First public release of Rapier.

2020-08-25 22:10:25 +02:00
commit 754a48b7ff
175 changed files with 32819 additions and 0 deletions
--- a/src/geometry/contact_generator/contact_dispatcher.rs
+++ b/src/geometry/contact_generator/contact_dispatcher.rs
@@ -0,0 +1,127 @@
+use crate::geometry::contact_generator::{
+    ContactGenerator, ContactPhase, HeightFieldShapeContactGeneratorWorkspace,
+    PrimitiveContactGenerator, TrimeshShapeContactGeneratorWorkspace,
+};
+use crate::geometry::Shape;
+use std::any::Any;
+
+/// Trait implemented by structures responsible for selecting a collision-detection algorithm
+/// for a given pair of shapes.
+pub trait ContactDispatcher {
+    /// Select the collision-detection algorithm for the given pair of primitive shapes.
+    fn dispatch_primitives(
+        &self,
+        shape1: &Shape,
+        shape2: &Shape,
+    ) -> (
+        PrimitiveContactGenerator,
+        Option<Box<dyn Any + Send + Sync>>,
+    );
+    /// Select the collision-detection algorithm for the given pair of non-primitive shapes.
+    fn dispatch(
+        &self,
+        shape1: &Shape,
+        shape2: &Shape,
+    ) -> (ContactPhase, Option<Box<dyn Any + Send + Sync>>);
+}
+
+/// The default contact dispatcher used by Rapier.
+pub struct DefaultContactDispatcher;
+
+impl ContactDispatcher for DefaultContactDispatcher {
+    fn dispatch_primitives(
+        &self,
+        shape1: &Shape,
+        shape2: &Shape,
+    ) -> (
+        PrimitiveContactGenerator,
+        Option<Box<dyn Any + Send + Sync>>,
+    ) {
+        match (shape1, shape2) {
+            (Shape::Ball(_), Shape::Ball(_)) => (
+                PrimitiveContactGenerator {
+                    generate_contacts: super::generate_contacts_ball_ball,
+                    #[cfg(feature = "simd-is-enabled")]
+                    generate_contacts_simd: super::generate_contacts_ball_ball_simd,
+                    ..PrimitiveContactGenerator::default()
+                },
+                None,
+            ),
+            (Shape::Cuboid(_), Shape::Cuboid(_)) => (
+                PrimitiveContactGenerator {
+                    generate_contacts: super::generate_contacts_cuboid_cuboid,
+                    ..PrimitiveContactGenerator::default()
+                },
+                None,
+            ),
+            (Shape::Polygon(_), Shape::Polygon(_)) => (
+                PrimitiveContactGenerator {
+                    generate_contacts: super::generate_contacts_polygon_polygon,
+                    ..PrimitiveContactGenerator::default()
+                },
+                None,
+            ),
+            (Shape::Capsule(_), Shape::Capsule(_)) => (
+                PrimitiveContactGenerator {
+                    generate_contacts: super::generate_contacts_capsule_capsule,
+                    ..PrimitiveContactGenerator::default()
+                },
+                None,
+            ),
+            (Shape::Cuboid(_), Shape::Ball(_))
+            | (Shape::Ball(_), Shape::Cuboid(_))
+            | (Shape::Triangle(_), Shape::Ball(_))
+            | (Shape::Ball(_), Shape::Triangle(_))
+            | (Shape::Capsule(_), Shape::Ball(_))
+            | (Shape::Ball(_), Shape::Capsule(_)) => (
+                PrimitiveContactGenerator {
+                    generate_contacts: super::generate_contacts_ball_convex,
+                    ..PrimitiveContactGenerator::default()
+                },
+                None,
+            ),
+            (Shape::Capsule(_), Shape::Cuboid(_)) | (Shape::Cuboid(_), Shape::Capsule(_)) => (
+                PrimitiveContactGenerator {
+                    generate_contacts: super::generate_contacts_cuboid_capsule,
+                    ..PrimitiveContactGenerator::default()
+                },
+                None,
+            ),
+            (Shape::Triangle(_), Shape::Cuboid(_)) | (Shape::Cuboid(_), Shape::Triangle(_)) => (
+                PrimitiveContactGenerator {
+                    generate_contacts: super::generate_contacts_cuboid_triangle,
+                    ..PrimitiveContactGenerator::default()
+                },
+                None,
+            ),
+            _ => (PrimitiveContactGenerator::default(), None),
+        }
+    }
+
+    fn dispatch(
+        &self,
+        shape1: &Shape,
+        shape2: &Shape,
+    ) -> (ContactPhase, Option<Box<dyn Any + Send + Sync>>) {
+        match (shape1, shape2) {
+            (Shape::Trimesh(_), _) | (_, Shape::Trimesh(_)) => (
+                ContactPhase::NearPhase(ContactGenerator {
+                    generate_contacts: super::generate_contacts_trimesh_shape,
+                    ..ContactGenerator::default()
+                }),
+                Some(Box::new(TrimeshShapeContactGeneratorWorkspace::new())),
+            ),
+            (Shape::HeightField(_), _) | (_, Shape::HeightField(_)) => (
+                ContactPhase::NearPhase(ContactGenerator {
+                    generate_contacts: super::generate_contacts_heightfield_shape,
+                    ..ContactGenerator::default()
+                }),
+                Some(Box::new(HeightFieldShapeContactGeneratorWorkspace::new())),
+            ),
+            _ => {
+                let (gen, workspace) = self.dispatch_primitives(shape1, shape2);
+                (ContactPhase::ExactPhase(gen), workspace)
+            }
+        }
+    }
+}