ncollide3d/query/distance/
distance_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::shape::SupportMap;
5use na::{self, RealField, Unit};
6
7pub fn distance_support_map_support_map<N, G1: ?Sized, G2: ?Sized>(
9 m1: &Isometry<N>,
10 g1: &G1,
11 m2: &Isometry<N>,
12 g2: &G2,
13) -> N
14where
15 N: RealField + Copy,
16 G1: SupportMap<N>,
17 G2: SupportMap<N>,
18{
19 distance_support_map_support_map_with_params(m1, g1, m2, g2, &mut VoronoiSimplex::new(), None)
20}
21
22pub fn distance_support_map_support_map_with_params<N, G1: ?Sized, G2: ?Sized>(
26 m1: &Isometry<N>,
27 g1: &G1,
28 m2: &Isometry<N>,
29 g2: &G2,
30 simplex: &mut VoronoiSimplex<N>,
31 init_dir: Option<Vector<N>>,
32) -> N
33where
34 N: RealField + Copy,
35 G1: SupportMap<N>,
36 G2: SupportMap<N>,
37{
38 let dir = init_dir.unwrap_or_else(|| m1.translation.vector - m2.translation.vector);
40
41 if let Some(dir) = Unit::try_new(dir, N::default_epsilon()) {
42 simplex.reset(CSOPoint::from_shapes(m1, g1, m2, g2, &dir));
43 } else {
44 simplex.reset(CSOPoint::from_shapes(m1, g1, m2, g2, &Vector::x_axis()));
45 }
46
47 match gjk::closest_points(m1, g1, m2, g2, N::max_value().unwrap(), true, simplex) {
48 GJKResult::Intersection => N::zero(),
49 GJKResult::ClosestPoints(p1, p2, _) => na::distance(&p1, &p2),
50 GJKResult::Proximity(_) => unreachable!(),
51 GJKResult::NoIntersection(_) => N::zero(), }
53}