ncollide3d/query/point/
point_cuboid.rs
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}