ncollide3d/query/contact/
contact_support_map_support_map.rs

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1use crate::math::{Isometry, Vector};
2use crate::query::algorithms::{gjk, gjk::GJKResult, CSOPoint};
3use crate::query::algorithms::{VoronoiSimplex, EPA};
4use crate::query::Contact;
5use crate::shape::SupportMap;
6use na::{RealField, Unit};
7
8/// Contact between support-mapped shapes (`Cuboid`, `ConvexHull`, etc.)
9pub fn contact_support_map_support_map<N, G1: ?Sized, G2: ?Sized>(
10    m1: &Isometry<N>,
11    g1: &G1,
12    m2: &Isometry<N>,
13    g2: &G2,
14    prediction: N,
15) -> Option<Contact<N>>
16where
17    N: RealField + Copy,
18    G1: SupportMap<N>,
19    G2: SupportMap<N>,
20{
21    let simplex = &mut VoronoiSimplex::new();
22    match contact_support_map_support_map_with_params(m1, g1, m2, g2, prediction, simplex, None) {
23        GJKResult::ClosestPoints(world1, world2, normal) => {
24            Some(Contact::new_wo_depth(world1, world2, normal))
25        }
26        GJKResult::NoIntersection(_) => None,
27        GJKResult::Intersection => unreachable!(),
28        GJKResult::Proximity(_) => unreachable!(),
29    }
30}
31
32/// Contact between support-mapped shapes (`Cuboid`, `ConvexHull`, etc.)
33///
34/// This allows a more fine grained control other the underlying GJK algorigtm.
35/// The vector-typed result is the vector that should be passed as `init` for
36/// subsequent executions of the algorithm. It is also the contact
37/// normal (that points toward the outside of the first solid).
38pub fn contact_support_map_support_map_with_params<N, G1: ?Sized, G2: ?Sized>(
39    m1: &Isometry<N>,
40    g1: &G1,
41    m2: &Isometry<N>,
42    g2: &G2,
43    prediction: N,
44    simplex: &mut VoronoiSimplex<N>,
45    init_dir: Option<Unit<Vector<N>>>,
46) -> GJKResult<N>
47where
48    N: RealField + Copy,
49    G1: SupportMap<N>,
50    G2: SupportMap<N>,
51{
52    let dir = if let Some(init_dir) = init_dir {
53        init_dir
54    } else if let Some(init_dir) = Unit::try_new(
55        m2.translation.vector - m1.translation.vector,
56        N::default_epsilon(),
57    ) {
58        init_dir
59    } else {
60        Vector::x_axis()
61    };
62
63    simplex.reset(CSOPoint::from_shapes(m1, g1, m2, g2, &dir));
64
65    let cpts = gjk::closest_points(m1, g1, m2, g2, prediction, true, simplex);
66    if cpts != GJKResult::Intersection {
67        return cpts;
68    }
69
70    // The point is inside of the CSO: use the fallback algorithm
71    let mut epa = EPA::new();
72    if let Some((p1, p2, n)) = epa.closest_points(m1, g1, m2, g2, simplex) {
73        // FIXME: the n here,
74        return GJKResult::ClosestPoints(p1, p2, n);
75    }
76
77    // Everything failed
78    GJKResult::NoIntersection(Vector::x_axis())
79
80    // // When all else fail (e.g. because of roundup errors, default to minkowski sampling.
81    // match minkowski_sampling::closest_points(m1, g1, m2, g2, simplex) {
82    //     Some((p1, p2, normal)) => {
83    //         let depth = na::dot(&(p1 - p2), &normal);
84    //         GJKResult::Projection(Contact::new(p1, p2, normal, depth), normal)
85    //     }
86    //     None => GJKResult::NoIntersection(na::zero()), // panic!("Both GJK and fallback algorithm failed.")
87    // }
88}
ncollide3d/query/contact/contact_support_map_support_map.rs

ncollide3d/query/contact/
contact_support_map_support_map.rs
