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

use crate::math::{Isometry, Point};
use crate::pipeline::narrow_phase::{ContactDispatcher, ContactManifoldGenerator};
use crate::query::{
    self, ContactKinematic, ContactManifold, ContactPrediction, ContactPreprocessor,
    NeighborhoodGeometry,
};
use crate::shape::{Ball, FeatureId, Shape};
use na::RealField;
use std::marker::PhantomData;

/// Collision detector between two balls.
#[derive(Clone)]
pub struct BallBallManifoldGenerator<N: RealField> {
    phantom: PhantomData<N>,
}

impl<N: RealField> BallBallManifoldGenerator<N> {
    /// Creates a new persistent collision detector between two balls.
    #[inline]
    pub fn new() -> BallBallManifoldGenerator<N> {
        BallBallManifoldGenerator {
            phantom: PhantomData,
        }
    }
}

impl<N: RealField> ContactManifoldGenerator<N> for BallBallManifoldGenerator<N> {
    fn generate_contacts(
        &mut self,
        _: &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(a), Some(b)) = (a.as_shape::<Ball<N>>(), b.as_shape::<Ball<N>>()) {
            let center_a = Point::from(ma.translation.vector);
            let center_b = Point::from(mb.translation.vector);
            if let Some(contact) =
                query::contact_ball_ball(&center_a, a, &center_b, b, prediction.linear())
            {
                let mut kinematic = ContactKinematic::new();
                kinematic.set_approx1(
                    FeatureId::Face(0),
                    Point::origin(),
                    NeighborhoodGeometry::Point,
                );
                kinematic.set_approx2(
                    FeatureId::Face(0),
                    Point::origin(),
                    NeighborhoodGeometry::Point,
                );
                kinematic.set_dilation1(a.radius);
                kinematic.set_dilation2(b.radius);

                let _ = manifold.push(contact, kinematic, Point::origin(), proc1, proc2);
            }

            true
        } else {
            false
        }
    }
}