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Composable QueryDispatcher #218

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3ec441c
Composable QueryDispatcher
PixelDust22 Jul 2, 2024
ad528de
Deriving common traits
PixelDust22 Jul 2, 2024
fc99c1a
Add docs
PixelDust22 Jul 20, 2024
0acf2cb
More docs
PixelDust22 Jul 20, 2024
74d655a
fix for no-std
PixelDust22 Jul 20, 2024
a4e412a
fix no-std
PixelDust22 Jul 20, 2024
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135 changes: 105 additions & 30 deletions src/query/default_query_dispatcher.rs
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,24 +1,25 @@
use crate::math::{Isometry, Point, Real, Vector};
use crate::query::details::ShapeCastOptions;
use crate::query::{
self, details::NonlinearShapeCastMode, ClosestPoints, Contact, NonlinearRigidMotion,
QueryDispatcher, ShapeCastHit, Unsupported,
self, details::NonlinearShapeCastMode, query_dispatcher::QueryDispatcherComposite,
ClosestPoints, Contact, NonlinearRigidMotion, QueryDispatcher, ShapeCastHit, Unsupported,
};
#[cfg(feature = "std")]
use crate::query::{
contact_manifolds::{ContactManifoldsWorkspace, NormalConstraints},
query_dispatcher::PersistentQueryDispatcher,
query_dispatcher::{PersistentQueryDispatcher, PersistentQueryDispatcherComposite},
ContactManifold,
};
use crate::shape::{HalfSpace, Segment, Shape, ShapeType};

/// A dispatcher that exposes built-in queries
#[derive(Debug, Clone)]
#[derive(Debug, Clone, Copy)]
pub struct DefaultQueryDispatcher;

impl QueryDispatcher for DefaultQueryDispatcher {
impl QueryDispatcherComposite for DefaultQueryDispatcher {
fn intersection_test(
&self,
root_dispatcher: &dyn QueryDispatcher,
pos12: &Isometry<Real>,
shape1: &dyn Shape,
shape2: &dyn Shape,
Expand Down Expand Up @@ -66,11 +67,17 @@ impl QueryDispatcher for DefaultQueryDispatcher {
#[cfg(feature = "std")]
if let Some(c1) = shape1.as_composite_shape() {
return Ok(query::details::intersection_test_composite_shape_shape(
self, pos12, c1, shape2,
root_dispatcher,
pos12,
c1,
shape2,
));
} else if let Some(c2) = shape2.as_composite_shape() {
return Ok(query::details::intersection_test_shape_composite_shape(
self, pos12, shape1, c2,
root_dispatcher,
pos12,
shape1,
c2,
));
}

Expand All @@ -83,6 +90,7 @@ impl QueryDispatcher for DefaultQueryDispatcher {
/// Returns `0.0` if the objects are touching or penetrating.
fn distance(
&self,
root_dispatcher: &dyn QueryDispatcher,
pos12: &Isometry<Real>,
shape1: &dyn Shape,
shape2: &dyn Shape,
Expand Down Expand Up @@ -125,11 +133,17 @@ impl QueryDispatcher for DefaultQueryDispatcher {
#[cfg(feature = "std")]
if let Some(c1) = shape1.as_composite_shape() {
return Ok(query::details::distance_composite_shape_shape(
self, pos12, c1, shape2,
root_dispatcher,
pos12,
c1,
shape2,
));
} else if let Some(c2) = shape2.as_composite_shape() {
return Ok(query::details::distance_shape_composite_shape(
self, pos12, shape1, c2,
root_dispatcher,
pos12,
shape1,
c2,
));
}

Expand All @@ -139,6 +153,7 @@ impl QueryDispatcher for DefaultQueryDispatcher {

fn contact(
&self,
root_dispatcher: &dyn QueryDispatcher,
pos12: &Isometry<Real>,
shape1: &dyn Shape,
shape2: &dyn Shape,
Expand Down Expand Up @@ -181,11 +196,19 @@ impl QueryDispatcher for DefaultQueryDispatcher {
));
} else if let Some(c1) = shape1.as_composite_shape() {
return Ok(query::details::contact_composite_shape_shape(
self, pos12, c1, shape2, prediction,
root_dispatcher,
pos12,
c1,
shape2,
prediction,
));
} else if let Some(c2) = shape2.as_composite_shape() {
return Ok(query::details::contact_shape_composite_shape(
self, pos12, shape1, c2, prediction,
root_dispatcher,
pos12,
shape1,
c2,
prediction,
));
}

Expand All @@ -195,6 +218,7 @@ impl QueryDispatcher for DefaultQueryDispatcher {

fn closest_points(
&self,
root_dispatcher: &dyn QueryDispatcher,
pos12: &Isometry<Real>,
shape1: &dyn Shape,
shape2: &dyn Shape,
Expand Down Expand Up @@ -257,11 +281,19 @@ impl QueryDispatcher for DefaultQueryDispatcher {
#[cfg(feature = "std")]
if let Some(c1) = shape1.as_composite_shape() {
return Ok(query::details::closest_points_composite_shape_shape(
self, pos12, c1, shape2, max_dist,
root_dispatcher,
pos12,
c1,
shape2,
max_dist,
));
} else if let Some(c2) = shape2.as_composite_shape() {
return Ok(query::details::closest_points_shape_composite_shape(
self, pos12, shape1, c2, max_dist,
root_dispatcher,
pos12,
shape1,
c2,
max_dist,
));
}

Expand All @@ -271,6 +303,7 @@ impl QueryDispatcher for DefaultQueryDispatcher {

fn cast_shapes(
&self,
root_dispatcher: &dyn QueryDispatcher,
pos12: &Isometry<Real>,
local_vel12: &Vector<Real>,
shape1: &dyn Shape,
Expand Down Expand Up @@ -309,7 +342,7 @@ impl QueryDispatcher for DefaultQueryDispatcher {
#[cfg(feature = "std")]
if let Some(heightfield1) = shape1.as_heightfield() {
return query::details::cast_shapes_heightfield_shape(
self,
root_dispatcher,
pos12,
local_vel12,
heightfield1,
Expand All @@ -318,7 +351,7 @@ impl QueryDispatcher for DefaultQueryDispatcher {
);
} else if let Some(heightfield2) = shape1.as_heightfield() {
return query::details::cast_shapes_shape_heightfield(
self,
root_dispatcher,
pos12,
local_vel12,
shape1,
Expand All @@ -336,7 +369,7 @@ impl QueryDispatcher for DefaultQueryDispatcher {
));
} else if let Some(c1) = shape1.as_composite_shape() {
return Ok(query::details::cast_shapes_composite_shape_shape(
self,
root_dispatcher,
pos12,
local_vel12,
c1,
Expand All @@ -345,7 +378,7 @@ impl QueryDispatcher for DefaultQueryDispatcher {
));
} else if let Some(c2) = shape2.as_composite_shape() {
return Ok(query::details::cast_shapes_shape_composite_shape(
self,
root_dispatcher,
pos12,
local_vel12,
shape1,
Expand All @@ -360,6 +393,7 @@ impl QueryDispatcher for DefaultQueryDispatcher {

fn cast_shapes_nonlinear(
&self,
root_dispatcher: &dyn QueryDispatcher,
motion1: &NonlinearRigidMotion,
shape1: &dyn Shape,
motion2: &NonlinearRigidMotion,
Expand All @@ -377,14 +411,23 @@ impl QueryDispatcher for DefaultQueryDispatcher {

Ok(
query::details::cast_shapes_nonlinear_support_map_support_map(
self, motion1, sm1, shape1, motion2, sm2, shape2, start_time, end_time, mode,
root_dispatcher,
motion1,
sm1,
shape1,
motion2,
sm2,
shape2,
start_time,
end_time,
mode,
),
)
} else {
#[cfg(feature = "std")]
if let Some(c1) = shape1.as_composite_shape() {
return Ok(query::details::cast_shapes_nonlinear_composite_shape_shape(
self,
root_dispatcher,
motion1,
c1,
motion2,
Expand All @@ -395,7 +438,7 @@ impl QueryDispatcher for DefaultQueryDispatcher {
));
} else if let Some(c2) = shape2.as_composite_shape() {
return Ok(query::details::cast_shapes_nonlinear_shape_composite_shape(
self,
root_dispatcher,
motion1,
shape1,
motion2,
Expand All @@ -418,14 +461,15 @@ impl QueryDispatcher for DefaultQueryDispatcher {
}

#[cfg(feature = "std")]
impl<ManifoldData, ContactData> PersistentQueryDispatcher<ManifoldData, ContactData>
impl<ManifoldData, ContactData> PersistentQueryDispatcherComposite<ManifoldData, ContactData>
for DefaultQueryDispatcher
where
ManifoldData: Default + Clone,
ContactData: Default + Copy,
{
fn contact_manifolds(
&self,
root_dispatcher: &dyn PersistentQueryDispatcher<ManifoldData, ContactData>,
pos12: &Isometry<Real>,
shape1: &dyn Shape,
shape2: &dyn Shape,
Expand All @@ -440,7 +484,13 @@ where

if let (Some(composite1), Some(composite2)) = (composite1, composite2) {
contact_manifolds_composite_shape_composite_shape(
self, pos12, composite1, composite2, prediction, manifolds, workspace,
root_dispatcher,
pos12,
composite1,
composite2,
prediction,
manifolds,
workspace,
);

return Ok(());
Expand All @@ -449,13 +499,19 @@ where
match (shape1.shape_type(), shape2.shape_type()) {
(ShapeType::TriMesh, _) | (_, ShapeType::TriMesh) => {
contact_manifolds_trimesh_shape_shapes(
self, pos12, shape1, shape2, prediction, manifolds, workspace,
root_dispatcher,
pos12,
shape1,
shape2,
prediction,
manifolds,
workspace,
);
}
(ShapeType::HeightField, _) => {
if let Some(composite2) = composite2 {
contact_manifolds_heightfield_composite_shape(
self,
root_dispatcher,
pos12,
&pos12.inverse(),
shape1.as_heightfield().unwrap(),
Expand All @@ -467,14 +523,20 @@ where
)
} else {
contact_manifolds_heightfield_shape_shapes(
self, pos12, shape1, shape2, prediction, manifolds, workspace,
root_dispatcher,
pos12,
shape1,
shape2,
prediction,
manifolds,
workspace,
);
}
}
(_, ShapeType::HeightField) => {
if let Some(composite1) = composite1 {
contact_manifolds_heightfield_composite_shape(
self,
root_dispatcher,
&pos12.inverse(),
pos12,
shape2.as_heightfield().unwrap(),
Expand All @@ -486,18 +548,31 @@ where
)
} else {
contact_manifolds_heightfield_shape_shapes(
self, pos12, shape1, shape2, prediction, manifolds, workspace,
root_dispatcher,
pos12,
shape1,
shape2,
prediction,
manifolds,
workspace,
);
}
}
_ => {
if let Some(composite1) = composite1 {
contact_manifolds_composite_shape_shape(
self, pos12, composite1, shape2, prediction, manifolds, workspace, false,
root_dispatcher,
pos12,
composite1,
shape2,
prediction,
manifolds,
workspace,
false,
);
} else if let Some(composite2) = composite2 {
contact_manifolds_composite_shape_shape(
self,
root_dispatcher,
&pos12.inverse(),
composite2,
shape1,
Expand All @@ -511,7 +586,7 @@ where
manifolds.push(ContactManifold::new());
}

return self.contact_manifold_convex_convex(
return root_dispatcher.contact_manifold_convex_convex(
pos12,
shape1,
shape2,
Expand Down
4 changes: 2 additions & 2 deletions src/query/mod.rs
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -38,8 +38,8 @@ pub use self::intersection_test::intersection_test;
pub use self::nonlinear_shape_cast::{cast_shapes_nonlinear, NonlinearRigidMotion};
pub use self::point::{PointProjection, PointQuery, PointQueryWithLocation};
#[cfg(feature = "std")]
pub use self::query_dispatcher::PersistentQueryDispatcher;
pub use self::query_dispatcher::{QueryDispatcher, QueryDispatcherChain};
pub use self::query_dispatcher::{PersistentQueryDispatcher, PersistentQueryDispatcherComposite};
pub use self::query_dispatcher::{QueryDispatcher, QueryDispatcherChain, QueryDispatcherComposite};
pub use self::ray::{Ray, RayCast, RayIntersection, SimdRay};
pub use self::shape_cast::{cast_shapes, ShapeCastHit, ShapeCastOptions, ShapeCastStatus};
pub use self::split::{IntersectResult, SplitResult};
Expand Down
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