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use crate::bounding_volume::SimdAABB;
use crate::math::{Isometry, Real, SimdBool, SimdReal, Vector, SIMD_WIDTH};
use crate::partitioning::{SimdBestFirstVisitStatus, SimdBestFirstVisitor};
use crate::query::{ClosestPoints, QueryDispatcher};
use crate::shape::{Shape, TypedSimdCompositeShape};
use crate::utils::IsometryOpt;
use na;
use simba::simd::{SimdBool as _, SimdPartialOrd, SimdValue};
pub fn closest_points_composite_shape_shape<D: ?Sized, G1: ?Sized>(
dispatcher: &D,
pos12: &Isometry<Real>,
g1: &G1,
g2: &dyn Shape,
margin: Real,
) -> ClosestPoints
where
D: QueryDispatcher,
G1: TypedSimdCompositeShape,
{
let mut visitor =
CompositeShapeAgainstShapeClosestPointsVisitor::new(dispatcher, pos12, g1, g2, margin);
g1.typed_quadtree()
.traverse_best_first(&mut visitor)
.expect("The composite shape must not be empty.")
.1
.1
}
pub fn closest_points_shape_composite_shape<D: ?Sized, G2: ?Sized>(
dispatcher: &D,
pos12: &Isometry<Real>,
g1: &dyn Shape,
g2: &G2,
margin: Real,
) -> ClosestPoints
where
D: QueryDispatcher,
G2: TypedSimdCompositeShape,
{
closest_points_composite_shape_shape(dispatcher, &pos12.inverse(), g2, g1, margin).flipped()
}
pub struct CompositeShapeAgainstShapeClosestPointsVisitor<'a, D: ?Sized, G1: ?Sized + 'a> {
msum_shift: Vector<SimdReal>,
msum_margin: Vector<SimdReal>,
margin: Real,
dispatcher: &'a D,
pos12: &'a Isometry<Real>,
g1: &'a G1,
g2: &'a dyn Shape,
}
impl<'a, D: ?Sized, G1: ?Sized> CompositeShapeAgainstShapeClosestPointsVisitor<'a, D, G1>
where
D: QueryDispatcher,
G1: TypedSimdCompositeShape,
{
pub fn new(
dispatcher: &'a D,
pos12: &'a Isometry<Real>,
g1: &'a G1,
g2: &'a dyn Shape,
margin: Real,
) -> CompositeShapeAgainstShapeClosestPointsVisitor<'a, D, G1> {
let ls_aabb2 = g2.compute_aabb(pos12);
CompositeShapeAgainstShapeClosestPointsVisitor {
msum_shift: Vector::splat(-ls_aabb2.center().coords),
msum_margin: Vector::splat(ls_aabb2.half_extents()),
margin,
dispatcher,
pos12,
g1,
g2,
}
}
}
impl<'a, D: ?Sized, G1: ?Sized> SimdBestFirstVisitor<G1::PartId, SimdAABB>
for CompositeShapeAgainstShapeClosestPointsVisitor<'a, D, G1>
where
D: QueryDispatcher,
G1: TypedSimdCompositeShape,
{
type Result = (G1::PartId, ClosestPoints);
fn visit(
&mut self,
best: Real,
bv: &SimdAABB,
data: Option<[Option<&G1::PartId>; SIMD_WIDTH]>,
) -> SimdBestFirstVisitStatus<Self::Result> {
let msum = SimdAABB {
mins: bv.mins + self.msum_shift + (-self.msum_margin),
maxs: bv.maxs + self.msum_shift + self.msum_margin,
};
let dist = msum.distance_to_origin();
let mask = dist.simd_lt(SimdReal::splat(best));
if let Some(data) = data {
let bitmask = mask.bitmask();
let mut weights = [0.0; SIMD_WIDTH];
let mut mask = [false; SIMD_WIDTH];
let mut results = [None; SIMD_WIDTH];
let mut found_intersection = false;
for ii in 0..SIMD_WIDTH {
if (bitmask & (1 << ii)) != 0 && data[ii].is_some() {
let part_id = *data[ii].unwrap();
self.g1.map_untyped_part_at(part_id, |part_pos1, g1| {
let pts = self.dispatcher.closest_points(
&part_pos1.inv_mul(self.pos12),
g1,
self.g2,
self.margin,
);
match pts {
Ok(ClosestPoints::WithinMargin(ref p1, ref p2)) => {
let p1 = part_pos1.transform_point(p1);
let p2_1 = self.pos12 * p2;
weights[ii] = na::distance(&p1, &p2_1);
results[ii] = Some((part_id, ClosestPoints::WithinMargin(p1, *p2)));
mask[ii] = true;
}
Ok(ClosestPoints::Intersecting) => {
found_intersection = true;
}
Err(_) | Ok(ClosestPoints::Disjoint) => {}
};
});
if found_intersection {
return SimdBestFirstVisitStatus::ExitEarly(Some((
part_id,
ClosestPoints::Intersecting,
)));
}
}
}
SimdBestFirstVisitStatus::MaybeContinue {
weights: SimdReal::from(weights),
mask: SimdBool::from(mask),
results,
}
} else {
SimdBestFirstVisitStatus::MaybeContinue {
weights: dist,
mask,
results: [None; SIMD_WIDTH],
}
}
}
}