ncollide3d/query/ray/
ray_bounding_sphere.rs

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1use crate::bounding_volume::BoundingSphere;
2use crate::math::Isometry;
3use crate::query::{Ray, RayCast, RayIntersection};
4use crate::shape::Ball;
5use na::RealField;
6
7impl<N: RealField + Copy> RayCast<N> for BoundingSphere<N> {
8    #[inline]
9    fn toi_with_ray(&self, m: &Isometry<N>, ray: &Ray<N>, max_toi: N, solid: bool) -> Option<N> {
10        let centered_ray = ray.translate_by(-(m * self.center()).coords);
11
12        Ball::new(self.radius()).toi_with_ray(m, &centered_ray, max_toi, solid)
13    }
14
15    #[inline]
16    fn toi_and_normal_with_ray(
17        &self,
18        m: &Isometry<N>,
19        ray: &Ray<N>,
20        max_toi: N,
21        solid: bool,
22    ) -> Option<RayIntersection<N>> {
23        let centered_ray = ray.translate_by(-(m * self.center()).coords);
24
25        Ball::new(self.radius()).toi_and_normal_with_ray(
26            &Isometry::identity(),
27            &centered_ray,
28            max_toi,
29            solid,
30        )
31    }
32
33    #[cfg(feature = "dim3")]
34    #[inline]
35    fn toi_and_normal_and_uv_with_ray(
36        &self,
37        m: &Isometry<N>,
38        ray: &Ray<N>,
39        max_toi: N,
40        solid: bool,
41    ) -> Option<RayIntersection<N>> {
42        let centered_ray = ray.translate_by(-(m * self.center()).coords);
43
44        Ball::new(self.radius()).toi_and_normal_and_uv_with_ray(
45            &Isometry::identity(),
46            &centered_ray,
47            max_toi,
48            solid,
49        )
50    }
51
52    #[inline]
53    fn intersects_ray(&self, m: &Isometry<N>, ray: &Ray<N>, max_toi: N) -> bool {
54        let centered_ray = ray.translate_by(-(m * self.center()).coords);
55
56        Ball::new(self.radius()).intersects_ray(&Isometry::identity(), &centered_ray, max_toi)
57    }
58}
ncollide3d/query/ray/ray_bounding_sphere.rs

ncollide3d/query/ray/
ray_bounding_sphere.rs
