ncollide3d/query/nonlinear_time_of_impact/
nonlinear_time_of_impact_ball_ball.rs

1use na::RealField;
2
3use crate::interpolation::RigidMotion;
4use crate::math::Isometry;
5use crate::query::{self, ClosestPoints, TOI};
6use crate::shape::Ball;
7
8/// Non-linear Time Of Impact of two balls under a rigid motion (translation + rotation).
9#[inline]
10pub fn nonlinear_time_of_impact_ball_ball<N: RealField + Copy>(
11    motion1: &(impl RigidMotion<N> + ?Sized),
12    b1: &Ball<N>,
13    motion2: &(impl RigidMotion<N> + ?Sized),
14    b2: &Ball<N>,
15    max_toi: N,
16    target_distance: N,
17) -> Option<TOI<N>> {
18    fn closest_points<N: RealField + Copy>(
19        m1: &Isometry<N>,
20        g1: &Ball<N>,
21        m2: &Isometry<N>,
22        g2: &Ball<N>,
23        prediction: N,
24    ) -> ClosestPoints<N> {
25        query::closest_points_ball_ball(
26            &m1.translation.vector.into(),
27            g1,
28            &m2.translation.vector.into(),
29            g2,
30            prediction,
31        )
32    }
33
34    query::nonlinear_time_of_impact_support_map_support_map_with_closest_points_function(
35        motion1,
36        b1,
37        motion2,
38        b2,
39        max_toi,
40        target_distance,
41        closest_points,
42    )
43}