use na::{self, ComplexField};
use crate::math::{Point, Real};
use crate::query::{PointProjection, PointQuery};
use crate::shape::{Ball, FeatureId};
impl PointQuery for Ball {
#[inline]
fn project_local_point(&self, pt: &Point<Real>, solid: bool) -> PointProjection {
let distance_squared = pt.coords.norm_squared();
let inside = distance_squared <= self.radius * self.radius;
if inside && solid {
PointProjection::new(true, *pt)
} else {
let proj =
Point::from(pt.coords * (self.radius / ComplexField::sqrt(distance_squared)));
PointProjection::new(inside, proj)
}
}
#[inline]
fn project_local_point_and_get_feature(
&self,
pt: &Point<Real>,
) -> (PointProjection, FeatureId) {
(self.project_local_point(pt, false), FeatureId::Face(0))
}
#[inline]
fn distance_to_local_point(&self, pt: &Point<Real>, solid: bool) -> Real {
let dist = pt.coords.norm() - self.radius;
if solid && dist < 0.0 {
0.0
} else {
dist
}
}
#[inline]
fn contains_local_point(&self, pt: &Point<Real>) -> bool {
pt.coords.norm_squared() <= self.radius * self.radius
}
}