ncollide3d/query/closest_points/
closest_points_shape_shape.rs

1use na::RealField;
2
3use crate::math::{Isometry, Point};
4use crate::query::{self, ClosestPoints};
5use crate::shape::{Ball, Plane, Segment, Shape};
6
7/// Computes the pair of closest points between two shapes.
8///
9/// Returns `None` if the objects are separated by a distance greater than `max_dist`.
10pub fn closest_points<N: RealField + Copy>(
11    m1: &Isometry<N>,
12    g1: &dyn Shape<N>,
13    m2: &Isometry<N>,
14    g2: &dyn Shape<N>,
15    max_dist: N,
16) -> ClosestPoints<N> {
17    if let (Some(b1), Some(b2)) = (g1.as_shape::<Ball<N>>(), g2.as_shape::<Ball<N>>()) {
18        let p1 = Point::from(m1.translation.vector);
19        let p2 = Point::from(m2.translation.vector);
20
21        query::closest_points_ball_ball(&p1, b1, &p2, b2, max_dist)
22    } else if let (Some(s1), Some(s2)) = (g1.as_shape::<Segment<N>>(), g2.as_shape::<Segment<N>>())
23    {
24        query::closest_points_segment_segment(m1, s1, m2, s2, max_dist)
25    } else if let (Some(p1), Some(s2)) = (g1.as_shape::<Plane<N>>(), g2.as_support_map()) {
26        query::closest_points_plane_support_map(m1, p1, m2, s2, max_dist)
27    } else if let (Some(s1), Some(p2)) = (g1.as_support_map(), g2.as_shape::<Plane<N>>()) {
28        query::closest_points_support_map_plane(m1, s1, m2, p2, max_dist)
29    } else if let (Some(s1), Some(s2)) = (g1.as_support_map(), g2.as_support_map()) {
30        query::closest_points_support_map_support_map(m1, s1, m2, s2, max_dist)
31    } else if let Some(c1) = g1.as_composite_shape() {
32        query::closest_points_composite_shape_shape(m1, c1, m2, g2, max_dist)
33    } else if let Some(c2) = g2.as_composite_shape() {
34        query::closest_points_shape_composite_shape(m1, g1, m2, c2, max_dist)
35    } else {
36        panic!("No algorithm known to compute a contact point between the given pair of shapes.")
37    }
38}