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#[cfg(feature = "dim3")]
use crate::geometry::contact_generator::PfmPfmContactManifoldGeneratorWorkspace;
use crate::geometry::contact_generator::{
ContactGenerator, ContactGeneratorWorkspace, ContactPhase,
HeightFieldShapeContactGeneratorWorkspace, PrimitiveContactGenerator,
TrimeshShapeContactGeneratorWorkspace,
};
use crate::geometry::ShapeType;
pub trait ContactDispatcher {
fn dispatch_primitives(
&self,
shape1: ShapeType,
shape2: ShapeType,
) -> (PrimitiveContactGenerator, Option<ContactGeneratorWorkspace>);
fn dispatch(
&self,
shape1: ShapeType,
shape2: ShapeType,
) -> (ContactPhase, Option<ContactGeneratorWorkspace>);
}
pub struct DefaultContactDispatcher;
impl ContactDispatcher for DefaultContactDispatcher {
fn dispatch_primitives(
&self,
shape1: ShapeType,
shape2: ShapeType,
) -> (PrimitiveContactGenerator, Option<ContactGeneratorWorkspace>) {
match (shape1, shape2) {
(ShapeType::Ball, ShapeType::Ball) => (
PrimitiveContactGenerator {
generate_contacts: super::generate_contacts_ball_ball,
#[cfg(feature = "simd-is-enabled")]
generate_contacts_simd: super::generate_contacts_ball_ball_simd,
..PrimitiveContactGenerator::default()
},
None,
),
(ShapeType::Cuboid, ShapeType::Cuboid) => (
PrimitiveContactGenerator {
generate_contacts: super::generate_contacts_cuboid_cuboid,
..PrimitiveContactGenerator::default()
},
None,
),
(ShapeType::Capsule, ShapeType::Capsule) => (
PrimitiveContactGenerator {
generate_contacts: super::generate_contacts_capsule_capsule,
..PrimitiveContactGenerator::default()
},
None,
),
(_, ShapeType::Ball) | (ShapeType::Ball, _) => (
PrimitiveContactGenerator {
generate_contacts: super::generate_contacts_ball_convex,
..PrimitiveContactGenerator::default()
},
None,
),
(ShapeType::Capsule, ShapeType::Cuboid) | (ShapeType::Cuboid, ShapeType::Capsule) => (
PrimitiveContactGenerator {
generate_contacts: super::generate_contacts_cuboid_capsule,
..PrimitiveContactGenerator::default()
},
None,
),
(ShapeType::Triangle, ShapeType::Cuboid) | (ShapeType::Cuboid, ShapeType::Triangle) => {
(
PrimitiveContactGenerator {
generate_contacts: super::generate_contacts_cuboid_triangle,
..PrimitiveContactGenerator::default()
},
None,
)
}
#[cfg(feature = "dim3")]
(ShapeType::Cylinder, _)
| (_, ShapeType::Cylinder)
| (ShapeType::Cone, _)
| (_, ShapeType::Cone)
| (ShapeType::RoundCylinder, _)
| (_, ShapeType::RoundCylinder)
| (ShapeType::Capsule, _)
| (_, ShapeType::Capsule) => (
PrimitiveContactGenerator {
generate_contacts: super::generate_contacts_pfm_pfm,
..PrimitiveContactGenerator::default()
},
Some(ContactGeneratorWorkspace::from(
PfmPfmContactManifoldGeneratorWorkspace::default(),
)),
),
_ => (PrimitiveContactGenerator::default(), None),
}
}
fn dispatch(
&self,
shape1: ShapeType,
shape2: ShapeType,
) -> (ContactPhase, Option<ContactGeneratorWorkspace>) {
match (shape1, shape2) {
(ShapeType::Trimesh, _) | (_, ShapeType::Trimesh) => (
ContactPhase::NearPhase(ContactGenerator {
generate_contacts: super::generate_contacts_trimesh_shape,
..ContactGenerator::default()
}),
Some(ContactGeneratorWorkspace::from(
TrimeshShapeContactGeneratorWorkspace::new(),
)),
),
(ShapeType::HeightField, _) | (_, ShapeType::HeightField) => (
ContactPhase::NearPhase(ContactGenerator {
generate_contacts: super::generate_contacts_heightfield_shape,
..ContactGenerator::default()
}),
Some(ContactGeneratorWorkspace::from(
HeightFieldShapeContactGeneratorWorkspace::new(),
)),
),
_ => {
let (gen, workspace) = self.dispatch_primitives(shape1, shape2);
(ContactPhase::ExactPhase(gen), workspace)
}
}
}
}