self.interferences.drain(..) {
match self.sub_detectors.entry(id) {
Entry::Occupied(mut entry) => {
entry.get_mut().1 = self.timestamp;
}
Entry::Vacant(entry) => {
let mut new_detector = None;
g1.map_part_at(id.0, &Isometry::identity(), &mut |_, g1| {
g2.map_part_at(id.1, &Isometry::identity(), &mut |_, g2| {
new_detector = dispatcher.get_contact_algorithm(g1, g2)
});
});
if let Some(new_detector) = new_detector {
let _ = entry.insert((new_detector, self.timestamp));
}
}
}
}
let timestamp = self.timestamp;
self.sub_detectors.retain(|key, detector| {
if detector.1 != timestamp {
false
} else {
let mut keep = false;
g1.map_part_and_preprocessor_at(
key.0,
m1,
prediction,
&mut |m1, g1, part_proc1| {
g2.map_part_and_preprocessor_at(
key.1,
m2,
prediction,
&mut |m2, g2, part_proc2| {
keep = detector.0.generate_contacts(
dispatcher,
m1,
g1,
Some(&(proc1, part_proc1)),
m2,
g2,
Some(&(proc2, part_proc2)),
prediction,
manifold,
);
},
);
},
);
keep
}
});
}
}
impl<N: RealField> ContactManifoldGenerator<N>
for CompositeShapeCompositeShapeManifoldGenerator<N>
{
fn generate_contacts(
&mut self,
d: &dyn ContactDispatcher<N>,
ma: &Isometry<N>,
a: &dyn Shape<N>,
proc1: Option<&dyn ContactPreprocessor<N>>,
mb: &Isometry<N>,
b: &dyn Shape<N>,
proc2: Option<&dyn ContactPreprocessor<N>>,
prediction: &ContactPrediction<N>,
manifold: &mut ContactManifold<N>,
) -> bool {
if let (Some(csa), Some(csb)) = (a.as_composite_shape(), b.as_composite_shape()) {
self.do_update(d, ma, csa, proc1, mb, csb, proc2, prediction, manifold);
true
} else {
false
}
}
}