ncollide3d/transformation/
convex_hull_utils.rs

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1use crate::bounding_volume;
2use crate::math::Point;
3use na::{self, RealField};
4
5/// Returns the index of the support point of a list of points.
6pub fn support_point_id<N: RealField + Copy, const D: usize>(
7    direction: &na::SVector<N, D>,
8    points: &[na::Point<N, D>],
9) -> Option<usize> {
10    let mut argmax = None;
11    let _max: N = N::max_value().unwrap();
12    let mut max = -_max;
13
14    for (id, pt) in points.iter().enumerate() {
15        let dot = direction.dot(&pt.coords);
16
17        if dot > max {
18            argmax = Some(id);
19            max = dot;
20        }
21    }
22
23    argmax
24}
25
26/// Returns the index of the support point of an indexed list of points.
27pub fn indexed_support_point_id<N: RealField + Copy, const D: usize>(
28    direction: &na::SVector<N, D>,
29    points: &[na::Point<N, D>],
30    idx: &[usize],
31) -> Option<usize> {
32    let mut argmax = None;
33    let _max: N = N::max_value().unwrap();
34    let mut max = -_max;
35
36    for i in idx.iter() {
37        let dot = direction.dot(&points[*i].coords);
38
39        if dot > max {
40            argmax = Some(*i);
41            max = dot;
42        }
43    }
44
45    argmax
46}
47
48/// Scale and center the given set of point depending on their AABB.
49pub fn normalize<N: RealField + Copy>(coords: &mut [Point<N>]) -> (Point<N>, N) {
50    let aabb = bounding_volume::local_point_cloud_aabb(&coords[..]);
51    let diag = na::distance(&aabb.mins, &aabb.maxs);
52    let center = aabb.center();
53
54    for c in coords.iter_mut() {
55        *c = (*c + (-center.coords)) / diag;
56    }
57
58    (center, diag)
59}
60
61/// Scale and translates the given set of point.
62pub fn denormalize<N: RealField + Copy>(coords: &mut [Point<N>], center: &Point<N>, diag: N) {
63    for c in coords.iter_mut() {
64        *c = *c * diag + center.coords;
65    }
66}
ncollide3d/transformation/convex_hull_utils.rs

ncollide3d/transformation/
convex_hull_utils.rs
