1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
use crate::math::{AngularInertia, Point};
use crate::volumetric::Volumetric;
use na::RealField;
#[cfg(feature = "dim3")]
use ncollide::shape::ConvexHull;
#[cfg(feature = "dim2")]
use ncollide::shape::ConvexPolygon;
use ncollide::shape::{Ball, Capsule, Compound, Cuboid, Shape};
macro_rules! dispatch(
($p: ty, $i: ty, $sself: ident.$name: ident($($argN: ident),*)) => {
{
if let Some(b) = $sself.as_shape::<Ball<N>>() {
return b.$name($($argN,)*)
}
if let Some(c) = $sself.as_shape::<Compound<N>>() {
return c.$name($($argN,)*)
}
#[cfg(feature = "dim3")]
{
if let Some(c) = $sself.as_shape::<ConvexHull<N>>() {
return c.$name($($argN,)*)
}
}
#[cfg(feature = "dim2")]
{
if let Some(c) = $sself.as_shape::<ConvexPolygon<N>>() {
return c.$name($($argN,)*)
}
}
if let Some(c) = $sself.as_shape::<Cuboid<N>>() {
return c.$name($($argN,)*)
}
if let Some(c) = $sself.as_shape::<Capsule<N>>() {
return c.$name($($argN,)*)
}
panic!("The `Volumetric` is not implemented by the given shape.")
}
}
);
impl<N: RealField> Volumetric<N> for dyn Shape<N> {
fn area(&self) -> N {
dispatch!(Point<N>, AngularInertia<N>, self.area())
}
fn volume(&self) -> N {
dispatch!(Point<N>, AngularInertia<N>, self.volume())
}
fn center_of_mass(&self) -> Point<N> {
dispatch!(Point<N>, AngularInertia<N>, self.center_of_mass())
}
fn unit_angular_inertia(&self) -> AngularInertia<N> {
dispatch!(Point<N>, AngularInertia<N>, self.unit_angular_inertia())
}
fn mass_properties(&self, density: N) -> (N, Point<N>, AngularInertia<N>) {
dispatch!(Point<N>, AngularInertia<N>, self.mass_properties(density))
}
}