ncollide3d/shape/
ball.rs

1use na::{RealField, Unit};
2
3use crate::math::{Isometry, Point, Vector};
4use crate::shape::SupportMap;
5
6/// A Ball shape.
7#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
8#[derive(PartialEq, Debug, Copy, Clone)]
9pub struct Ball<N: RealField + Copy> {
10    /// The radius of the ball.
11    pub radius: N,
12}
13
14impl<N: RealField + Copy> Ball<N> {
15    /// Creates a new ball from its radius and center.
16    #[inline]
17    pub fn new(radius: N) -> Ball<N> {
18        Ball { radius }
19    }
20
21    /// The ball radius.
22    #[inline]
23    #[deprecated(note = "use the `self.radius` public field directly.")]
24    pub fn radius(&self) -> N {
25        self.radius
26    }
27}
28
29impl<N: RealField + Copy> SupportMap<N> for Ball<N> {
30    #[inline]
31    fn support_point(&self, m: &Isometry<N>, dir: &Vector<N>) -> Point<N> {
32        self.support_point_toward(m, &Unit::new_normalize(*dir))
33    }
34
35    #[inline]
36    fn support_point_toward(&self, m: &Isometry<N>, dir: &Unit<Vector<N>>) -> Point<N> {
37        Point::from(m.translation.vector) + **dir * self.radius
38    }
39
40    #[inline]
41    fn local_support_point(&self, dir: &Vector<N>) -> Point<N> {
42        self.local_support_point_toward(&Unit::new_normalize(*dir))
43    }
44
45    #[inline]
46    fn local_support_point_toward(&self, dir: &Unit<Vector<N>>) -> Point<N> {
47        Point::from(**dir * self.radius)
48    }
49}