ncollide3d/query/proximity/
proximity_ball_ball.rs
1use crate::math::Point;
2use crate::query::Proximity;
3use crate::shape::Ball;
4use na::{self, RealField};
5
6#[inline]
8pub fn proximity_ball_ball<N: RealField + Copy>(
9 center1: &Point<N>,
10 b1: &Ball<N>,
11 center2: &Point<N>,
12 b2: &Ball<N>,
13 margin: N,
14) -> Proximity {
15 assert!(
16 margin >= na::zero(),
17 "The proximity margin must be positive or null."
18 );
19
20 let r1 = b1.radius;
21 let r2 = b2.radius;
22 let delta_pos = *center2 - *center1;
23 let distance_squared = delta_pos.norm_squared();
24 let sum_radius = r1 + r2;
25 let sum_radius_with_error = sum_radius + margin;
26
27 if distance_squared <= sum_radius_with_error * sum_radius_with_error {
28 if distance_squared <= sum_radius * sum_radius {
29 Proximity::Intersecting
30 } else {
31 Proximity::WithinMargin
32 }
33 } else {
34 Proximity::Disjoint
35 }
36}