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use std::any::Any;
use na::Real;
use query::Proximity;
use shape::Shape;
use math::Isometry;
pub trait ProximityDetector<N: Real>: Any + Send + Sync {
fn update(
&mut self,
dispatcher: &ProximityDispatcher<N>,
ma: &Isometry<N>,
a: &Shape<N>,
mb: &Isometry<N>,
b: &Shape<N>,
margin: N,
) -> bool;
fn proximity(&self) -> Proximity;
}
pub type ProximityAlgorithm<N> = Box<ProximityDetector<N>>;
pub trait ProximityDispatcher<N>: Any + Send + Sync {
fn get_proximity_algorithm(
&self,
a: &Shape<N>,
b: &Shape<N>,
) -> Option<ProximityAlgorithm<N>>;
}