parry3d/query/intersection_test/
intersection_test_support_map_support_map.rs

1use na::{self, Unit};
2
3use crate::math::{Isometry, Real, Vector};
4use crate::query::gjk::{self, CSOPoint, GJKResult, VoronoiSimplex};
5use crate::shape::SupportMap;
6
7/// Intersection test between support-mapped shapes (`Cuboid`, `ConvexHull`, etc.)
8pub fn intersection_test_support_map_support_map<G1, G2>(
9    pos12: &Isometry<Real>,
10    g1: &G1,
11    g2: &G2,
12) -> bool
13where
14    G1: ?Sized + SupportMap,
15    G2: ?Sized + SupportMap,
16{
17    intersection_test_support_map_support_map_with_params(
18        pos12,
19        g1,
20        g2,
21        &mut VoronoiSimplex::new(),
22        None,
23    )
24    .0
25}
26
27/// Intersection test between support-mapped shapes (`Cuboid`, `ConvexHull`, etc.)
28///
29/// This allows a more fine grained control other the underlying GJK algorithm.
30pub fn intersection_test_support_map_support_map_with_params<G1, G2>(
31    pos12: &Isometry<Real>,
32    g1: &G1,
33    g2: &G2,
34    simplex: &mut VoronoiSimplex,
35    init_dir: Option<Unit<Vector<Real>>>,
36) -> (bool, Unit<Vector<Real>>)
37where
38    G1: ?Sized + SupportMap,
39    G2: ?Sized + SupportMap,
40{
41    let dir = if let Some(init_dir) = init_dir {
42        init_dir
43    } else if let Some(init_dir) =
44        Unit::try_new(pos12.translation.vector, crate::math::DEFAULT_EPSILON)
45    {
46        init_dir
47    } else {
48        Vector::x_axis()
49    };
50
51    simplex.reset(CSOPoint::from_shapes(pos12, g1, g2, &dir));
52
53    match gjk::closest_points(pos12, g1, g2, 0.0, false, simplex) {
54        GJKResult::Intersection => (true, dir),
55        GJKResult::Proximity(dir) => (false, dir),
56        GJKResult::NoIntersection(dir) => (false, dir),
57        GJKResult::ClosestPoints(..) => unreachable!(),
58    }
59}