ncollide3d/query/contact/
contact_preprocessor.rs

1use crate::query::{Contact, ContactKinematic};
2use na::RealField;
3
4/// Pre-process a contact before it is added to a contact manifold.
5pub trait ContactPreprocessor<N: RealField + Copy> {
6    /// Process a contact before it is stored into a contact manifold.
7    ///
8    /// Returns `false` if the contact should be ignored.
9    fn process_contact(
10        &self,
11        c: &mut Contact<N>,
12        kinematic: &mut ContactKinematic<N>,
13        is_first: bool,
14    ) -> bool;
15}
16
17// FIXME: not sure if there is a more efficient way of doing this.
18// In particular, this induces some overhead (additional indirection and possibly one
19// more virtual call) when the first member is `None`.
20impl<'a, 'b, N, A, B> ContactPreprocessor<N> for (Option<&'a A>, &'b B)
21where
22    N: RealField + Copy,
23    A: ?Sized + ContactPreprocessor<N>,
24    B: ?Sized + ContactPreprocessor<N>,
25{
26    fn process_contact(
27        &self,
28        c: &mut Contact<N>,
29        kinematic: &mut ContactKinematic<N>,
30        is_first: bool,
31    ) -> bool {
32        if let Some(p) = self.0 {
33            p.process_contact(c, kinematic, is_first)
34                && self.1.process_contact(c, kinematic, is_first)
35        } else {
36            self.1.process_contact(c, kinematic, is_first)
37        }
38    }
39}
ncollide3d/query/contact/contact_preprocessor.rs

ncollide3d/query/contact/
contact_preprocessor.rs
