1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
use crate::math::{Isometry, Point};
use crate::pipeline::narrow_phase::{ContactDispatcher, ContactManifoldGenerator};
use crate::query::{
Contact, ContactKinematic, ContactManifold, ContactPrediction, ContactPreprocessor,
NeighborhoodGeometry,
};
use crate::shape::{Ball, FeatureId, Shape};
use crate::utils::IsometryOps;
use na::{RealField, Unit};
use std::marker::PhantomData;
#[derive(Clone)]
pub struct BallConvexPolyhedronManifoldGenerator<N: RealField> {
phantom: PhantomData<N>,
flip: bool,
}
impl<N: RealField> BallConvexPolyhedronManifoldGenerator<N> {
#[inline]
pub fn new(flip: bool) -> BallConvexPolyhedronManifoldGenerator<N> {
BallConvexPolyhedronManifoldGenerator {
phantom: PhantomData,
flip,
}
}
fn do_generate(
&mut self,
m1: &Isometry<N>,
a: &dyn Shape<N>,
proc1: Option<&dyn ContactPreprocessor<N>>,
m2: &Isometry<N>,
b: &dyn Shape<N>,
proc2: Option<&dyn ContactPreprocessor<N>>,
prediction: &ContactPrediction<N>,
manifold: &mut ContactManifold<N>,
) -> bool {
if let (Some(ball), Some(pq2), Some(cp2)) = (
a.as_shape::<Ball<N>>(),
b.as_point_query(),
b.as_convex_polyhedron(),
) {
let ball_center = Point::from(m1.translation.vector);
let (proj, f2) = pq2.project_point_with_feature(m2, &ball_center);
let world2 = proj.point;
let dpt = world2 - ball_center;
let depth;
let normal;
if let Some((dir, dist)) = Unit::try_new_and_get(dpt, N::default_epsilon()) {
if proj.is_inside {
depth = dist + ball.radius();
normal = -dir;
} else {
depth = -dist + ball.radius();
normal = dir;
}
} else {
if f2 == FeatureId::Unknown {
return true;
}
depth = N::zero();
normal = -cp2.feature_normal(f2);
}
if depth >= -prediction.linear() {
let mut kinematic = ContactKinematic::new();
let f1 = FeatureId::Face(0);
let world1 = ball_center + normal.into_inner() * ball.radius();
let contact;
if !self.flip {
contact = Contact::new(world1, world2, normal, depth);
kinematic.set_approx1(f1, Point::origin(), NeighborhoodGeometry::Point);
kinematic.set_dilation1(ball.radius());
} else {
contact = Contact::new(world2, world1, -normal, depth);
kinematic.set_approx2(f1, Point::origin(), NeighborhoodGeometry::Point);
kinematic.set_dilation2(ball.radius());
}
let local2 = m2.inverse_transform_point(&world2);
let geom2;
match f2 {
FeatureId::Face { .. } => {
let n = m2.inverse_transform_unit_vector(&-normal);
geom2 = NeighborhoodGeometry::Plane(n);
}
#[cfg(feature = "dim3")]
FeatureId::Edge { .. } => {
let edge = cp2.edge(f2);
let dir = Unit::new_normalize(edge.1 - edge.0);
geom2 = NeighborhoodGeometry::Line(dir);
}
FeatureId::Vertex { .. } => {
geom2 = NeighborhoodGeometry::Point;
}
FeatureId::Unknown => panic!("Feature id cannot be unknown."),
}
if !self.flip {
kinematic.set_approx2(f2, local2, geom2);
let _ = manifold.push(contact, kinematic, Point::origin(), proc1, proc2);
} else {
kinematic.set_approx1(f2, local2, geom2);
let _ = manifold.push(contact, kinematic, Point::origin(), proc2, proc1);
}
}
true
} else {
false
}
}
}
impl<N: RealField> ContactManifoldGenerator<N> for BallConvexPolyhedronManifoldGenerator<N> {
fn generate_contacts(
&mut self,
_: &dyn ContactDispatcher<N>,
m1: &Isometry<N>,
a: &dyn Shape<N>,
proc1: Option<&dyn ContactPreprocessor<N>>,
m2: &Isometry<N>,
b: &dyn Shape<N>,
proc2: Option<&dyn ContactPreprocessor<N>>,
prediction: &ContactPrediction<N>,
manifold: &mut ContactManifold<N>,
) -> bool {
if !self.flip {
self.do_generate(m1, a, proc1, m2, b, proc2, prediction, manifold)
} else {
self.do_generate(m2, b, proc2, m1, a, proc1, prediction, manifold)
}
}
}