parry3d/bounding_volume/
bounding_volume.rs

1use crate::math::{Point, Real};
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) -> Point<Real>;
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    fn merge(&mut self, _: &Self);
22
23    /// Merges this bounding volume with another one.
24    fn merged(&self, _: &Self) -> Self;
25
26    /// Enlarges this bounding volume.
27    fn loosen(&mut self, _: Real);
28
29    /// Creates a new, enlarged version, of this bounding volume.
30    fn loosened(&self, _: Real) -> Self;
31
32    /// Tighten this bounding volume.
33    fn tighten(&mut self, _: Real);
34
35    /// Creates a new, tightened version, of this bounding volume.
36    fn tightened(&self, _: Real) -> Self;
37}
parry3d/bounding_volume/bounding_volume.rs

parry3d/bounding_volume/
bounding_volume.rs
