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use na::{Unit, Real};
use math::{Isometry, Point};
use utils::{IdAllocator, IsometryOps};
use bounding_volume::PolyhedralCone;
use shape::{Ball, FeatureId, Shape};
use query::{Contact, ContactKinematic, ContactManifold, ContactPrediction};
use pipeline::narrow_phase::{ContactDispatcher, ContactManifoldGenerator};
pub struct BallConvexPolyhedronManifoldGenerator<N: Real> {
flip: bool,
contact_manifold: ContactManifold<N>,
}
impl<N: Real> Clone for BallConvexPolyhedronManifoldGenerator<N> {
fn clone(&self) -> BallConvexPolyhedronManifoldGenerator<N> {
BallConvexPolyhedronManifoldGenerator {
flip: self.flip,
contact_manifold: self.contact_manifold.clone(),
}
}
}
impl<N: Real> BallConvexPolyhedronManifoldGenerator<N> {
#[inline]
pub fn new(flip: bool) -> BallConvexPolyhedronManifoldGenerator<N> {
BallConvexPolyhedronManifoldGenerator {
flip,
contact_manifold: ContactManifold::new(),
}
}
fn do_update(
&mut self,
m1: &Isometry<N>,
a: &Shape<N>,
m2: &Isometry<N>,
b: &Shape<N>,
prediction: &ContactPrediction<N>,
id_alloc: &mut IdAllocator,
flip: bool,
) -> bool {
if let (Some(ball), Some(pq2), Some(cp2)) = (
a.as_shape::<Ball<N>>(),
b.as_point_query(),
b.as_convex_polyhedron(),
) {
self.contact_manifold.save_cache_and_clear(id_alloc);
let ball_center = Point::from_coordinates(m1.translation.vector);
let (proj, f2) = pq2.project_point_with_feature(m2, &ball_center);
let world2 = proj.point;
let dpt = world2 - ball_center;
if let Some((dir, dist)) = Unit::try_new_and_get(dpt, N::default_epsilon()) {
let depth;
let normal;
if proj.is_inside {
depth = dist + ball.radius();
normal = -dir;
} else {
depth = -dist + ball.radius();
normal = dir;
}
if depth >= -prediction.linear {
let mut kinematic = ContactKinematic::new();
let f1 = FeatureId::Face(0);
let world1 = ball_center + normal.unwrap() * ball.radius();
let contact;
if !flip {
contact = Contact::new(world1, world2, normal, depth);
kinematic.set_point1(f1, Point::origin(), PolyhedralCone::Full);
kinematic.set_dilation1(ball.radius());
} else {
contact = Contact::new(world2, world1, -normal, depth);
kinematic.set_point2(f1, Point::origin(), PolyhedralCone::Full);
kinematic.set_dilation2(ball.radius());
}
let local2 = m2.inverse_transform_point(&world2);
let n2 = cp2.normal_cone(f2);
match f2 {
FeatureId::Face { .. } => {
if !flip {
kinematic.set_plane2(f2, local2, n2.unwrap_half_line())
} else {
kinematic.set_plane1(f2, local2, n2.unwrap_half_line())
}
}
#[cfg(feature = "dim3")]
FeatureId::Edge { .. } => {
let edge = cp2.edge(f2);
let dir = Unit::new_normalize(edge.1 - edge.0);
if !flip {
kinematic.set_line2(f2, local2, dir, n2)
} else {
kinematic.set_line1(f2, local2, dir, n2)
}
}
FeatureId::Vertex { .. } => {
if !flip {
kinematic.set_point2(f2, local2, n2)
} else {
kinematic.set_point1(f2, local2, n2)
}
}
FeatureId::Unknown => panic!("Feature id cannot be unknown."),
}
let _ = self.contact_manifold.push(contact, kinematic, id_alloc);
}
} else {
}
true
} else {
false
}
}
}
impl<N: Real> ContactManifoldGenerator<N>
for BallConvexPolyhedronManifoldGenerator<N>
{
fn update(
&mut self,
_: &ContactDispatcher<N>,
id1: usize,
m1: &Isometry<N>,
a: &Shape<N>,
id2: usize,
m2: &Isometry<N>,
b: &Shape<N>,
prediction: &ContactPrediction<N>,
id_alloc: &mut IdAllocator,
) -> bool {
self.contact_manifold.set_subshape_id1(id1);
self.contact_manifold.set_subshape_id2(id2);
if !self.flip {
self.do_update(m1, a, m2, b, prediction, id_alloc, false)
} else {
self.do_update(m2, b, m1, a, prediction, id_alloc, true)
}
}
#[inline]
fn num_contacts(&self) -> usize {
self.contact_manifold.len()
}
#[inline]
fn contacts<'a: 'b, 'b>(&'a self, out: &'b mut Vec<&'a ContactManifold<N>>) {
if self.contact_manifold.len() != 0 {
out.push(&self.contact_manifold)
}
}
}