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Collider shape: use a trait-object instead of an enum.

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This commit is contained in:
Crozet Sébastien
2020-10-20 11:55:33 +02:00
parent 947c4813c9
commit 865ce8a8e5
31 changed files with 782 additions and 438 deletions
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78
src/geometry/contact_generator/contact_dispatcher.rs
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@@ -3,7 +3,7 @@ use crate::geometry::contact_generator::{
PfmPfmContactManifoldGeneratorWorkspace, PrimitiveContactGenerator,
TrimeshShapeContactGeneratorWorkspace,
};
use crate::geometry::Shape;
use crate::geometry::{Shape, ShapeType};
use std::any::Any;
/// Trait implemented by structures responsible for selecting a collision-detection algorithm
@@ -12,8 +12,8 @@ pub trait ContactDispatcher {
/// Select the collision-detection algorithm for the given pair of primitive shapes.
fn dispatch_primitives(
&self,
shape1: &Shape,
shape2: &Shape,
shape1: ShapeType,
shape2: ShapeType,
) -> (
PrimitiveContactGenerator,
Option<Box<dyn Any + Send + Sync>>,
@@ -21,8 +21,8 @@ pub trait ContactDispatcher {
/// Select the collision-detection algorithm for the given pair of non-primitive shapes.
fn dispatch(
&self,
shape1: &Shape,
shape2: &Shape,
shape1: ShapeType,
shape2: ShapeType,
) -> (ContactPhase, Option<Box<dyn Any + Send + Sync>>);
}
@@ -32,14 +32,14 @@ pub struct DefaultContactDispatcher;
impl ContactDispatcher for DefaultContactDispatcher {
fn dispatch_primitives(
&self,
shape1: &Shape,
shape2: &Shape,
shape1: ShapeType,
shape2: ShapeType,
) -> (
PrimitiveContactGenerator,
Option<Box<dyn Any + Send + Sync>>,
) {
match (shape1, shape2) {
(Shape::Ball(_), Shape::Ball(_)) => (
(ShapeType::Ball, ShapeType::Ball) => (
PrimitiveContactGenerator {
generate_contacts: super::generate_contacts_ball_ball,
#[cfg(feature = "simd-is-enabled")]
@@ -48,56 +48,58 @@ impl ContactDispatcher for DefaultContactDispatcher {
},
None,
),
(Shape::Cuboid(_), Shape::Cuboid(_)) => (
(ShapeType::Cuboid, ShapeType::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(_)) => (
// (ShapeType::Polygon, ShapeType::Polygon) => (
// PrimitiveContactGenerator {
// generate_contacts: super::generate_contacts_polygon_polygon,
// ..PrimitiveContactGenerator::default()
// },
// None,
// ),
(ShapeType::Capsule, ShapeType::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(_))
| (Shape::Cylinder(_), Shape::Ball(_))
| (Shape::Ball(_), Shape::Cylinder(_)) => (
(ShapeType::Cuboid, ShapeType::Ball)
| (ShapeType::Ball, ShapeType::Cuboid)
| (ShapeType::Triangle, ShapeType::Ball)
| (ShapeType::Ball, ShapeType::Triangle)
| (ShapeType::Capsule, ShapeType::Ball)
| (ShapeType::Ball, ShapeType::Capsule)
| (ShapeType::Cylinder, ShapeType::Ball)
| (ShapeType::Ball, ShapeType::Cylinder) => (
PrimitiveContactGenerator {
generate_contacts: super::generate_contacts_ball_convex,
..PrimitiveContactGenerator::default()
},
None,
),
(Shape::Capsule(_), Shape::Cuboid(_)) | (Shape::Cuboid(_), Shape::Capsule(_)) => (
(ShapeType::Capsule, ShapeType::Cuboid) | (ShapeType::Cuboid, ShapeType::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,
),
(Shape::Cylinder(_), _) | (_, Shape::Cylinder(_)) => (
(ShapeType::Triangle, ShapeType::Cuboid) | (ShapeType::Cuboid, ShapeType::Triangle) => {
(
PrimitiveContactGenerator {
generate_contacts: super::generate_contacts_cuboid_triangle,
..PrimitiveContactGenerator::default()
},
None,
)
}
(ShapeType::Cylinder, _) | (_, ShapeType::Cylinder) => (
PrimitiveContactGenerator {
generate_contacts: super::generate_contacts_pfm_pfm,
..PrimitiveContactGenerator::default()
@@ -110,18 +112,18 @@ impl ContactDispatcher for DefaultContactDispatcher {
fn dispatch(
&self,
shape1: &Shape,
shape2: &Shape,
shape1: ShapeType,
shape2: ShapeType,
) -> (ContactPhase, Option<Box<dyn Any + Send + Sync>>) {
match (shape1, shape2) {
(Shape::Trimesh(_), _) | (_, Shape::Trimesh(_)) => (
(ShapeType::Trimesh, _) | (_, ShapeType::Trimesh) => (
ContactPhase::NearPhase(ContactGenerator {
generate_contacts: super::generate_contacts_trimesh_shape,
..ContactGenerator::default()
}),
Some(Box::new(TrimeshShapeContactGeneratorWorkspace::new())),
),
(Shape::HeightField(_), _) | (_, Shape::HeightField(_)) => (
(ShapeType::HeightField, _) | (_, ShapeType::HeightField) => (
ContactPhase::NearPhase(ContactGenerator {
generate_contacts: super::generate_contacts_heightfield_shape,
..ContactGenerator::default()