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use crate::bounding_volume::BoundingVolume;
use crate::math::{Isometry, Real};
use crate::query::contact_manifolds::contact_manifolds_workspace::{
TypedWorkspaceData, WorkspaceData,
};
use crate::query::contact_manifolds::ContactManifoldsWorkspace;
use crate::query::query_dispatcher::PersistentQueryDispatcher;
use crate::query::ContactManifold;
#[cfg(feature = "dim2")]
use crate::shape::Capsule;
use crate::shape::{HeightField, Shape};
use crate::utils::hashmap::{Entry, HashMap};
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
#[derive(Clone)]
struct SubDetector {
manifold_id: usize,
timestamp: bool,
}
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
#[derive(Clone)]
pub struct HeightFieldShapeContactManifoldsWorkspace {
timestamp: bool,
sub_detectors: HashMap<u32, SubDetector>,
}
impl HeightFieldShapeContactManifoldsWorkspace {
pub fn new() -> Self {
Self {
timestamp: false,
sub_detectors: HashMap::default(),
}
}
}
pub fn contact_manifolds_heightfield_shape_shapes<ManifoldData, ContactData>(
dispatcher: &dyn PersistentQueryDispatcher<ManifoldData, ContactData>,
pos12: &Isometry<Real>,
shape1: &dyn Shape,
shape2: &dyn Shape,
prediction: Real,
manifolds: &mut Vec<ContactManifold<ManifoldData, ContactData>>,
workspace: &mut Option<ContactManifoldsWorkspace>,
) where
ManifoldData: Default + Clone,
ContactData: Default + Copy,
{
if let Some(heightfield1) = shape1.as_heightfield() {
contact_manifolds_heightfield_shape(
dispatcher,
pos12,
heightfield1,
shape2,
prediction,
manifolds,
workspace,
false,
)
} else if let Some(heightfield2) = shape2.as_heightfield() {
contact_manifolds_heightfield_shape(
dispatcher,
&pos12.inverse(),
heightfield2,
shape1,
prediction,
manifolds,
workspace,
true,
)
}
}
fn ensure_workspace_exists(workspace: &mut Option<ContactManifoldsWorkspace>) {
if workspace
.as_ref()
.and_then(|w| {
w.0.downcast_ref::<HeightFieldShapeContactManifoldsWorkspace>()
})
.is_some()
{
return;
}
*workspace = Some(ContactManifoldsWorkspace(Box::new(
HeightFieldShapeContactManifoldsWorkspace::new(),
)));
}
pub fn contact_manifolds_heightfield_shape<ManifoldData, ContactData>(
dispatcher: &dyn PersistentQueryDispatcher<ManifoldData, ContactData>,
pos12: &Isometry<Real>,
heightfield1: &HeightField,
shape2: &dyn Shape,
prediction: Real,
manifolds: &mut Vec<ContactManifold<ManifoldData, ContactData>>,
workspace: &mut Option<ContactManifoldsWorkspace>,
flipped: bool,
) where
ManifoldData: Default + Clone,
ContactData: Default + Copy,
{
ensure_workspace_exists(workspace);
let workspace: &mut HeightFieldShapeContactManifoldsWorkspace =
workspace.as_mut().unwrap().0.downcast_mut().unwrap();
let new_timestamp = !workspace.timestamp;
workspace.timestamp = new_timestamp;
let ls_aabb2 = shape2.compute_aabb(&pos12).loosened(prediction);
let mut old_manifolds = std::mem::replace(manifolds, Vec::new());
heightfield1.map_elements_in_local_aabb(&ls_aabb2, &mut |i, part1| {
#[cfg(feature = "dim2")]
let sub_shape1 = Capsule::new(part1.a, part1.b, 0.0);
#[cfg(feature = "dim3")]
let sub_shape1 = *part1;
let sub_detector = match workspace.sub_detectors.entry(i) {
Entry::Occupied(entry) => {
let sub_detector = entry.into_mut();
let manifold = old_manifolds[sub_detector.manifold_id].take();
sub_detector.manifold_id = manifolds.len();
sub_detector.timestamp = new_timestamp;
manifolds.push(manifold);
sub_detector
}
Entry::Vacant(entry) => {
let sub_detector = SubDetector {
manifold_id: manifolds.len(),
timestamp: new_timestamp,
};
let (id1, id2) = if flipped { (0, i) } else { (i, 0) };
manifolds.push(ContactManifold::with_data(
id1,
id2,
ManifoldData::default(),
));
entry.insert(sub_detector)
}
};
let manifold = &mut manifolds[sub_detector.manifold_id];
if flipped {
let _ = dispatcher.contact_manifold_convex_convex(
&pos12.inverse(),
shape2,
&sub_shape1,
prediction,
manifold,
);
} else {
let _ = dispatcher.contact_manifold_convex_convex(
pos12,
&sub_shape1,
shape2,
prediction,
manifold,
);
}
});
workspace
.sub_detectors
.retain(|_, detector| detector.timestamp == new_timestamp)
}
impl WorkspaceData for HeightFieldShapeContactManifoldsWorkspace {
fn as_typed_workspace_data(&self) -> TypedWorkspaceData {
TypedWorkspaceData::HeightfieldShapeContactManifoldsWorkspace(self)
}
fn clone_dyn(&self) -> Box<dyn WorkspaceData> {
Box::new(self.clone())
}
}