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use crate::math::{Isometry, Point, Real};
use crate::query::{ContactManifold, TrackedContact};
use crate::shape::{Ball, Shape};
use na::Unit;
pub fn contact_manifold_convex_ball_shapes<ManifoldData, ContactData>(
pos12: &Isometry<Real>,
shape1: &dyn Shape,
shape2: &dyn Shape,
prediction: Real,
manifold: &mut ContactManifold<ManifoldData, ContactData>,
) where
ContactData: Default + Copy,
{
if let Some(ball1) = shape1.as_ball() {
contact_manifold_convex_ball(&pos12.inverse(), shape2, ball1, prediction, manifold, true);
} else if let Some(ball2) = shape2.as_ball() {
contact_manifold_convex_ball(pos12, shape1, ball2, prediction, manifold, false);
}
}
pub fn contact_manifold_convex_ball<'a, ManifoldData, ContactData, S1>(
pos12: &Isometry<Real>,
shape1: &'a S1,
ball2: &'a Ball,
prediction: Real,
manifold: &mut ContactManifold<ManifoldData, ContactData>,
flipped: bool,
) where
S1: ?Sized + Shape,
ContactData: Default + Copy,
{
let local_p2_1 = Point::from(pos12.translation.vector);
let proj = shape1.project_local_point(&local_p2_1, false);
let dpos = local_p2_1 - proj.point;
if let Some((mut local_n1, mut dist)) = Unit::try_new_and_get(dpos, 0.0) {
if proj.is_inside {
local_n1 = -local_n1;
dist = -dist;
}
if dist <= ball2.radius + prediction {
let local_n2 = pos12.inverse_transform_vector(&-*local_n1);
let local_p2 = (local_n2 * ball2.radius).into();
let contact_point =
TrackedContact::flipped(proj.point, local_p2, 0, 0, dist - ball2.radius, flipped);
if manifold.points.len() != 1 {
manifold.clear();
manifold.points.push(contact_point);
} else {
manifold.points[0].copy_geometry_from(contact_point);
}
if flipped {
manifold.local_n1 = local_n2;
manifold.local_n2 = *local_n1;
} else {
manifold.local_n1 = *local_n1;
manifold.local_n2 = local_n2;
}
} else {
manifold.clear();
}
}
}