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use crate::geometry::proximity_detector::{
PrimitiveProximityDetector, ProximityDetector, ProximityPhase,
TrimeshShapeProximityDetectorWorkspace,
};
use crate::geometry::ShapeType;
use std::any::Any;
pub trait ProximityDispatcher {
fn dispatch_primitives(
&self,
shape1: ShapeType,
shape2: ShapeType,
) -> (
PrimitiveProximityDetector,
Option<Box<dyn Any + Send + Sync>>,
);
fn dispatch(
&self,
shape1: ShapeType,
shape2: ShapeType,
) -> (ProximityPhase, Option<Box<dyn Any + Send + Sync>>);
}
pub struct DefaultProximityDispatcher;
impl ProximityDispatcher for DefaultProximityDispatcher {
fn dispatch_primitives(
&self,
shape1: ShapeType,
shape2: ShapeType,
) -> (
PrimitiveProximityDetector,
Option<Box<dyn Any + Send + Sync>>,
) {
match (shape1, shape2) {
(ShapeType::Ball, ShapeType::Ball) => (
PrimitiveProximityDetector {
#[cfg(feature = "simd-is-enabled")]
detect_proximity_simd: super::detect_proximity_ball_ball_simd,
detect_proximity: super::detect_proximity_ball_ball,
..PrimitiveProximityDetector::default()
},
None,
),
(ShapeType::Cuboid, ShapeType::Cuboid) => (
PrimitiveProximityDetector {
detect_proximity: super::detect_proximity_cuboid_cuboid,
..PrimitiveProximityDetector::default()
},
None,
),
(ShapeType::Polygon, ShapeType::Polygon) => (
PrimitiveProximityDetector {
detect_proximity: super::detect_proximity_polygon_polygon,
..PrimitiveProximityDetector::default()
},
None,
),
(ShapeType::Triangle, ShapeType::Ball) => (
PrimitiveProximityDetector {
detect_proximity: super::detect_proximity_ball_convex,
..PrimitiveProximityDetector::default()
},
None,
),
(ShapeType::Ball, ShapeType::Triangle) => (
PrimitiveProximityDetector {
detect_proximity: super::detect_proximity_ball_convex,
..PrimitiveProximityDetector::default()
},
None,
),
(ShapeType::Cuboid, ShapeType::Ball) => (
PrimitiveProximityDetector {
detect_proximity: super::detect_proximity_ball_convex,
..PrimitiveProximityDetector::default()
},
None,
),
(ShapeType::Ball, ShapeType::Cuboid) => (
PrimitiveProximityDetector {
detect_proximity: super::detect_proximity_ball_convex,
..PrimitiveProximityDetector::default()
},
None,
),
(ShapeType::Triangle, ShapeType::Cuboid) => (
PrimitiveProximityDetector {
detect_proximity: super::detect_proximity_cuboid_triangle,
..PrimitiveProximityDetector::default()
},
None,
),
(ShapeType::Cuboid, ShapeType::Triangle) => (
PrimitiveProximityDetector {
detect_proximity: super::detect_proximity_cuboid_triangle,
..PrimitiveProximityDetector::default()
},
None,
),
_ => (PrimitiveProximityDetector::default(), None),
}
}
fn dispatch(
&self,
shape1: ShapeType,
shape2: ShapeType,
) -> (ProximityPhase, Option<Box<dyn Any + Send + Sync>>) {
match (shape1, shape2) {
(ShapeType::Trimesh, _) => (
ProximityPhase::NearPhase(ProximityDetector {
detect_proximity: super::detect_proximity_trimesh_shape,
..ProximityDetector::default()
}),
Some(Box::new(TrimeshShapeProximityDetectorWorkspace::new())),
),
(_, ShapeType::Trimesh) => (
ProximityPhase::NearPhase(ProximityDetector {
detect_proximity: super::detect_proximity_trimesh_shape,
..ProximityDetector::default()
}),
Some(Box::new(TrimeshShapeProximityDetectorWorkspace::new())),
),
_ => {
let (gen, workspace) = self.dispatch_primitives(shape1, shape2);
(ProximityPhase::ExactPhase(gen), workspace)
}
}
}
}