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use crate::math::{Isometry, Point, Real, Vector};
#[cfg(feature = "std")]
use crate::query::{self, ContactManifold, TrackedContact};
use crate::shape::Segment;
#[derive(Debug)]
pub struct PolygonalFeature {
pub vertices: [Point<Real>; 2],
pub vids: [u32; 2],
pub fid: u32,
pub num_vertices: usize,
}
impl Default for PolygonalFeature {
fn default() -> Self {
Self {
vertices: [Point::origin(); 2],
vids: [0; 2],
fid: 0,
num_vertices: 0,
}
}
}
impl From<Segment> for PolygonalFeature {
fn from(seg: Segment) -> Self {
PolygonalFeature {
vertices: [seg.a, seg.b],
vids: [0, 2],
fid: 1,
num_vertices: 2,
}
}
}
impl PolygonalFeature {
pub fn transform_by(&mut self, pos: &Isometry<Real>) {
self.vertices[0] = pos * self.vertices[0];
self.vertices[1] = pos * self.vertices[1];
}
#[cfg(feature = "std")]
pub fn contacts<ManifoldData, ContactData: Default + Copy>(
pos12: &Isometry<Real>,
pos21: &Isometry<Real>,
sep_axis1: &Vector<Real>,
sep_axis2: &Vector<Real>,
feature1: &Self,
feature2: &Self,
prediction: Real,
manifold: &mut ContactManifold<ManifoldData, ContactData>,
flipped: bool,
) {
match (feature1.num_vertices == 2, feature2.num_vertices == 2) {
(true, true) => Self::face_face_contacts(
pos12, feature1, sep_axis1, feature2, prediction, manifold, flipped,
),
(true, false) => Self::face_vertex_contacts(
pos12, feature1, sep_axis1, feature2, prediction, manifold, flipped,
),
(false, true) => Self::face_vertex_contacts(
pos21, feature2, sep_axis2, feature1, prediction, manifold, !flipped,
),
(false, false) => unimplemented!(),
}
}
#[cfg(feature = "std")]
pub fn face_vertex_contacts<ManifoldData, ContactData: Default + Copy>(
pos12: &Isometry<Real>,
face1: &Self,
sep_axis1: &Vector<Real>,
vertex2: &Self,
_prediction: Real,
manifold: &mut ContactManifold<ManifoldData, ContactData>,
flipped: bool,
) {
let v2_1 = pos12 * vertex2.vertices[0];
let tangent1 = face1.vertices[1] - face1.vertices[0];
let normal1 = Vector::new(-tangent1.y, tangent1.x);
let denom = -normal1.dot(&sep_axis1);
let dist = (face1.vertices[0] - v2_1).dot(&normal1) / denom;
let local_p2 = v2_1;
let local_p1 = v2_1 - dist * normal1;
let contact = TrackedContact::flipped(
local_p1,
pos12.inverse_transform_point(&local_p2),
face1.fid,
vertex2.vids[0],
dist,
flipped,
);
manifold.points.push(contact);
}
#[cfg(feature = "std")]
pub fn face_face_contacts<ManifoldData, ContactData: Default + Copy>(
pos12: &Isometry<Real>,
face1: &Self,
normal1: &Vector<Real>,
face2: &Self,
_prediction: Real,
manifold: &mut ContactManifold<ManifoldData, ContactData>,
flipped: bool,
) {
if let Some((clip_a, clip_b)) = query::details::clip_segment_segment_with_normal(
(face1.vertices[0], face1.vertices[1]),
(pos12 * face2.vertices[0], pos12 * face2.vertices[1]),
*normal1,
) {
let fids1 = [face1.vids[0], face1.fid, face1.vids[1]];
let fids2 = [face2.vids[0], face2.fid, face2.vids[1]];
let dist = (clip_a.1 - clip_a.0).dot(normal1);
if true {
let contact = TrackedContact::flipped(
clip_a.0,
pos12.inverse_transform_point(&clip_a.1),
fids1[clip_a.2],
fids2[clip_a.3],
dist,
flipped,
);
manifold.points.push(contact);
}
let dist = (clip_b.1 - clip_b.0).dot(normal1);
if true {
let contact = TrackedContact::flipped(
clip_b.0,
pos12.inverse_transform_point(&clip_b.1),
fids1[clip_b.2],
fids2[clip_b.3],
dist,
flipped,
);
manifold.points.push(contact);
}
}
}
}