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use crate::bounding_volume::AABB;
use crate::math::{Isometry, Point, Real};
use crate::partitioning::SimdQuadTree;
use crate::shape::composite_shape::SimdCompositeShape;
use crate::shape::{FeatureId, Segment, Shape, TypedSimdCompositeShape};
#[derive(Clone)]
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
pub struct Polyline {
quadtree: SimdQuadTree<u32>,
vertices: Vec<Point<Real>>,
indices: Vec<[u32; 2]>,
}
impl Polyline {
pub fn new(vertices: Vec<Point<Real>>, indices: Option<Vec<[u32; 2]>>) -> Self {
let indices =
indices.unwrap_or_else(|| (0..vertices.len() as u32 - 1).map(|i| [i, i + 1]).collect());
let data = indices.iter().enumerate().map(|(i, idx)| {
let aabb =
Segment::new(vertices[idx[0] as usize], vertices[idx[1] as usize]).local_aabb();
(i as u32, aabb)
});
let mut quadtree = SimdQuadTree::new();
quadtree.clear_and_rebuild(data, 0.0);
Self {
quadtree,
vertices,
indices,
}
}
pub fn aabb(&self, pos: &Isometry<Real>) -> AABB {
self.quadtree.root_aabb().transform_by(pos)
}
pub fn local_aabb(&self) -> &AABB {
&self.quadtree.root_aabb()
}
pub(crate) fn quadtree(&self) -> &SimdQuadTree<u32> {
&self.quadtree
}
pub fn num_segments(&self) -> usize {
self.indices.len()
}
pub fn segments(&self) -> impl Iterator<Item = Segment> + '_ {
self.indices.iter().map(move |ids| {
Segment::new(
self.vertices[ids[0] as usize],
self.vertices[ids[1] as usize],
)
})
}
pub fn segment(&self, i: u32) -> Segment {
let idx = self.indices[i as usize];
Segment::new(
self.vertices[idx[0] as usize],
self.vertices[idx[1] as usize],
)
}
pub fn segment_feature_to_polyline_feature(
&self,
segment: u32,
_feature: FeatureId,
) -> FeatureId {
#[cfg(feature = "dim2")]
return FeatureId::Face(segment);
#[cfg(feature = "dim3")]
return FeatureId::Edge(segment);
}
pub fn vertices(&self) -> &[Point<Real>] {
&self.vertices[..]
}
pub fn indices(&self) -> &[[u32; 2]] {
&self.indices
}
pub fn flat_indices(&self) -> &[u32] {
unsafe {
let len = self.indices.len() * 3;
let data = self.indices.as_ptr() as *const u32;
std::slice::from_raw_parts(data, len)
}
}
}
impl SimdCompositeShape for Polyline {
fn map_part_at(&self, i: u32, f: &mut dyn FnMut(Option<&Isometry<Real>>, &dyn Shape)) {
let tri = self.segment(i);
f(None, &tri)
}
fn quadtree(&self) -> &SimdQuadTree<u32> {
&self.quadtree
}
}
impl TypedSimdCompositeShape for Polyline {
type PartShape = Segment;
type PartId = u32;
#[inline(always)]
fn map_typed_part_at(
&self,
i: u32,
mut f: impl FnMut(Option<&Isometry<Real>>, &Self::PartShape),
) {
let seg = self.segment(i);
f(None, &seg)
}
#[inline(always)]
fn map_untyped_part_at(&self, i: u32, mut f: impl FnMut(Option<&Isometry<Real>>, &dyn Shape)) {
let seg = self.segment(i);
f(None, &seg)
}
fn typed_quadtree(&self) -> &SimdQuadTree<u32> {
&self.quadtree
}
}