ncollide3d/pipeline/narrow_phase/proximity_detector/
default_proximity_dispatcher.rs

1use crate::pipeline::narrow_phase::proximity_detector::{
2    BallBallProximityDetector, CompositeShapeShapeProximityDetector,
3    PlaneSupportMapProximityDetector, ProximityAlgorithm, ProximityDispatcher,
4    SupportMapPlaneProximityDetector, SupportMapSupportMapProximityDetector,
5};
6use crate::shape::{Ball, Plane, Shape};
7use na::RealField;
8
9/// Proximity dispatcher for shapes defined by `ncollide_entities`.
10pub struct DefaultProximityDispatcher {}
11
12impl DefaultProximityDispatcher {
13    /// Creates a new basic proximity dispatcher.
14    pub fn new() -> DefaultProximityDispatcher {
15        DefaultProximityDispatcher {}
16    }
17}
18
19impl<N: RealField + Copy> ProximityDispatcher<N> for DefaultProximityDispatcher {
20    fn get_proximity_algorithm(
21        &self,
22        a: &dyn Shape<N>,
23        b: &dyn Shape<N>,
24    ) -> Option<ProximityAlgorithm<N>> {
25        let a_is_ball = a.is_shape::<Ball<N>>();
26        let b_is_ball = b.is_shape::<Ball<N>>();
27
28        if a_is_ball && b_is_ball {
29            Some(Box::new(BallBallProximityDetector::new()))
30        } else if a.is_shape::<Plane<N>>() && b.is_support_map() {
31            Some(Box::new(PlaneSupportMapProximityDetector::new()))
32        } else if b.is_shape::<Plane<N>>() && a.is_support_map() {
33            Some(Box::new(SupportMapPlaneProximityDetector::new()))
34        } else if a.is_support_map() && b.is_support_map() {
35            Some(Box::new(SupportMapSupportMapProximityDetector::new()))
36        } else if a.is_composite_shape() {
37            Some(Box::new(CompositeShapeShapeProximityDetector::<N>::new(
38                false,
39            )))
40        } else if b.is_composite_shape() {
41            Some(Box::new(CompositeShapeShapeProximityDetector::<N>::new(
42                true,
43            )))
44        } else {
45            None
46        }
47    }
48}