First public release of Rapier.

src/geometry/contact_generator/mod.rs

@@ -0,0 +1,71 @@
+pub use self::ball_ball_contact_generator::generate_contacts_ball_ball;
+#[cfg(feature = "simd-is-enabled")]
+pub use self::ball_ball_contact_generator::generate_contacts_ball_ball_simd;
+pub use self::ball_convex_contact_generator::generate_contacts_ball_convex;
+pub use self::capsule_capsule_contact_generator::generate_contacts_capsule_capsule;
+pub use self::contact_dispatcher::{ContactDispatcher, DefaultContactDispatcher};
+pub use self::contact_generator::{
+    ContactGenerationContext, ContactGenerator, ContactPhase, PrimitiveContactGenerationContext,
+    PrimitiveContactGenerator,
+};
+#[cfg(feature = "simd-is-enabled")]
+pub use self::contact_generator::{
+    ContactGenerationContextSimd, PrimitiveContactGenerationContextSimd,
+};
+pub use self::cuboid_capsule_contact_generator::generate_contacts_cuboid_capsule;
+pub use self::cuboid_cuboid_contact_generator::generate_contacts_cuboid_cuboid;
+pub use self::cuboid_triangle_contact_generator::generate_contacts_cuboid_triangle;
+pub use self::heightfield_shape_contact_generator::{
+    generate_contacts_heightfield_shape, HeightFieldShapeContactGeneratorWorkspace,
+};
+pub use self::polygon_polygon_contact_generator::generate_contacts_polygon_polygon;
+pub use self::trimesh_shape_contact_generator::{
+    generate_contacts_trimesh_shape, TrimeshShapeContactGeneratorWorkspace,
+};
+
+#[cfg(feature = "dim2")]
+pub(crate) use self::polygon_polygon_contact_generator::{
+    clip_segments, clip_segments_with_normal,
+};
+
+mod ball_ball_contact_generator;
+mod ball_convex_contact_generator;
+mod ball_polygon_contact_generator;
+mod capsule_capsule_contact_generator;
+mod contact_dispatcher;
+mod contact_generator;
+mod cuboid_capsule_contact_generator;
+mod cuboid_cuboid_contact_generator;
+mod cuboid_polygon_contact_generator;
+mod cuboid_triangle_contact_generator;
+mod heightfield_shape_contact_generator;
+mod polygon_polygon_contact_generator;
+mod trimesh_shape_contact_generator;
+
+use crate::geometry::{Contact, ContactManifold};
+
+pub(crate) fn match_contacts(
+    manifold: &mut ContactManifold,
+    old_contacts: &[Contact],
+    swapped: bool,
+) {
+    for contact in &mut manifold.points {
+        if !swapped {
+            for old_contact in old_contacts {
+                if contact.fid1 == old_contact.fid1 && contact.fid2 == old_contact.fid2 {
+                    // Transfer impulse cache.
+                    contact.impulse = old_contact.impulse;
+                    contact.tangent_impulse = old_contact.tangent_impulse;
+                }
+            }
+        } else {
+            for old_contact in old_contacts {
+                if contact.fid1 == old_contact.fid2 && contact.fid2 == old_contact.fid1 {
+                    // Transfer impulse cache.
+                    contact.impulse = old_contact.impulse;
+                    contact.tangent_impulse = old_contact.tangent_impulse;
+                }
+            }
+        }
+    }
+}