ncollide3d/query/point/
point_cuboid.rs

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1use crate::bounding_volume::AABB;
2use crate::math::{Isometry, Point};
3use crate::query::{PointProjection, PointQuery};
4use crate::shape::{Cuboid, FeatureId};
5use na::RealField;
6
7impl<N: RealField + Copy> PointQuery<N> for Cuboid<N> {
8    #[inline]
9    fn project_point(&self, m: &Isometry<N>, pt: &Point<N>, solid: bool) -> PointProjection<N> {
10        let dl = Point::origin() + (-self.half_extents);
11        let ur = Point::origin() + self.half_extents;
12        AABB::new(dl, ur).project_point(m, pt, solid)
13    }
14
15    #[inline]
16    fn project_point_with_feature(
17        &self,
18        m: &Isometry<N>,
19        pt: &Point<N>,
20    ) -> (PointProjection<N>, FeatureId) {
21        let dl = Point::origin() + (-self.half_extents);
22        let ur = Point::origin() + self.half_extents;
23        AABB::new(dl, ur).project_point_with_feature(m, pt)
24    }
25
26    #[inline]
27    fn distance_to_point(&self, m: &Isometry<N>, pt: &Point<N>, solid: bool) -> N {
28        let dl = Point::origin() + (-self.half_extents);
29        let ur = Point::origin() + self.half_extents;
30        AABB::new(dl, ur).distance_to_point(m, pt, solid)
31    }
32
33    #[inline]
34    fn contains_point(&self, m: &Isometry<N>, pt: &Point<N>) -> bool {
35        let dl = Point::origin() + (-self.half_extents);
36        let ur = Point::origin() + self.half_extents;
37        AABB::new(dl, ur).contains_point(m, pt)
38    }
39}
ncollide3d/query/point/point_cuboid.rs

ncollide3d/query/point/
point_cuboid.rs
