1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42

use crate::math::{Point, Real};
use crate::query::{PointProjection, PointQuery};
use crate::shape::{FeatureId, HalfSpace};

impl PointQuery for HalfSpace {
    #[inline]
    fn project_local_point(&self, pt: &Point<Real>, solid: bool) -> PointProjection {
        let d = self.normal.dot(&pt.coords);
        let inside = d <= 0.0;

        if inside && solid {
            PointProjection::new(true, *pt)
        } else {
            PointProjection::new(inside, *pt + (-*self.normal * d))
        }
    }

    #[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 = self.normal.dot(&pt.coords);

        if dist < 0.0 && solid {
            0.0
        } else {
            // This will automatically be negative if the point is inside.
            dist
        }
    }

    #[inline]
    fn contains_local_point(&self, pt: &Point<Real>) -> bool {
        self.normal.dot(&pt.coords) <= 0.0
    }
}