1
 2
 3
 4
 5
 6
 7
 8
 9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51

use na::Real;
use shape::{Ball, Plane, Shape};
use pipeline::narrow_phase::proximity_detector::{BallBallProximityDetector,
                                                CompositeShapeShapeProximityDetector,
                                                PlaneSupportMapProximityDetector, ProximityAlgorithm,
                                                ProximityDispatcher,
                                                SupportMapPlaneProximityDetector,
                                                SupportMapSupportMapProximityDetector};

/// Proximity dispatcher for shapes defined by `ncollide_entities`.
pub struct DefaultProximityDispatcher {
}

impl DefaultProximityDispatcher {
    /// Creates a new basic proximity dispatcher.
    pub fn new() -> DefaultProximityDispatcher {
        DefaultProximityDispatcher {
        }
    }
}

impl<N: Real> ProximityDispatcher<N> for DefaultProximityDispatcher {
    fn get_proximity_algorithm(
        &self,
        a: &Shape<N>,
        b: &Shape<N>,
    ) -> Option<ProximityAlgorithm<N>> {
        let a_is_ball = a.is_shape::<Ball<N>>();
        let b_is_ball = b.is_shape::<Ball<N>>();

        if a_is_ball && b_is_ball {
            Some(Box::new(BallBallProximityDetector::new()))
        } else if a.is_shape::<Plane<N>>() && b.is_support_map() {
            Some(Box::new(PlaneSupportMapProximityDetector::new()))
        } else if b.is_shape::<Plane<N>>() && a.is_support_map() {
            Some(Box::new(SupportMapPlaneProximityDetector::new()))
        } else if a.is_support_map() && b.is_support_map() {
            Some(Box::new(SupportMapSupportMapProximityDetector::new()))
        } else if a.is_composite_shape() {
            Some(Box::new(
                CompositeShapeShapeProximityDetector::<N>::new(false),
            ))
        } else if b.is_composite_shape() {
            Some(Box::new(
                CompositeShapeShapeProximityDetector::<N>::new(true),
            ))
        } else {
            None
        }
    }
}