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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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20
src/geometry/sat.rs
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@@ -58,8 +58,8 @@ pub fn cuboid_cuboid_find_local_separating_edge_twoway(
let y2 = pos12 * Vector::y();
let z2 = pos12 * Vector::z();
// We have 3 * 3 = 9 axii to test.
let axii = [
// We have 3 * 3 = 9 axes to test.
let axes = [
// Vector::{x, y ,z}().cross(y2)
Vector::new(0.0, -x2.z, x2.y),
Vector::new(x2.z, 0.0, -x2.x),
@@ -74,7 +74,7 @@ pub fn cuboid_cuboid_find_local_separating_edge_twoway(
Vector::new(-z2.y, z2.x, 0.0),
];
for axis1 in &axii {
for axis1 in &axes {
let norm1 = axis1.norm();
if norm1 > f32::default_epsilon() {
let (separation, axis1) = cuboid_cuboid_compute_separation_wrt_local_line(
@@ -149,7 +149,7 @@ pub fn cube_support_map_compute_separation_wrt_local_line<S: SupportMap<f32>>(
pub fn cube_support_map_find_local_separating_edge_twoway(
cube1: &Cuboid,
shape2: &impl SupportMap<f32>,
axii: &[Vector<f32>],
axes: &[Vector<f32>],
pos12: &Isometry<f32>,
pos21: &Isometry<f32>,
) -> (f32, Vector<f32>) {
@@ -157,7 +157,7 @@ pub fn cube_support_map_find_local_separating_edge_twoway(
let mut best_separation = -std::f32::MAX;
let mut best_dir = Vector::zeros();
for axis1 in axii {
for axis1 in axes {
if let Some(axis1) = Unit::try_new(*axis1, f32::default_epsilon()) {
let (separation, axis1) = cube_support_map_compute_separation_wrt_local_line(
cube1, shape2, pos12, pos21, &axis1,
@@ -184,8 +184,8 @@ pub fn cube_triangle_find_local_separating_edge_twoway(
let y2 = pos12 * (triangle2.c - triangle2.b);
let z2 = pos12 * (triangle2.a - triangle2.c);
// We have 3 * 3 = 3 axii to test.
let axii = [
// We have 3 * 3 = 3 axes to test.
let axes = [
// Vector::{x, y ,z}().cross(y2)
Vector::new(0.0, -x2.z, x2.y),
Vector::new(x2.z, 0.0, -x2.x),
@@ -200,7 +200,7 @@ pub fn cube_triangle_find_local_separating_edge_twoway(
Vector::new(-z2.y, z2.x, 0.0),
];
cube_support_map_find_local_separating_edge_twoway(cube1, triangle2, &axii, pos12, pos21)
cube_support_map_find_local_separating_edge_twoway(cube1, triangle2, &axes, pos12, pos21)
}
#[cfg(feature = "dim3")]
@@ -212,14 +212,14 @@ pub fn cube_segment_find_local_separating_edge_twoway(
) -> (f32, Vector<f32>) {
let x2 = pos12 * (segment2.b - segment2.a);
let axii = [
let axes = [
// Vector::{x, y ,z}().cross(y2)
Vector::new(0.0, -x2.z, x2.y),
Vector::new(x2.z, 0.0, -x2.x),
Vector::new(-x2.y, x2.x, 0.0),
];
cube_support_map_find_local_separating_edge_twoway(cube1, segment2, &axii, pos12, pos21)
cube_support_map_find_local_separating_edge_twoway(cube1, segment2, &axes, pos12, pos21)
}
pub fn cube_support_map_find_local_separating_normal_oneway<S: SupportMap<f32>>(