parry3d/bounding_volume/
aabb_triangle.rs1use crate::{
2 bounding_volume::Aabb,
3 math::{Isometry, Point, Real, DIM},
4 shape::Triangle,
5};
6
7impl Triangle {
8 #[inline]
10 pub fn aabb(&self, pos: &Isometry<Real>) -> Aabb {
11 self.transformed(pos).local_aabb()
12 }
13
14 #[inline]
16 pub fn local_aabb(&self) -> Aabb {
17 let a = self.a.coords;
18 let b = self.b.coords;
19 let c = self.c.coords;
20
21 let mut min = Point::origin();
22 let mut max = Point::origin();
23
24 for d in 0..DIM {
25 min.coords[d] = a[d].min(b[d]).min(c[d]);
26 max.coords[d] = a[d].max(b[d]).max(c[d]);
27 }
28
29 Aabb::new(min, max)
30 }
31}
32
33#[cfg(test)]
34#[cfg(feature = "dim3")]
35mod test {
36 use crate::{
37 bounding_volume::details::support_map_aabb,
38 math::{Isometry, Point, Real, Translation},
39 shape::Triangle,
40 };
41 use na::{RealField, UnitQuaternion};
42
43 #[test]
44 fn triangle_aabb_matches_support_map_aabb() {
45 let t = Triangle::new(
46 Point::new(0.3, -0.1, 0.2),
47 Point::new(-0.7, 1.0, 0.0),
48 Point::new(-0.7, 1.5, 0.0),
49 );
50
51 let m = Isometry::from_parts(
52 Translation::new(-0.2, 5.0, 0.2),
53 UnitQuaternion::from_euler_angles(0.0, Real::frac_pi_2(), 0.0),
54 );
55
56 assert_eq!(t.aabb(&m), support_map_aabb(&m, &t));
57
58 }
61}