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
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120

use downcast_rs::{impl_downcast, DowncastSync};

use crate::query::contact_manifolds::{
    CompositeShapeCompositeShapeContactManifoldsWorkspace,
    CompositeShapeShapeContactManifoldsWorkspace,
    HeightFieldCompositeShapeContactManifoldsWorkspace, HeightFieldShapeContactManifoldsWorkspace,
    TriMeshShapeContactManifoldsWorkspace,
};

#[derive(Copy, Clone)]
#[cfg_attr(feature = "serde-serialize", derive(Serialize))]
/// Enum representing workspace data of a specific type.
pub enum TypedWorkspaceData<'a> {
    /// A trimesh workspace.
    TriMeshShapeContactManifoldsWorkspace(&'a TriMeshShapeContactManifoldsWorkspace),
    /// A heightfield vs. shape workspace.
    HeightfieldShapeContactManifoldsWorkspace(&'a HeightFieldShapeContactManifoldsWorkspace),
    /// A heightfield vs. composite shape workspace.
    HeightfieldCompositeShapeContactManifoldsWorkspace(
        &'a HeightFieldCompositeShapeContactManifoldsWorkspace,
    ),
    /// A composite shape vs. composite shape workspace.
    CompositeShapeCompositeShapeContactManifoldsWorkspace(
        &'a CompositeShapeCompositeShapeContactManifoldsWorkspace,
    ),
    /// A composite shape vs. shape workspace.
    CompositeShapeShapeContactManifoldsWorkspace(&'a CompositeShapeShapeContactManifoldsWorkspace),
    /// A custom workspace.
    Custom(u32),
}

// NOTE: must match the TypedWorkspaceData enum.
#[cfg(feature = "serde-serialize")]
#[derive(Deserialize)]
enum DeserializableWorkspaceData {
    TriMeshShapeContactManifoldsWorkspace(TriMeshShapeContactManifoldsWorkspace),
    HeightfieldShapeContactManifoldsWorkspace(HeightFieldShapeContactManifoldsWorkspace),
    HeightfieldCompositeShapeContactManifoldsWorkspace(
        HeightFieldCompositeShapeContactManifoldsWorkspace,
    ),
    CompositeShapeCompositeShapeContactManifoldsWorkspace(
        CompositeShapeCompositeShapeContactManifoldsWorkspace,
    ),
    CompositeShapeShapeContactManifoldsWorkspace(CompositeShapeShapeContactManifoldsWorkspace),
    Custom(u32),
}

#[cfg(feature = "serde-serialize")]
impl DeserializableWorkspaceData {
    pub fn into_contact_manifold_workspace(self) -> Option<ContactManifoldsWorkspace> {
        match self {
            DeserializableWorkspaceData::TriMeshShapeContactManifoldsWorkspace(w) => {
                Some(ContactManifoldsWorkspace(Box::new(w)))
            }
            DeserializableWorkspaceData::HeightfieldShapeContactManifoldsWorkspace(w) => {
                Some(ContactManifoldsWorkspace(Box::new(w)))
            }
            DeserializableWorkspaceData::HeightfieldCompositeShapeContactManifoldsWorkspace(w) => {
                Some(ContactManifoldsWorkspace(Box::new(w)))
            }
            DeserializableWorkspaceData::CompositeShapeCompositeShapeContactManifoldsWorkspace(
                w,
            ) => Some(ContactManifoldsWorkspace(Box::new(w))),
            DeserializableWorkspaceData::CompositeShapeShapeContactManifoldsWorkspace(w) => {
                Some(ContactManifoldsWorkspace(Box::new(w)))
            }
            DeserializableWorkspaceData::Custom(_) => None,
        }
    }
}

/// Data from a [`ContactManifoldsWorkspace`].
pub trait WorkspaceData: DowncastSync {
    /// Gets the underlying workspace as an enum.
    fn as_typed_workspace_data(&self) -> TypedWorkspaceData;

    /// Clones `self`.
    fn clone_dyn(&self) -> Box<dyn WorkspaceData>;
}

impl_downcast!(sync WorkspaceData);

// Note we have this newtype because it simplifies the serialization/deserialization code.
/// A serializable workspace used by some contact-manifolds computation algorithms.
pub struct ContactManifoldsWorkspace(pub Box<dyn WorkspaceData>);

impl Clone for ContactManifoldsWorkspace {
    fn clone(&self) -> Self {
        ContactManifoldsWorkspace(self.0.clone_dyn())
    }
}

impl<T: WorkspaceData> From<T> for ContactManifoldsWorkspace {
    fn from(data: T) -> Self {
        Self(Box::new(data) as Box<dyn WorkspaceData>)
    }
}

#[cfg(feature = "serde-serialize")]
impl serde::Serialize for ContactManifoldsWorkspace {
    fn serialize<S>(&self, serializer: S) -> Result<S::Ok, S::Error>
    where
        S: serde::Serializer,
    {
        self.0.as_typed_workspace_data().serialize(serializer)
    }
}

#[cfg(feature = "serde-serialize")]
impl<'de> serde::Deserialize<'de> for ContactManifoldsWorkspace {
    fn deserialize<D>(deserializer: D) -> Result<Self, D::Error>
    where
        D: serde::Deserializer<'de>,
    {
        use crate::serde::de::Error;
        DeserializableWorkspaceData::deserialize(deserializer)?
            .into_contact_manifold_workspace()
            .ok_or(D::Error::custom("Cannot deserialize custom shape."))
    }
}