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use na::Real;
use shape::{Ball, Plane, Shape};
use pipeline::narrow_phase::{BallBallManifoldGenerator,
BallConvexPolyhedronManifoldGenerator,
CompositeShapeShapeManifoldGenerator,
ContactAlgorithm,
ContactDispatcher,
ConvexPolyhedronConvexPolyhedronManifoldGenerator,
PlaneBallManifoldGenerator,
PlaneConvexPolyhedronManifoldGenerator};
pub struct DefaultContactDispatcher {
}
impl DefaultContactDispatcher {
pub fn new() -> DefaultContactDispatcher {
DefaultContactDispatcher {
}
}
}
impl<N: Real> ContactDispatcher<N> for DefaultContactDispatcher {
fn get_contact_algorithm(
&self,
a: &Shape<N>,
b: &Shape<N>,
) -> Option<ContactAlgorithm<N>> {
let a_is_ball = a.is_shape::<Ball<N>>();
let b_is_ball = b.is_shape::<Ball<N>>();
let a_is_plane = a.is_shape::<Plane<N>>();
let b_is_plane = b.is_shape::<Plane<N>>();
if a_is_ball && b_is_ball {
Some(Box::new(BallBallManifoldGenerator::<N>::new()))
} else if a_is_plane && b_is_ball {
Some(Box::new(PlaneBallManifoldGenerator::<N>::new(false)))
} else if a_is_ball && b_is_plane {
Some(Box::new(PlaneBallManifoldGenerator::<N>::new(true)))
} else if a_is_plane && b.is_support_map() {
let gen = PlaneConvexPolyhedronManifoldGenerator::<N>::new(false);
Some(Box::new(gen))
} else if b_is_plane && a.is_support_map() {
let gen = PlaneConvexPolyhedronManifoldGenerator::<N>::new(true);
Some(Box::new(gen))
} else if a_is_ball && b.is_convex_polyhedron() {
let gen = BallConvexPolyhedronManifoldGenerator::<N>::new(false);
Some(Box::new(gen))
} else if b_is_ball && a.is_convex_polyhedron() {
let gen = BallConvexPolyhedronManifoldGenerator::<N>::new(true);
Some(Box::new(gen))
} else if a.is_convex_polyhedron() && b.is_convex_polyhedron() {
let gen = ConvexPolyhedronConvexPolyhedronManifoldGenerator::new();
Some(Box::new(gen))
} else if a.is_composite_shape() {
Some(Box::new(CompositeShapeShapeManifoldGenerator::<N>::new(
false,
)))
} else if b.is_composite_shape() {
Some(Box::new(CompositeShapeShapeManifoldGenerator::<N>::new(
true,
)))
} else {
None
}
}
}