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use underlying functions for dispatcher
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@Vrixyz
Vrixyz committed Jan 20, 2025
1 parent a76679f commit b9b6fa8
Showing 1 changed file with 182 additions and 22 deletions.
204 changes: 182 additions & 22 deletions crates/parry3d/examples/custom_dispatcher.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,8 @@ use parry3d::{
shape::{Ball, Cuboid, FeatureId, Shape, ShapeType, TypedShape},
};

pub struct CustomBall(pub Ball);

fn main() {
let cube = Cuboid::new(Vector::new(1.0, 1.0, 1.0));
let ball = CustomBall(Ball::new(1.0));
Expand All @@ -24,8 +26,6 @@ fn main() {
dbg!(contact);
}

pub struct CustomBall(pub Ball);

impl PointQuery for CustomBall {
fn project_local_point(&self, pt: &Point<f32>, solid: bool) -> PointProjection {
self.0.project_local_point(pt, solid)
Expand Down Expand Up @@ -95,8 +95,31 @@ impl QueryDispatcher for CustomBallDispatcher {
g1: &dyn Shape,
g2: &dyn Shape,
) -> Result<bool, Unsupported> {
let dispatcher = DefaultQueryDispatcher;
dispatcher.intersection_test(pos12, g1, g2)
let (ball1, ball2) = (
g1.downcast_ref::<CustomBall>(),
g2.downcast_ref::<CustomBall>(),
);

match (ball1, ball2) {
(Some(ball1), Some(ball2)) => {
let p12 = Point::from(pos12.translation.vector);
return Ok(parry3d::query::details::intersection_test_ball_ball(
&p12, &ball1.0, &ball2.0,
));
}
(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)
}
_ => {
let dispatcher = DefaultQueryDispatcher;
dispatcher.intersection_test(pos12, g1, g2)
}
}
}

fn distance(
Expand All @@ -105,8 +128,31 @@ impl QueryDispatcher for CustomBallDispatcher {
g1: &dyn Shape,
g2: &dyn Shape,
) -> Result<f32, Unsupported> {
let dispatcher = DefaultQueryDispatcher;
dispatcher.distance(pos12, g1, g2)
let (ball1, ball2) = (
g1.downcast_ref::<CustomBall>(),
g2.downcast_ref::<CustomBall>(),
);

match (ball1, ball2) {
(Some(ball1), Some(ball2)) => {
let p2 = Point::from(pos12.translation.vector);
return Ok(parry3d::query::details::distance_ball_ball(
&ball1.0, &p2, &ball2.0,
));
}
(Some(ball1), None) => {
let dispatcher = DefaultQueryDispatcher;
dispatcher.distance(pos12, &ball1.0, g2)
}
(None, Some(ball2)) => {
let dispatcher = DefaultQueryDispatcher;
dispatcher.distance(pos12, g1, &ball2.0)
}
_ => {
let dispatcher = DefaultQueryDispatcher;
dispatcher.distance(pos12, g1, g2)
}
}
}

fn contact(
Expand All @@ -116,8 +162,30 @@ impl QueryDispatcher for CustomBallDispatcher {
g2: &dyn Shape,
prediction: f32,
) -> Result<Option<Contact>, Unsupported> {
let dispatcher = DefaultQueryDispatcher;
dispatcher.contact(pos12, g1, g2, prediction)
let (ball1, ball2) = (
g1.downcast_ref::<CustomBall>(),
g2.downcast_ref::<CustomBall>(),
);

match (ball1, ball2) {
(Some(ball1), Some(ball2)) => {
return Ok(parry3d::query::details::contact_ball_ball(
pos12, &ball1.0, &ball2.0, 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)
}
_ => {
let dispatcher = DefaultQueryDispatcher;
dispatcher.contact(pos12, g1, g2, prediction)
}
}
}

fn closest_points(
Expand All @@ -127,8 +195,30 @@ impl QueryDispatcher for CustomBallDispatcher {
g2: &dyn Shape,
max_dist: f32,
) -> Result<ClosestPoints, Unsupported> {
let dispatcher = DefaultQueryDispatcher;
dispatcher.closest_points(pos12, g1, g2, max_dist)
let (ball1, ball2) = (
g1.downcast_ref::<CustomBall>(),
g2.downcast_ref::<CustomBall>(),
);

match (ball1, ball2) {
(Some(ball1), Some(ball2)) => {
return Ok(parry3d::query::details::closest_points_ball_ball(
pos12, &ball1.0, &ball2.0, 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)
}
_ => {
let dispatcher = DefaultQueryDispatcher;
dispatcher.closest_points(pos12, g1, g2, max_dist)
}
}
}

fn cast_shapes(
Expand All @@ -139,8 +229,34 @@ impl QueryDispatcher for CustomBallDispatcher {
g2: &dyn Shape,
options: ShapeCastOptions,
) -> Result<Option<ShapeCastHit>, Unsupported> {
let dispatcher = DefaultQueryDispatcher;
dispatcher.cast_shapes(pos12, local_vel12, g1, g2, options)
let (ball1, ball2) = (
g1.downcast_ref::<CustomBall>(),
g2.downcast_ref::<CustomBall>(),
);

match (ball1, ball2) {
(Some(ball1), Some(ball2)) => {
return Ok(parry3d::query::details::cast_shapes_ball_ball(
pos12,
local_vel12,
&ball1.0,
&ball2.0,
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)
}
_ => {
let dispatcher = DefaultQueryDispatcher;
dispatcher.cast_shapes(pos12, local_vel12, g1, g2, options)
}
}
}

fn cast_shapes_nonlinear(
Expand All @@ -153,15 +269,59 @@ impl QueryDispatcher for CustomBallDispatcher {
end_time: f32,
stop_at_penetration: bool,
) -> Result<Option<ShapeCastHit>, Unsupported> {
let dispatcher = DefaultQueryDispatcher;
dispatcher.cast_shapes_nonlinear(
motion1,
g1,
motion2,
g2,
start_time,
end_time,
stop_at_penetration,
)
let (ball1, ball2) = (
g1.downcast_ref::<CustomBall>(),
g2.downcast_ref::<CustomBall>(),
);

match (ball1, ball2) {
(Some(ball1), Some(ball2)) => {
return parry3d::query::details::cast_shapes_nonlinear(
motion1,
&ball1.0,
motion2,
&ball2.0,
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,
)
}
_ => {
let dispatcher = DefaultQueryDispatcher;
dispatcher.cast_shapes_nonlinear(
motion1,
g1,
motion2,
g2,
start_time,
end_time,
stop_at_penetration,
)
}
}
}
}

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