parry2d/bounding_volume/
bounding_volume.rs

1use crate::math::{Real, Vector};
2
3/// Trait of bounding volumes.
4///
5/// Bounding volumes are coarse approximations of shapes. It usually have constant time
6/// intersection, inclusion test. Two bounding volume must also be mergeable into a bigger bounding
7/// volume.
8pub trait BoundingVolume {
9    // TODO: keep that ? What about non-spacial bounding volumes (e.g. bounding cones, curvature
10    // bounds, etc.) ?
11    /// Returns a point inside of this bounding volume. This is ideally its center.
12    fn center(&self) -> Vector;
13
14    /// Checks if this bounding volume intersect with another one.
15    fn intersects(&self, _: &Self) -> bool;
16
17    /// Checks if this bounding volume contains another one.
18    fn contains(&self, _: &Self) -> bool;
19
20    /// Merges this bounding volume with another one. The merge is done in-place.
21    ///
22    /// Due to floating-point rounding, the merged volume is not guaranteed to strictly
23    /// [`contain`](Self::contains) both input volumes. Use [`loosened`](Self::loosened)
24    /// with a small margin if strict containment is required.
25    fn merge(&mut self, _: &Self);
26
27    /// Merges this bounding volume with another one.
28    ///
29    /// Due to floating-point rounding, the merged volume is not guaranteed to strictly
30    /// [`contain`](Self::contains) both input volumes. Use [`loosened`](Self::loosened)
31    /// with a small margin if strict containment is required.
32    fn merged(&self, _: &Self) -> Self;
33
34    /// Enlarges this bounding volume.
35    fn loosen(&mut self, _: Real);
36
37    /// Creates a new, enlarged version, of this bounding volume.
38    fn loosened(&self, _: Real) -> Self;
39
40    /// Tighten this bounding volume.
41    fn tighten(&mut self, _: Real);
42
43    /// Creates a new, tightened version, of this bounding volume.
44    fn tightened(&self, _: Real) -> Self;
45}
parry2d/bounding_volume/bounding_volume.rs

parry2d/bounding_volume/
bounding_volume.rs
