ncollide3d/query/nonlinear_time_of_impact/
nonlinear_time_of_impact.rs
1use na::RealField;
2
3use crate::interpolation::RigidMotion;
4use crate::query::{self, TOIDispatcher, Unsupported, TOI};
5use crate::shape::{Ball, Shape};
6
7pub fn nonlinear_time_of_impact<N: RealField + Copy>(
9 dispatcher: &dyn TOIDispatcher<N>,
10 motion1: &dyn RigidMotion<N>,
11 g1: &dyn Shape<N>,
12 motion2: &dyn RigidMotion<N>,
13 g2: &dyn Shape<N>,
14 max_toi: N,
15 target_distance: N,
16) -> Result<Option<TOI<N>>, Unsupported> {
17 if let (Some(b1), Some(b2)) = (g1.as_shape::<Ball<N>>(), g2.as_shape::<Ball<N>>()) {
18 Ok(query::nonlinear_time_of_impact_ball_ball(
19 motion1,
20 b1,
21 motion2,
22 b2,
23 max_toi,
24 target_distance,
25 ))
26 } else if let (Some(s1), Some(s2)) = (g1.as_support_map(), g2.as_support_map()) {
27 Ok(query::nonlinear_time_of_impact_support_map_support_map(
28 motion1,
29 s1,
30 motion2,
31 s2,
32 max_toi,
33 target_distance,
34 ))
35 } else if let Some(c1) = g1.as_composite_shape() {
36 Ok(query::nonlinear_time_of_impact_composite_shape_shape(
37 dispatcher,
38 motion1,
39 c1,
40 motion2,
41 g2,
42 max_toi,
43 target_distance,
44 ))
45 } else if let Some(c2) = g2.as_composite_shape() {
46 Ok(query::nonlinear_time_of_impact_shape_composite_shape(
47 dispatcher,
48 motion1,
49 g1,
50 motion2,
51 c2,
52 max_toi,
53 target_distance,
54 ))
55 } else {
62 Err(Unsupported)
63 }
64}