parry3d/query/point/
point_round_shape.rs

1use crate::math::{Point, Real};
2use crate::query::gjk::VoronoiSimplex;
3use crate::query::{PointProjection, PointQuery};
4use crate::shape::{FeatureId, RoundShape, SupportMap};
5
6// TODO: if PointQuery had a `project_point_with_normal` method, we could just
7// call this and adjust the projected point accordingly.
8impl<S: SupportMap> PointQuery for RoundShape<S> {
9    #[inline]
10    fn project_local_point(&self, point: &Point<Real>, solid: bool) -> PointProjection {
11        #[cfg(not(feature = "alloc"))]
12        return unimplemented!(
13            "The projection of points on a round shape isn't supported without alloc yet."
14        );
15
16        #[cfg(feature = "alloc")]
17        return crate::query::details::local_point_projection_on_support_map(
18            self,
19            &mut VoronoiSimplex::new(),
20            point,
21            solid,
22        );
23    }
24
25    #[inline]
26    fn project_local_point_and_get_feature(
27        &self,
28        point: &Point<Real>,
29    ) -> (PointProjection, FeatureId) {
30        (self.project_local_point(point, false), FeatureId::Unknown)
31    }
32}
parry3d/query/point/point_round_shape.rs

parry3d/query/point/
point_round_shape.rs
