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use crate::math::Isometry;
use crate::pipeline::narrow_phase::{ProximityDetector, ProximityDispatcher};
use crate::query::{self, Proximity};
use crate::shape::{Plane, Shape};
use na::RealField;
#[derive(Clone)]
pub struct PlaneSupportMapProximityDetector {}
impl PlaneSupportMapProximityDetector {
#[inline]
pub fn new() -> PlaneSupportMapProximityDetector {
PlaneSupportMapProximityDetector {}
}
}
#[derive(Clone)]
pub struct SupportMapPlaneProximityDetector {
subdetector: PlaneSupportMapProximityDetector,
}
impl SupportMapPlaneProximityDetector {
#[inline]
pub fn new() -> SupportMapPlaneProximityDetector {
SupportMapPlaneProximityDetector {
subdetector: PlaneSupportMapProximityDetector::new(),
}
}
}
impl<N: RealField> ProximityDetector<N> for PlaneSupportMapProximityDetector {
#[inline]
fn update(
&mut self,
_: &dyn ProximityDispatcher<N>,
ma: &Isometry<N>,
plane: &dyn Shape<N>,
mb: &Isometry<N>,
b: &dyn Shape<N>,
margin: N,
) -> Option<Proximity> {
let p = plane.as_shape::<Plane<N>>()?;
let sm = b.as_support_map()?;
Some(query::proximity_plane_support_map(ma, p, mb, sm, margin))
}
}
impl<N: RealField> ProximityDetector<N> for SupportMapPlaneProximityDetector {
#[inline]
fn update(
&mut self,
disp: &dyn ProximityDispatcher<N>,
ma: &Isometry<N>,
a: &dyn Shape<N>,
mb: &Isometry<N>,
b: &dyn Shape<N>,
margin: N,
) -> Option<Proximity> {
self.subdetector.update(disp, mb, b, ma, a, margin)
}
}