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use na::{Real, Unit};
use math::{Isometry, Vector};
use shape::Shape;
use query::algorithms::VoronoiSimplex;
use query::proximity_internal;
use query::Proximity;
use pipeline::narrow_phase::{ProximityDetector, ProximityDispatcher};
#[derive(Clone)]
pub struct SupportMapSupportMapProximityDetector<N: Real> {
simplex: VoronoiSimplex<N>,
proximity: Proximity,
sep_axis: Unit<Vector<N>>,
}
impl<N: Real> SupportMapSupportMapProximityDetector<N> {
pub fn new() -> SupportMapSupportMapProximityDetector<N> {
SupportMapSupportMapProximityDetector {
simplex: VoronoiSimplex::new(),
proximity: Proximity::Disjoint,
sep_axis: Vector::x_axis(),
}
}
}
impl<N: Real> ProximityDetector<N> for SupportMapSupportMapProximityDetector<N> {
#[inline]
fn update(
&mut self,
_: &ProximityDispatcher<N>,
ma: &Isometry<N>,
a: &Shape<N>,
mb: &Isometry<N>,
b: &Shape<N>,
margin: N,
) -> bool {
if let (Some(sma), Some(smb)) = (a.as_support_map(), b.as_support_map()) {
let initial_direction;
if self.proximity == Proximity::Disjoint {
initial_direction = None
} else {
initial_direction = Some(self.sep_axis)
}
let res = proximity_internal::support_map_against_support_map_with_params(
ma,
sma,
mb,
smb,
margin,
&mut self.simplex,
initial_direction,
);
self.proximity = res.0;
self.sep_axis = res.1;
true
} else {
false
}
}
#[inline]
fn proximity(&self) -> Proximity {
self.proximity
}
}