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use na::Real;
use math::{Isometry, Point};
use shape::{Ball, Plane, Shape};
use query::Proximity;
use query::proximity_internal;
pub fn shape_against_shape<N: Real>(
m1: &Isometry<N>,
g1: &Shape<N>,
m2: &Isometry<N>,
g2: &Shape<N>,
margin: N,
) -> Proximity {
if let (Some(b1), Some(b2)) = (
g1.as_shape::<Ball<N>>(),
g2.as_shape::<Ball<N>>(),
) {
let p1 = Point::from_coordinates(m1.translation.vector);
let p2 = Point::from_coordinates(m2.translation.vector);
proximity_internal::ball_against_ball(&p1, b1, &p2, b2, margin)
} else if let (Some(p1), Some(s2)) = (g1.as_shape::<Plane<N>>(), g2.as_support_map()) {
proximity_internal::plane_against_support_map(m1, p1, m2, s2, margin)
} else if let (Some(s1), Some(p2)) = (g1.as_support_map(), g2.as_shape::<Plane<N>>()) {
proximity_internal::support_map_against_plane(m1, s1, m2, p2, margin)
} else if let (Some(s1), Some(s2)) = (g1.as_support_map(), g2.as_support_map()) {
proximity_internal::support_map_against_support_map(m1, s1, m2, s2, margin)
} else if let Some(c1) = g1.as_composite_shape() {
proximity_internal::composite_shape_against_shape(m1, c1, m2, g2, margin)
} else if let Some(c2) = g2.as_composite_shape() {
proximity_internal::shape_against_composite_shape(m1, g1, m2, c2, margin)
} else {
panic!("No algorithm known to compute proximity between the given pair of shapes.")
}
}