ncollide3d/pipeline/narrow_phase/contact_generator/
ball_ball_manifold_generator.rs

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use crate::math::{Isometry, Point};
use crate::pipeline::narrow_phase::{ContactDispatcher, ContactManifoldGenerator};
use crate::query::{
    self, ContactKinematic, ContactManifold, ContactPrediction, ContactPreprocessor,
    NeighborhoodGeometry,
};
use crate::shape::{Ball, FeatureId, Shape};
use na::RealField;
use std::marker::PhantomData;

/// Collision detector between two balls.
#[derive(Clone)]
pub struct BallBallManifoldGenerator<N: RealField + Copy> {
    phantom: PhantomData<N>,
}

impl<N: RealField + Copy> BallBallManifoldGenerator<N> {
    /// Creates a new persistent collision detector between two balls.
    #[inline]
    pub fn new() -> BallBallManifoldGenerator<N> {
        BallBallManifoldGenerator {
            phantom: PhantomData,
        }
    }
}

impl<N: RealField + Copy> ContactManifoldGenerator<N> for BallBallManifoldGenerator<N> {
    fn generate_contacts(
        &mut self,
        _: &dyn ContactDispatcher<N>,
        ma: &Isometry<N>,
        a: &dyn Shape<N>,
        proc1: Option<&dyn ContactPreprocessor<N>>,
        mb: &Isometry<N>,
        b: &dyn Shape<N>,
        proc2: Option<&dyn ContactPreprocessor<N>>,
        prediction: &ContactPrediction<N>,
        manifold: &mut ContactManifold<N>,
    ) -> bool {
        if let (Some(a), Some(b)) = (a.as_shape::<Ball<N>>(), b.as_shape::<Ball<N>>()) {
            let center_a = Point::from(ma.translation.vector);
            let center_b = Point::from(mb.translation.vector);
            if let Some(contact) =
                query::contact_ball_ball(&center_a, a, &center_b, b, prediction.linear())
            {
                let mut kinematic = ContactKinematic::new();
                kinematic.set_approx1(
                    FeatureId::Face(0),
                    Point::origin(),
                    NeighborhoodGeometry::Point,
                );
                kinematic.set_approx2(
                    FeatureId::Face(0),
                    Point::origin(),
                    NeighborhoodGeometry::Point,
                );
                kinematic.set_dilation1(a.radius);
                kinematic.set_dilation2(b.radius);

                let _ = manifold.push(contact, kinematic, Point::origin(), proc1, proc2);
            }

            true
        } else {
            false
        }
    }
}