parry2d/query/distance/
distance_support_map_support_map.rs

1use crate::math::{Pose, Real, Vector};
2use crate::query::gjk::{self, CsoPoint, GJKResult, VoronoiSimplex};
3use crate::shape::SupportMap;
4use num::Bounded;
5
6/// Distance between support-mapped shapes.
7pub fn distance_support_map_support_map<G1, G2>(pos12: &Pose, g1: &G1, g2: &G2) -> Real
8where
9    G1: ?Sized + SupportMap,
10    G2: ?Sized + SupportMap,
11{
12    distance_support_map_support_map_with_params(pos12, g1, g2, &mut VoronoiSimplex::new(), None)
13}
14
15/// Distance between support-mapped shapes.
16///
17/// This allows a more fine grained control other the underlying GJK algorigtm.
18pub fn distance_support_map_support_map_with_params<G1, G2>(
19    pos12: &Pose,
20    g1: &G1,
21    g2: &G2,
22    simplex: &mut VoronoiSimplex,
23    init_dir: Option<Vector>,
24) -> Real
25where
26    G1: ?Sized + SupportMap,
27    G2: ?Sized + SupportMap,
28{
29    // TODO: or m2.translation - m1.translation ?
30    let dir = init_dir.unwrap_or_else(|| -pos12.translation);
31
32    let normalized_dir =
33        if dir.length_squared() > crate::math::DEFAULT_EPSILON * crate::math::DEFAULT_EPSILON {
34            dir.normalize()
35        } else {
36            Vector::X
37        };
38
39    simplex.reset(CsoPoint::from_shapes(pos12, g1, g2, normalized_dir));
40
41    match gjk::closest_points(pos12, g1, g2, Real::max_value(), true, simplex) {
42        GJKResult::Intersection => 0.0,
43        GJKResult::ClosestPoints(p1, p2, _) => (p1 - p2).length(),
44        GJKResult::Proximity(_) => unreachable!(),
45        GJKResult::NoIntersection(_) => 0.0, // TODO: GJK did not converge.
46    }
47}
parry2d/query/distance/distance_support_map_support_map.rs

parry2d/query/distance/
distance_support_map_support_map.rs
