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use generational_arena::Arena;
use crate::object::{BodyHandle, Collider, ColliderRemovalData, DefaultBodyHandle};
use na::RealField;
use ncollide::pipeline::{CollisionObjectHandle, CollisionObjectSet};
pub trait ColliderHandle: CollisionObjectHandle + std::fmt::Debug {}
impl<T: CollisionObjectHandle + std::fmt::Debug> ColliderHandle for T {}
pub trait ColliderSet<N: RealField, Handle: BodyHandle>:
CollisionObjectSet<
N,
CollisionObject = Collider<N, Handle>,
CollisionObjectHandle = <Self as ColliderSet<N, Handle>>::Handle,
>
{
type Handle: ColliderHandle;
fn get(&self, handle: Self::Handle) -> Option<&Collider<N, Handle>>;
fn get_mut(&mut self, handle: Self::Handle) -> Option<&mut Collider<N, Handle>>;
fn get_pair(
&self,
handle1: Self::Handle,
handle2: Self::Handle,
) -> (Option<&Collider<N, Handle>>, Option<&Collider<N, Handle>>) {
(self.get(handle1), self.get(handle2))
}
fn contains(&self, handle: Self::Handle) -> bool;
fn foreach(&self, f: impl FnMut(Self::Handle, &Collider<N, Handle>));
fn foreach_mut(&mut self, f: impl FnMut(Self::Handle, &mut Collider<N, Handle>));
fn pop_insertion_event(&mut self) -> Option<Self::Handle>;
fn pop_removal_event(&mut self) -> Option<(Self::Handle, ColliderRemovalData<N, Handle>)>;
fn remove(&mut self, to_remove: Self::Handle) -> Option<&mut ColliderRemovalData<N, Handle>>;
}
pub type DefaultColliderHandle = generational_arena::Index;
pub struct DefaultColliderSet<N: RealField, Handle: BodyHandle = DefaultBodyHandle> {
colliders: Arena<Collider<N, Handle>>,
removed: Vec<(DefaultColliderHandle, ColliderRemovalData<N, Handle>)>,
inserted: Vec<DefaultColliderHandle>,
}
impl<N: RealField, Handle: BodyHandle> DefaultColliderSet<N, Handle> {
pub fn new() -> Self {
DefaultColliderSet {
colliders: Arena::new(),
removed: Vec::new(),
inserted: Vec::new(),
}
}
pub fn insert(&mut self, collider: Collider<N, Handle>) -> DefaultColliderHandle {
let res = self.colliders.insert(collider);
self.inserted.push(res);
res
}
pub fn remove(&mut self, to_remove: DefaultColliderHandle) -> Option<Collider<N, Handle>> {
let res = self.colliders.remove(to_remove)?;
if let Some(data) = res.removal_data() {
self.removed.push((to_remove, data));
}
Some(res)
}
fn contains(&self, handle: DefaultColliderHandle) -> bool {
self.colliders.contains(handle)
}
pub fn get(&self, handle: DefaultColliderHandle) -> Option<&Collider<N, Handle>> {
self.colliders.get(handle)
}
pub fn get_mut(&mut self, handle: DefaultColliderHandle) -> Option<&mut Collider<N, Handle>> {
self.colliders.get_mut(handle)
}
pub fn iter(&self) -> impl Iterator<Item = (DefaultColliderHandle, &Collider<N, Handle>)> {
self.colliders.iter()
}
pub fn iter_mut(
&mut self,
) -> impl Iterator<Item = (DefaultColliderHandle, &mut Collider<N, Handle>)> {
self.colliders.iter_mut()
}
}
impl<N: RealField, Handle: BodyHandle> CollisionObjectSet<N> for DefaultColliderSet<N, Handle> {
type CollisionObject = Collider<N, Handle>;
type CollisionObjectHandle = DefaultColliderHandle;
fn collision_object(
&self,
handle: Self::CollisionObjectHandle,
) -> Option<&Self::CollisionObject> {
self.get(handle)
}
fn foreach(&self, mut f: impl FnMut(Self::CollisionObjectHandle, &Self::CollisionObject)) {
for (handle, co) in self.iter() {
f(handle, &co)
}
}
}
impl<N: RealField, Handle: BodyHandle> ColliderSet<N, Handle> for DefaultColliderSet<N, Handle> {
type Handle = DefaultColliderHandle;
fn get(&self, handle: Self::Handle) -> Option<&Collider<N, Handle>> {
self.get(handle)
}
fn get_mut(&mut self, handle: Self::Handle) -> Option<&mut Collider<N, Handle>> {
self.get_mut(handle)
}
fn contains(&self, handle: Self::Handle) -> bool {
self.contains(handle)
}
fn foreach(&self, mut f: impl FnMut(Self::Handle, &Collider<N, Handle>)) {
for (h, b) in self.iter() {
f(h, b)
}
}
fn foreach_mut(&mut self, mut f: impl FnMut(Self::Handle, &mut Collider<N, Handle>)) {
for (h, b) in self.iter_mut() {
f(h, b)
}
}
fn pop_insertion_event(&mut self) -> Option<Self::Handle> {
self.inserted.pop()
}
fn pop_removal_event(&mut self) -> Option<(Self::Handle, ColliderRemovalData<N, Handle>)> {
self.removed.pop()
}
fn remove(&mut self, to_remove: Self::Handle) -> Option<&mut ColliderRemovalData<N, Handle>> {
let res = self.colliders.remove(to_remove)?;
if let Some(data) = res.removal_data() {
self.removed.push((to_remove, data));
self.removed.last_mut().map(|r| &mut r.1)
} else {
None
}
}
}