parry3d/query/intersection_test/
intersection_test_voxels_shape.rs

1use crate::math::{Isometry, Real, Translation};
2use crate::query::PersistentQueryDispatcher;
3use crate::shape::{Cuboid, Shape, VoxelType, Voxels};
4
5/// Checks for any intersection between voxels and an arbitrary shape, both represented as a `Shape` trait-object.
6pub fn intersection_test_voxels_shape_shapes(
7    dispatcher: &dyn PersistentQueryDispatcher,
8    pos12: &Isometry<Real>,
9    shape1: &dyn Shape,
10    shape2: &dyn Shape,
11) -> bool {
12    if let Some(voxels1) = shape1.as_voxels() {
13        intersection_test_voxels_shape(dispatcher, pos12, voxels1, shape2)
14    } else if let Some(voxels2) = shape2.as_voxels() {
15        intersection_test_voxels_shape(dispatcher, &pos12.inverse(), voxels2, shape1)
16    } else {
17        false
18    }
19}
20
21/// Checks for any intersection between voxels and an arbitrary shape.
22pub fn intersection_test_voxels_shape(
23    dispatcher: &dyn PersistentQueryDispatcher,
24    pos12: &Isometry<Real>,
25    voxels1: &Voxels,
26    shape2: &dyn Shape,
27) -> bool {
28    let radius1 = voxels1.voxel_size() / 2.0;
29    let aabb1 = voxels1.local_aabb();
30    let aabb2_1 = shape2.compute_aabb(pos12);
31
32    if let Some(intersection_aabb1) = aabb1.intersection(&aabb2_1) {
33        for vox1 in voxels1.voxels_intersecting_local_aabb(&intersection_aabb1) {
34            let vox_type1 = vox1.state.voxel_type();
35
36            if vox_type1 == VoxelType::Empty {
37                continue;
38            }
39
40            let center1 = vox1.center;
41            let cuboid1 = Cuboid::new(radius1);
42            let cuboid_pose12 = Translation::from(-center1) * pos12;
43
44            if dispatcher
45                .intersection_test(&cuboid_pose12, &cuboid1, shape2)
46                .unwrap_or(false)
47            {
48                return true;
49            }
50        }
51    }
52
53    false
54}
55
56/// Checks for any intersection between voxels and an arbitrary shape.
57pub fn intersection_test_shape_voxels(
58    dispatcher: &dyn PersistentQueryDispatcher,
59    pos12: &Isometry<Real>,
60    shape1: &dyn Shape,
61    voxels2: &Voxels,
62) -> bool {
63    intersection_test_voxels_shape(dispatcher, &pos12.inverse(), voxels2, shape1)
64}
parry3d/query/intersection_test/intersection_test_voxels_shape.rs

parry3d/query/intersection_test/
intersection_test_voxels_shape.rs
