ncollide3d/pipeline/narrow_phase/proximity_detector/
ball_ball_proximity_detector.rs

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
use crate::math::{Isometry, Point};
use crate::pipeline::narrow_phase::{ProximityDetector, ProximityDispatcher};
use crate::query::{self, Proximity};
use crate::shape::{Ball, Shape};
use na::RealField;

/// Proximity detector between two balls.
pub struct BallBallProximityDetector {}

impl Clone for BallBallProximityDetector {
    fn clone(&self) -> BallBallProximityDetector {
        BallBallProximityDetector {}
    }
}

impl BallBallProximityDetector {
    /// Creates a new persistent collision detector between two balls.
    #[inline]
    pub fn new() -> BallBallProximityDetector {
        BallBallProximityDetector {}
    }
}

impl<N: RealField + Copy> ProximityDetector<N> for BallBallProximityDetector {
    fn update(
        &mut self,
        _: &dyn ProximityDispatcher<N>,
        ma: &Isometry<N>,
        a: &dyn Shape<N>,
        mb: &Isometry<N>,
        b: &dyn Shape<N>,
        margin: N,
    ) -> Option<Proximity> {
        let a = a.as_shape::<Ball<N>>()?;
        let b = b.as_shape::<Ball<N>>()?;
        Some(query::proximity_ball_ball(
            &Point::from(ma.translation.vector),
            a,
            &Point::from(mb.translation.vector),
            b,
            margin,
        ))
    }
}