ncollide3d/query/closest_points/
closest_points_support_map_support_map.rs
1use crate::math::{Isometry, Vector};
2use crate::query::algorithms::VoronoiSimplex;
3use crate::query::algorithms::{gjk, gjk::GJKResult, CSOPoint};
4use crate::query::ClosestPoints;
5use crate::shape::SupportMap;
6use na::{RealField, Unit};
7
8pub fn closest_points_support_map_support_map<N, G1: ?Sized, G2: ?Sized>(
10 m1: &Isometry<N>,
11 g1: &G1,
12 m2: &Isometry<N>,
13 g2: &G2,
14 prediction: N,
15) -> ClosestPoints<N>
16where
17 N: RealField + Copy,
18 G1: SupportMap<N>,
19 G2: SupportMap<N>,
20{
21 match closest_points_support_map_support_map_with_params(
22 m1,
23 g1,
24 m2,
25 g2,
26 prediction,
27 &mut VoronoiSimplex::new(),
28 None,
29 ) {
30 GJKResult::ClosestPoints(pt1, pt2, _) => ClosestPoints::WithinMargin(pt1, pt2),
31 GJKResult::NoIntersection(_) => ClosestPoints::Disjoint,
32 GJKResult::Intersection => ClosestPoints::Intersecting,
33 GJKResult::Proximity(_) => unreachable!(),
34 }
35}
36
37pub fn closest_points_support_map_support_map_with_params<N, G1: ?Sized, G2: ?Sized>(
41 m1: &Isometry<N>,
42 g1: &G1,
43 m2: &Isometry<N>,
44 g2: &G2,
45 prediction: N,
46 simplex: &mut VoronoiSimplex<N>,
47 init_dir: Option<Vector<N>>,
48) -> GJKResult<N>
49where
50 N: RealField + Copy,
51 G1: SupportMap<N>,
52 G2: SupportMap<N>,
53{
54 let dir = match init_dir {
55 None => m1.translation.vector - m2.translation.vector,
57 Some(dir) => dir,
58 };
59
60 if let Some(dir) = Unit::try_new(dir, N::default_epsilon()) {
61 simplex.reset(CSOPoint::from_shapes(m1, g1, m2, g2, &dir));
62 } else {
63 simplex.reset(CSOPoint::from_shapes(m1, g1, m2, g2, &Vector::x_axis()));
64 }
65
66 gjk::closest_points(m1, g1, m2, g2, prediction, true, simplex)
67}