ncollide3d/pipeline/narrow_phase/proximity_detector/
default_proximity_dispatcher.rs

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use crate::pipeline::narrow_phase::proximity_detector::{
    BallBallProximityDetector, CompositeShapeShapeProximityDetector,
    PlaneSupportMapProximityDetector, ProximityAlgorithm, ProximityDispatcher,
    SupportMapPlaneProximityDetector, SupportMapSupportMapProximityDetector,
};
use crate::shape::{Ball, Plane, Shape};
use na::RealField;

/// Proximity dispatcher for shapes defined by `ncollide_entities`.
pub struct DefaultProximityDispatcher {}

impl DefaultProximityDispatcher {
    /// Creates a new basic proximity dispatcher.
    pub fn new() -> DefaultProximityDispatcher {
        DefaultProximityDispatcher {}
    }
}

impl<N: RealField + Copy> ProximityDispatcher<N> for DefaultProximityDispatcher {
    fn get_proximity_algorithm(
        &self,
        a: &dyn Shape<N>,
        b: &dyn Shape<N>,
    ) -> Option<ProximityAlgorithm<N>> {
        let a_is_ball = a.is_shape::<Ball<N>>();
        let b_is_ball = b.is_shape::<Ball<N>>();

        if a_is_ball && b_is_ball {
            Some(Box::new(BallBallProximityDetector::new()))
        } else if a.is_shape::<Plane<N>>() && b.is_support_map() {
            Some(Box::new(PlaneSupportMapProximityDetector::new()))
        } else if b.is_shape::<Plane<N>>() && a.is_support_map() {
            Some(Box::new(SupportMapPlaneProximityDetector::new()))
        } else if a.is_support_map() && b.is_support_map() {
            Some(Box::new(SupportMapSupportMapProximityDetector::new()))
        } else if a.is_composite_shape() {
            Some(Box::new(CompositeShapeShapeProximityDetector::<N>::new(
                false,
            )))
        } else if b.is_composite_shape() {
            Some(Box::new(CompositeShapeShapeProximityDetector::<N>::new(
                true,
            )))
        } else {
            None
        }
    }
}