ncollide3d/query/point/
point_capsule.rs
1use crate::math::{Isometry, Point, Vector};
2use crate::query::{PointProjection, PointQuery};
3use crate::shape::{Capsule, FeatureId, Segment};
4use na::{self, RealField, Unit};
5
6impl<N: RealField + Copy> PointQuery<N> for Capsule<N> {
7 #[inline]
8 fn project_point(&self, m: &Isometry<N>, pt: &Point<N>, solid: bool) -> PointProjection<N> {
9 let mut y = Point::origin();
10 y[1] = self.half_height;
11 let seg = Segment::new(-y, y);
12 let proj = seg.project_point(m, pt, solid);
13 let dproj = *pt - proj.point;
14
15 if let Some((dir, dist)) = Unit::try_new_and_get(dproj, N::default_epsilon()) {
16 let inside = dist <= self.radius;
17 if solid && inside {
18 PointProjection::new(true, *pt)
19 } else {
20 PointProjection::new(inside, proj.point + dir.into_inner() * self.radius)
21 }
22 } else {
23 if solid {
24 PointProjection::new(true, *pt)
25 } else {
26 let mut dir: Vector<N> = na::zero();
27 dir[1] = na::one();
28 dir = m * dir;
29 PointProjection::new(true, proj.point + dir * self.radius)
30 }
31 }
32 }
33
34 #[inline]
35 fn project_point_with_feature(
36 &self,
37 m: &Isometry<N>,
38 pt: &Point<N>,
39 ) -> (PointProjection<N>, FeatureId) {
40 (self.project_point(m, pt, false), FeatureId::Face(0))
41 }
42}