ncollide3d/query/visitors/
ray_interferences_collector.rs

1use crate::math::Isometry;
2use crate::partitioning::{VisitStatus, Visitor};
3use crate::query::{Ray, RayCast};
4use na::RealField;
5
6/// Bounding Volume Tree visitor collecting interferences with a given ray.
7pub struct RayInterferencesCollector<'a, N: 'a + RealField + Copy, T: 'a> {
8    /// Ray to be tested.
9    pub ray: &'a Ray<N>,
10    /// The maximum allowed time of impact.
11    pub max_toi: N,
12    /// The data contained by the nodes which bounding volume intersects `self.ray`.
13    pub collector: &'a mut Vec<T>,
14}
15
16impl<'a, N: RealField + Copy, T> RayInterferencesCollector<'a, N, T> {
17    /// Creates a new `RayInterferencesCollector`.
18    #[inline]
19    pub fn new(
20        ray: &'a Ray<N>,
21        max_toi: N,
22        buffer: &'a mut Vec<T>,
23    ) -> RayInterferencesCollector<'a, N, T> {
24        RayInterferencesCollector {
25            ray,
26            max_toi,
27            collector: buffer,
28        }
29    }
30}
31
32impl<'a, N, T, BV> Visitor<T, BV> for RayInterferencesCollector<'a, N, T>
33where
34    N: RealField + Copy,
35    T: Clone,
36    BV: RayCast<N>,
37{
38    #[inline]
39    fn visit(&mut self, bv: &BV, t: Option<&T>) -> VisitStatus {
40        if bv.intersects_ray(&Isometry::identity(), self.ray, self.max_toi) {
41            if let Some(t) = t {
42                self.collector.push(t.clone())
43            }
44
45            VisitStatus::Continue
46        } else {
47            VisitStatus::Stop
48        }
49    }
50}