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use na::{RealField, Unit};
use crate::math::{Isometry, Vector};
use crate::query::algorithms::gjk::{self, GJKResult};
use crate::query::algorithms::{special_support_maps::DilatedShape, VoronoiSimplex};
use crate::query::{self, TOIStatus, TOI};
use crate::shape::SupportMap;
pub fn time_of_impact_support_map_support_map<N, G1: ?Sized, G2: ?Sized>(
m1: &Isometry<N>,
vel1: &Vector<N>,
g1: &G1,
m2: &Isometry<N>,
vel2: &Vector<N>,
g2: &G2,
max_toi: N,
target_distance: N,
) -> Option<TOI<N>>
where
N: RealField,
G1: SupportMap<N>,
G2: SupportMap<N>,
{
let dvel = vel2 - vel1;
if target_distance.is_zero() {
gjk::directional_distance(m1, g1, m2, g2, &dvel, &mut VoronoiSimplex::new()).and_then(
|(toi, normal, witness1, witness2)| {
if toi > max_toi {
None
} else {
Some(TOI {
toi,
normal1: Unit::new_unchecked(m1.inverse_transform_vector(&normal)),
normal2: Unit::new_unchecked(m2.inverse_transform_vector(&-normal)),
witness1: m1.inverse_transform_point(&witness1),
witness2: m2.inverse_transform_point(&witness2),
status: if toi.is_zero() {
TOIStatus::Penetrating
} else {
TOIStatus::Converged
},
})
}
},
)
} else {
let dilated1 = DilatedShape {
shape: g1,
radius: target_distance,
};
gjk::directional_distance(m1, &dilated1, m2, g2, &dvel, &mut VoronoiSimplex::new())
.and_then(|(toi, normal, witness1, witness2)| {
if toi > max_toi {
None
} else {
let mut status = TOIStatus::Converged;
if toi.is_zero() {
match query::closest_points_support_map_support_map_with_params(
m1,
g1,
m2,
g2,
target_distance,
&mut VoronoiSimplex::new(),
Some(normal),
) {
GJKResult::ClosestPoints(pt1, pt2, _) => {
let normal = Unit::new_normalize(pt2 - pt1);
let normal1 =
Unit::new_unchecked(m1.inverse_transform_vector(&normal));
return Some(TOI {
toi,
normal1,
normal2: Unit::new_unchecked(
m2.inverse_transform_vector(&-normal),
),
witness1: m1.inverse_transform_point(&witness1),
witness2: m2.inverse_transform_point(&witness2),
status: TOIStatus::Converged,
});
}
GJKResult::NoIntersection(_) => {
}
GJKResult::Intersection => status = TOIStatus::Penetrating,
GJKResult::Proximity(_) => unreachable!(),
}
}
let normal1 = Unit::new_unchecked(m1.inverse_transform_vector(&normal));
Some(TOI {
toi,
normal1,
normal2: Unit::new_unchecked(m2.inverse_transform_vector(&-normal)),
witness1: m1.inverse_transform_point(&witness1)
- *normal1 * target_distance,
witness2: m2.inverse_transform_point(&witness2),
status,
})
}
})
}
}