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address PR feedback
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better naming + less complex impl
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@Vrixyz
Vrixyz committed Jan 27, 2025
1 parent b9b6fa8 commit d2f654a
Showing 1 changed file with 53 additions and 111 deletions.
164 changes: 53 additions & 111 deletions crates/parry3d/examples/custom_dispatcher.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -12,21 +12,21 @@ use parry3d::{
shape::{Ball, Cuboid, FeatureId, Shape, ShapeType, TypedShape},
};

pub struct CustomBall(pub Ball);
pub struct CustomShape(pub Ball);

fn main() {
let cube = Cuboid::new(Vector::new(1.0, 1.0, 1.0));
let ball = CustomBall(Ball::new(1.0));
let custom_shape = CustomShape(Ball::new(1.0));

let pos12 = Isometry::identity();
let dispatcher = CustomBallDispatcher;
let dispatcher = CustomShapeDispatcher;

let contact = dispatcher.contact(&pos12, &cube, &ball.0, 0.0);
let contact = dispatcher.contact(&pos12, &cube, &custom_shape.0, 0.0);

dbg!(contact);
}

impl PointQuery for CustomBall {
impl PointQuery for CustomShape {
fn project_local_point(&self, pt: &Point<f32>, solid: bool) -> PointProjection {
self.0.project_local_point(pt, solid)
}
Expand All @@ -36,7 +36,7 @@ impl PointQuery for CustomBall {
}
}

impl RayCast for CustomBall {
impl RayCast for CustomShape {
fn cast_local_ray_and_get_normal(
&self,
ray: &Ray,
Expand All @@ -48,7 +48,7 @@ impl RayCast for CustomBall {
}
}

impl Shape for CustomBall {
impl Shape for CustomShape {
fn compute_local_aabb(&self) -> Aabb {
self.0.compute_local_aabb()
}
Expand Down Expand Up @@ -86,35 +86,28 @@ impl Shape for CustomBall {
}
}

pub struct CustomBallDispatcher;
pub struct CustomShapeDispatcher;

impl QueryDispatcher for CustomBallDispatcher {
impl QueryDispatcher for CustomShapeDispatcher {
fn intersection_test(
&self,
pos12: &Isometry<f32>,
g1: &dyn Shape,
g2: &dyn Shape,
) -> Result<bool, Unsupported> {
let (ball1, ball2) = (
g1.downcast_ref::<CustomBall>(),
g2.downcast_ref::<CustomBall>(),
let (maybe_custom1, maybe_custom2) = (
g1.downcast_ref::<CustomShape>(),
g2.downcast_ref::<CustomShape>(),
);

match (ball1, ball2) {
(Some(ball1), Some(ball2)) => {
match (maybe_custom1, maybe_custom2) {
(Some(custom1), Some(custom2)) => {
let p12 = Point::from(pos12.translation.vector);
return Ok(parry3d::query::details::intersection_test_ball_ball(
&p12, &ball1.0, &ball2.0,
&p12, &custom1.0, &custom2.0,
));
}
(Some(ball1), None) => {
let dispatcher = DefaultQueryDispatcher;
dispatcher.intersection_test(pos12, &ball1.0, g2)
}
(None, Some(ball2)) => {
let dispatcher = DefaultQueryDispatcher;
dispatcher.intersection_test(pos12, g1, &ball2.0)
}
// TODO: implement the algorithm for each shape type combination you want to support.
_ => {
let dispatcher = DefaultQueryDispatcher;
dispatcher.intersection_test(pos12, g1, g2)
Expand All @@ -128,26 +121,19 @@ impl QueryDispatcher for CustomBallDispatcher {
g1: &dyn Shape,
g2: &dyn Shape,
) -> Result<f32, Unsupported> {
let (ball1, ball2) = (
g1.downcast_ref::<CustomBall>(),
g2.downcast_ref::<CustomBall>(),
let (maybe_custom1, maybe_custom2) = (
g1.downcast_ref::<CustomShape>(),
g2.downcast_ref::<CustomShape>(),
);

match (ball1, ball2) {
(Some(ball1), Some(ball2)) => {
match (maybe_custom1, maybe_custom2) {
(Some(custom1), Some(custom2)) => {
let p2 = Point::from(pos12.translation.vector);
return Ok(parry3d::query::details::distance_ball_ball(
&ball1.0, &p2, &ball2.0,
&custom1.0, &p2, &custom2.0,
));
}
(Some(ball1), None) => {
let dispatcher = DefaultQueryDispatcher;
dispatcher.distance(pos12, &ball1.0, g2)
}
(None, Some(ball2)) => {
let dispatcher = DefaultQueryDispatcher;
dispatcher.distance(pos12, g1, &ball2.0)
}
// TODO: implement the algorithm for each shape type combination you want to support.
_ => {
let dispatcher = DefaultQueryDispatcher;
dispatcher.distance(pos12, g1, g2)
Expand All @@ -162,25 +148,18 @@ impl QueryDispatcher for CustomBallDispatcher {
g2: &dyn Shape,
prediction: f32,
) -> Result<Option<Contact>, Unsupported> {
let (ball1, ball2) = (
g1.downcast_ref::<CustomBall>(),
g2.downcast_ref::<CustomBall>(),
let (maybe_custom1, maybe_custom2) = (
g1.downcast_ref::<CustomShape>(),
g2.downcast_ref::<CustomShape>(),
);

match (ball1, ball2) {
(Some(ball1), Some(ball2)) => {
match (maybe_custom1, maybe_custom2) {
(Some(custom1), Some(custom2)) => {
return Ok(parry3d::query::details::contact_ball_ball(
pos12, &ball1.0, &ball2.0, prediction,
pos12, &custom1.0, &custom2.0, prediction,
));
}
(Some(ball1), None) => {
let dispatcher = DefaultQueryDispatcher;
dispatcher.contact(pos12, &ball1.0, g2, prediction)
}
(None, Some(ball2)) => {
let dispatcher = DefaultQueryDispatcher;
dispatcher.contact(pos12, g1, &ball2.0, prediction)
}
// TODO: implement the algorithm for each shape type combination you want to support.
_ => {
let dispatcher = DefaultQueryDispatcher;
dispatcher.contact(pos12, g1, g2, prediction)
Expand All @@ -195,25 +174,18 @@ impl QueryDispatcher for CustomBallDispatcher {
g2: &dyn Shape,
max_dist: f32,
) -> Result<ClosestPoints, Unsupported> {
let (ball1, ball2) = (
g1.downcast_ref::<CustomBall>(),
g2.downcast_ref::<CustomBall>(),
let (maybe_custom1, maybe_custom2) = (
g1.downcast_ref::<CustomShape>(),
g2.downcast_ref::<CustomShape>(),
);

match (ball1, ball2) {
(Some(ball1), Some(ball2)) => {
match (maybe_custom1, maybe_custom2) {
(Some(custom1), Some(custom2)) => {
return Ok(parry3d::query::details::closest_points_ball_ball(
pos12, &ball1.0, &ball2.0, max_dist,
pos12, &custom1.0, &custom2.0, max_dist,
));
}
(Some(ball1), None) => {
let dispatcher = DefaultQueryDispatcher;
dispatcher.closest_points(pos12, &ball1.0, g2, max_dist)
}
(None, Some(ball2)) => {
let dispatcher = DefaultQueryDispatcher;
dispatcher.closest_points(pos12, g1, &ball2.0, max_dist)
}
// TODO: implement the algorithm for each shape type combination you want to support.
_ => {
let dispatcher = DefaultQueryDispatcher;
dispatcher.closest_points(pos12, g1, g2, max_dist)
Expand All @@ -229,29 +201,22 @@ impl QueryDispatcher for CustomBallDispatcher {
g2: &dyn Shape,
options: ShapeCastOptions,
) -> Result<Option<ShapeCastHit>, Unsupported> {
let (ball1, ball2) = (
g1.downcast_ref::<CustomBall>(),
g2.downcast_ref::<CustomBall>(),
let (maybe_custom1, maybe_custom1) = (
g1.downcast_ref::<CustomShape>(),
g2.downcast_ref::<CustomShape>(),
);

match (ball1, ball2) {
(Some(ball1), Some(ball2)) => {
match (maybe_custom1, maybe_custom2) {
(Some(custom1), Some(custom2)) => {
return Ok(parry3d::query::details::cast_shapes_ball_ball(
pos12,
local_vel12,
&ball1.0,
&ball2.0,
&custom1.0,
&custom2.0,
options,
));
}
(Some(ball1), None) => {
let dispatcher = DefaultQueryDispatcher;
dispatcher.cast_shapes(pos12, local_vel12, &ball1.0, g2, options)
}
(None, Some(ball2)) => {
let dispatcher = DefaultQueryDispatcher;
dispatcher.cast_shapes(pos12, local_vel12, g1, &ball2.0, options)
}
// TODO: implement the algorithm for each shape type combination you want to support.
_ => {
let dispatcher = DefaultQueryDispatcher;
dispatcher.cast_shapes(pos12, local_vel12, g1, g2, options)
Expand All @@ -269,47 +234,24 @@ impl QueryDispatcher for CustomBallDispatcher {
end_time: f32,
stop_at_penetration: bool,
) -> Result<Option<ShapeCastHit>, Unsupported> {
let (ball1, ball2) = (
g1.downcast_ref::<CustomBall>(),
g2.downcast_ref::<CustomBall>(),
let (maybe_custom1, maybe_custom2) = (
g1.downcast_ref::<CustomShape>(),
g2.downcast_ref::<CustomShape>(),
);

match (ball1, ball2) {
(Some(ball1), Some(ball2)) => {
match (maybe_custom1, maybe_custom2) {
(Some(custom1), Some(custom2)) => {
return parry3d::query::details::cast_shapes_nonlinear(
motion1,
&ball1.0,
&custom1.0,
motion2,
&ball2.0,
&custom2.0,
start_time,
end_time,
stop_at_penetration,
);
}
(Some(ball1), None) => {
let dispatcher = DefaultQueryDispatcher;
dispatcher.cast_shapes_nonlinear(
motion1,
&ball1.0,
motion2,
g2,
start_time,
end_time,
stop_at_penetration,
)
}
(None, Some(ball2)) => {
let dispatcher = DefaultQueryDispatcher;
dispatcher.cast_shapes_nonlinear(
motion1,
g1,
motion2,
&ball2.0,
start_time,
end_time,
stop_at_penetration,
)
}
// TODO: implement the algorithm for each shape type combination you want to support.
_ => {
let dispatcher = DefaultQueryDispatcher;
dispatcher.cast_shapes_nonlinear(
Expand Down

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