ncollide3d/bounding_volume/
bounding_volume.rs

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use crate::math::{Isometry, Point};
use na::RealField;

/// Traits of objects having a bounding volume.
pub trait HasBoundingVolume<N: RealField + Copy, BV> {
    /// The bounding volume of `self` transformed by `m`.
    fn bounding_volume(&self, m: &Isometry<N>) -> BV;
    /// The bounding volume of `self`.
    fn local_bounding_volume(&self) -> BV {
        self.bounding_volume(&Isometry::identity())
    }
}

/// Trait of bounding volumes.
///
/// Bounding volumes are coarse approximations of shapes. It usually have constant time
/// intersection, inclusion test. Two bounding volume must also be mergeable into a bigger bounding
/// volume.
pub trait BoundingVolume<N: RealField + Copy>: std::fmt::Debug {
    // FIXME: keep that ? What about non-spacial bounding volumes (e.g. bounding cones, curvature
    // bounds, etc.) ?
    /// Returns a point inside of this bounding volume. This is ideally its center.
    fn center(&self) -> Point<N>;

    /// Checks if this bounding volume intersect with another one.
    fn intersects(&self, _: &Self) -> bool;

    /// Checks if this bounding volume contains another one.
    fn contains(&self, _: &Self) -> bool;

    /// Merges this bounding volume with another one. The merge is done in-place.
    fn merge(&mut self, _: &Self);

    /// Merges this bounding volume with another one.
    fn merged(&self, _: &Self) -> Self;

    /// Enlarges this bounding volume.
    fn loosen(&mut self, _: N);

    /// Creates a new, enlarged version, of this bounding volume.
    fn loosened(&self, _: N) -> Self;

    /// Tighten this bounding volume.
    fn tighten(&mut self, _: N);

    /// Creates a new, tightened version, of this bounding volume.
    fn tightened(&self, _: N) -> Self;
}