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
7pub 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}