ncollide3d/query/point/
point_plane.rs

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1use crate::math::{Isometry, Point};
2use crate::query::{PointProjection, PointQuery};
3use crate::shape::{FeatureId, Plane};
4use na::{self, RealField};
5
6impl<N: RealField + Copy> PointQuery<N> for Plane<N> {
7    #[inline]
8    fn project_point(&self, m: &Isometry<N>, pt: &Point<N>, solid: bool) -> PointProjection<N> {
9        let ls_pt = m.inverse_transform_point(pt);
10        let d = self.normal.dot(&ls_pt.coords);
11
12        let inside = d <= na::zero();
13
14        if inside && solid {
15            PointProjection::new(true, *pt)
16        } else {
17            PointProjection::new(inside, *pt + (-*self.normal * d))
18        }
19    }
20
21    #[inline]
22    fn project_point_with_feature(
23        &self,
24        m: &Isometry<N>,
25        pt: &Point<N>,
26    ) -> (PointProjection<N>, FeatureId) {
27        (self.project_point(m, pt, false), FeatureId::Face(0))
28    }
29
30    #[inline]
31    fn distance_to_point(&self, m: &Isometry<N>, pt: &Point<N>, solid: bool) -> N {
32        let ls_pt = m.inverse_transform_point(pt);
33        let dist = self.normal.dot(&ls_pt.coords);
34
35        if dist < na::zero() && solid {
36            na::zero()
37        } else {
38            // This will automatically be negative if the point is inside.
39            dist
40        }
41    }
42
43    #[inline]
44    fn contains_point(&self, m: &Isometry<N>, pt: &Point<N>) -> bool {
45        let ls_pt = m.inverse_transform_point(pt);
46
47        self.normal.dot(&ls_pt.coords) <= na::zero()
48    }
49}
ncollide3d/query/point/point_plane.rs

ncollide3d/query/point/
point_plane.rs
