use crate::math::{Point, Real, Vector};
use crate::shape::SupportMap;
use na::Unit;
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
#[cfg_attr(
feature = "rkyv",
derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize),
archive(check_bytes)
)]
#[derive(Copy, Clone, Debug)]
#[repr(C)]
pub struct RoundShape<S> {
pub inner_shape: S,
pub border_radius: Real,
}
impl<S: SupportMap> SupportMap for RoundShape<S> {
fn local_support_point(&self, dir: &Vector<Real>) -> Point<Real> {
self.local_support_point_toward(&Unit::new_normalize(*dir))
}
fn local_support_point_toward(&self, dir: &Unit<Vector<Real>>) -> Point<Real> {
self.inner_shape.local_support_point_toward(dir) + **dir * self.border_radius
}
}
pub(crate) struct RoundShapeRef<'a, S: ?Sized> {
pub inner_shape: &'a S,
pub border_radius: Real,
}
impl<'a, S: ?Sized + SupportMap> SupportMap for RoundShapeRef<'a, S> {
fn local_support_point(&self, dir: &Vector<Real>) -> Point<Real> {
self.local_support_point_toward(&Unit::new_normalize(*dir))
}
fn local_support_point_toward(&self, dir: &Unit<Vector<Real>>) -> Point<Real> {
self.inner_shape.local_support_point_toward(dir) + **dir * self.border_radius
}
}