parry3d/query/intersection_test/
intersection_test_composite_shape_shape.rs

1use crate::bounding_volume::BoundingVolume;
2use crate::math::{Isometry, Real};
3use crate::partitioning::BvhNode;
4use crate::query::QueryDispatcher;
5use crate::shape::{CompositeShapeRef, Shape, TypedCompositeShape};
6use crate::utils::IsometryOpt;
7
8impl<S: ?Sized + TypedCompositeShape> CompositeShapeRef<'_, S> {
9    /// Returns the index of the shape in `self` that intersects the given other `shape` positioned
10    /// at `pose12` relative to `self`.
11    ///
12    /// Returns `None` if no intersection is found.
13    pub fn intersects_shape<D: ?Sized + QueryDispatcher>(
14        &self,
15        dispatcher: &D,
16        pose12: &Isometry<Real>,
17        shape: &dyn Shape,
18    ) -> Option<u32> {
19        let ls_aabb2 = shape.compute_aabb(pose12);
20        self.0
21            .bvh()
22            .leaves(|node: &BvhNode| node.aabb().intersects(&ls_aabb2))
23            .find(|leaf_id| {
24                self.0
25                    .map_untyped_part_at(*leaf_id, |part_pose1, sub1, _| {
26                        dispatcher.intersection_test(&part_pose1.inv_mul(pose12), sub1, shape)
27                            == Ok(true)
28                    })
29                    .unwrap_or(false)
30            })
31    }
32}
33
34/// Intersection test between a composite shape (`Mesh`, `Compound`) and any other shape.
35pub fn intersection_test_composite_shape_shape<D, G1>(
36    dispatcher: &D,
37    pos12: &Isometry<Real>,
38    g1: &G1,
39    g2: &dyn Shape,
40) -> bool
41where
42    D: ?Sized + QueryDispatcher,
43    G1: ?Sized + TypedCompositeShape,
44{
45    CompositeShapeRef(g1)
46        .intersects_shape(dispatcher, pos12, g2)
47        .is_some()
48}
49
50/// Proximity between a shape and a composite (`Mesh`, `Compound`) shape.
51pub fn intersection_test_shape_composite_shape<D, G2>(
52    dispatcher: &D,
53    pos12: &Isometry<Real>,
54    g1: &dyn Shape,
55    g2: &G2,
56) -> bool
57where
58    D: ?Sized + QueryDispatcher,
59    G2: ?Sized + TypedCompositeShape,
60{
61    intersection_test_composite_shape_shape(dispatcher, &pos12.inverse(), g2, g1)
62}
parry3d/query/intersection_test/intersection_test_composite_shape_shape.rs

parry3d/query/intersection_test/
intersection_test_composite_shape_shape.rs
