parry3d/query/point/
point_halfspace.rs

1use crate::math::{Point, Real};
2use crate::query::{PointProjection, PointQuery};
3use crate::shape::{FeatureId, HalfSpace};
4
5impl PointQuery for HalfSpace {
6    #[inline]
7    fn project_local_point(&self, pt: &Point<Real>, solid: bool) -> PointProjection {
8        let d = self.normal.dot(&pt.coords);
9        let inside = d <= 0.0;
10
11        if inside && solid {
12            PointProjection::new(true, *pt)
13        } else {
14            PointProjection::new(inside, *pt + (-*self.normal * d))
15        }
16    }
17
18    #[inline]
19    fn project_local_point_and_get_feature(
20        &self,
21        pt: &Point<Real>,
22    ) -> (PointProjection, FeatureId) {
23        (self.project_local_point(pt, false), FeatureId::Face(0))
24    }
25
26    #[inline]
27    fn distance_to_local_point(&self, pt: &Point<Real>, solid: bool) -> Real {
28        let dist = self.normal.dot(&pt.coords);
29
30        if dist < 0.0 && solid {
31            0.0
32        } else {
33            // This will automatically be negative if the point is inside.
34            dist
35        }
36    }
37
38    #[inline]
39    fn contains_local_point(&self, pt: &Point<Real>) -> bool {
40        self.normal.dot(&pt.coords) <= 0.0
41    }
42}
parry3d/query/point/point_halfspace.rs

parry3d/query/point/
point_halfspace.rs
