parry3d/bounding_volume/
aabb_utils.rs

1use core::iter::IntoIterator;
2
3use crate::bounding_volume::Aabb;
4use crate::math::{Isometry, Point, Real, Vector, DIM};
5use crate::shape::SupportMap;
6use na;
7
8/// Computes the [`Aabb`] of an [support mapped shape](SupportMap).
9#[cfg(feature = "dim3")]
10pub fn support_map_aabb<G>(m: &Isometry<Real>, i: &G) -> Aabb
11where
12    G: SupportMap,
13{
14    let mut min = na::zero::<Vector<Real>>();
15    let mut max = na::zero::<Vector<Real>>();
16    let mut basis = na::zero::<Vector<Real>>();
17
18    for d in 0..DIM {
19        // TODO: this could be further improved iterating on `m`'s columns, and passing
20        // Id as the transformation matrix.
21        basis[d] = 1.0;
22        max[d] = i.support_point(m, &basis)[d];
23
24        basis[d] = -1.0;
25        min[d] = i.support_point(m, &basis)[d];
26
27        basis[d] = 0.0;
28    }
29
30    Aabb::new(Point::from(min), Point::from(max))
31}
32
33/// Computes the [`Aabb`] of an [support mapped shape](SupportMap).
34pub fn local_support_map_aabb<G>(i: &G) -> Aabb
35where
36    G: SupportMap,
37{
38    let mut min = na::zero::<Vector<Real>>();
39    let mut max = na::zero::<Vector<Real>>();
40    let mut basis = na::zero::<Vector<Real>>();
41
42    for d in 0..DIM {
43        // TODO: this could be further improved iterating on `m`'s columns, and passing
44        // Id as the transformation matrix.
45        basis[d] = 1.0;
46        max[d] = i.local_support_point(&basis)[d];
47
48        basis[d] = -1.0;
49        min[d] = i.local_support_point(&basis)[d];
50
51        basis[d] = 0.0;
52    }
53
54    Aabb::new(Point::from(min), Point::from(max))
55}
56
57/// Computes the [`Aabb`] of a set of point references transformed by `m`.
58pub fn point_cloud_aabb_ref<'a, I>(m: &Isometry<Real>, pts: I) -> Aabb
59where
60    I: IntoIterator<Item = &'a Point<Real>>,
61{
62    point_cloud_aabb(m, pts.into_iter().copied())
63}
64
65/// Computes the [`Aabb`] of a set of points transformed by `m`.
66pub fn point_cloud_aabb<I>(m: &Isometry<Real>, pts: I) -> Aabb
67where
68    I: IntoIterator<Item = Point<Real>>,
69{
70    let mut it = pts.into_iter();
71
72    let p0 = it.next().expect(
73        "Point cloud Aabb construction: the input iterator should yield at least one point.",
74    );
75    let wp0 = m.transform_point(&p0);
76    let mut min: Point<Real> = wp0;
77    let mut max: Point<Real> = wp0;
78
79    for pt in it {
80        let wpt = m * pt;
81        min = min.inf(&wpt);
82        max = max.sup(&wpt);
83    }
84
85    Aabb::new(min, max)
86}
87
88/// Computes the [`Aabb`] of a set of points.
89pub fn local_point_cloud_aabb_ref<'a, I>(pts: I) -> Aabb
90where
91    I: IntoIterator<Item = &'a Point<Real>>,
92{
93    local_point_cloud_aabb(pts.into_iter().copied())
94}
95
96/// Computes the [`Aabb`] of a set of points.
97pub fn local_point_cloud_aabb<I>(pts: I) -> Aabb
98where
99    I: IntoIterator<Item = Point<Real>>,
100{
101    let mut it = pts.into_iter();
102
103    let p0 = it.next().expect(
104        "Point cloud Aabb construction: the input iterator should yield at least one point.",
105    );
106    let mut min: Point<Real> = p0;
107    let mut max: Point<Real> = p0;
108
109    for pt in it {
110        min = min.inf(&pt);
111        max = max.sup(&pt);
112    }
113
114    Aabb::new(min, max)
115}
parry3d/bounding_volume/aabb_utils.rs

parry3d/bounding_volume/
aabb_utils.rs
