parry3d/bounding_volume/aabb_halfspace.rs
1use crate::bounding_volume::Aabb;
2use crate::math::{Isometry, Point, Real};
3use crate::num::Bounded;
4use crate::shape::HalfSpace;
5use na;
6
7impl HalfSpace {
8 /// Computes the world-space [`Aabb`] of this half-space.
9 #[inline]
10 pub fn aabb(&self, _pos: &Isometry<Real>) -> Aabb {
11 self.local_aabb()
12 }
13
14 /// Computes the local-space [`Aabb`] of this half-space.
15 #[inline]
16 pub fn local_aabb(&self) -> Aabb {
17 // We divide by 2.0 so that we can still make some operations with it (like loosening)
18 // without breaking the box.
19 let max = Point::max_value() * na::convert::<f64, Real>(0.5f64);
20 Aabb::new(-max, max)
21 }
22}