aabb_utils.rs - source

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linalg

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partitioning

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glue

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query

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closest_points

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distance

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nonlinear_time_of_impact

mod.rs nonlinear_time_of_impact.rs nonlinear_time_of_impact_ball_ball.rs nonlinear_time_of_impact_composite_shape_shape.rs nonlinear_time_of_impact_support_map_support_map.rs

point

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proximity

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ray

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visitors

aabb_sets_interferences_collector.rs bounding_volume_interferences_collector.rs composite_closest_point_visitor.rs composite_point_containment_test.rs mod.rs point_interferences_collector.rs ray_interferences_collector.rs ray_intersection_cost_fn_visitor.rs

error.rs mod.rs toi_dispatcher.rs

shape

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to_trimesh

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utils

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nom

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parking_lot

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pennereq

petgraph

pin_project_lite

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png

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proc_macro2

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proc_macro_crate

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error.rs iter.rs lib.rs parse.rs quote.rs

proc_macro_nested

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join

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spawn

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job.rs latch.rs lib.rs log.rs private.rs registry.rs unwind.rs util.rs

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postprocessing

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rinecs

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changes.rs component.rs debug.rs debug_param_fn.rs filter.rs hierarchical.rs hierarchical_oneton.rs lib.rs oneton.rs onetoone.rs

rinecs_derive_utils

lib.rs system.rs

ringui_derive

rustc_demangle

legacy.rs lib.rs v0.rs

rusty_pool

ryu

buffer

pretty

exponent.rs mantissa.rs mod.rs

common.rs d2s.rs d2s_full_table.rs d2s_intrinsics.rs digit_table.rs f2s.rs f2s_intrinsics.rs lib.rs

scopeguard

seitan

seitan_derive

semver

lib.rs version.rs version_req.rs

semver_parser

common.rs lib.rs range.rs recognize.rs version.rs

serde

de

ignored_any.rs impls.rs mod.rs seed.rs utf8.rs value.rs

private

de.rs doc.rs mod.rs ser.rs size_hint.rs

ser

fmt.rs impls.rs impossible.rs mod.rs

integer128.rs lib.rs macros.rs

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internals

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bound.rs de.rs dummy.rs fragment.rs lib.rs pretend.rs ser.rs try.rs

serde_json

features_check

io

value

de.rs from.rs index.rs mod.rs partial_eq.rs ser.rs

de.rs error.rs iter.rs lib.rs macros.rs map.rs number.rs read.rs ser.rs

shaderdata_derive

simba

scalar

complex.rs field.rs mod.rs real.rs subset.rs

simd

auto_simd_impl.rs mod.rs simd_bool.rs simd_complex.rs simd_option.rs simd_partial_ord.rs simd_real.rs simd_signed.rs simd_value.rs

slab

slice_of_array

slotmap

dense.rs hop.rs lib.rs normal.rs secondary.rs sparse_secondary.rs

smallvec

std140_data

streaming_iterator

lib.rs sources.rs

strsim

syn

synstructure

lib.rs macros.rs

thiserror

aserror.rs display.rs lib.rs

thiserror_impl

ast.rs attr.rs expand.rs fmt.rs lib.rs prop.rs valid.rs

thread_local

cached.rs lib.rs thread_id.rs unreachable.rs

tiff

decoder

ifd.rs mod.rs stream.rs

encoder

colortype.rs mod.rs writer.rs

bytecast.rs error.rs lib.rs tags.rs

time

display.rs duration.rs lib.rs parse.rs sys.rs

toml

datetime.rs de.rs lib.rs macros.rs map.rs ser.rs spanned.rs tokens.rs value.rs

typenum

array.rs bit.rs int.rs lib.rs marker_traits.rs operator_aliases.rs private.rs type_operators.rs uint.rs

unchecked_unwrap

unicode_xid

lib.rs tables.rs

vec2

cross.rs extract.rs inv.rs len.rs lerp.rs lib.rs min_max.rs new.rs norm.rs ops.rs set.rs transform.rs

vec3

cross.rs extract.rs inv.rs len.rs lerp.rs lib.rs min_max.rs new.rs norm.rs ops.rs set.rs transform.rs

weezl

decode.rs encode.rs error.rs lib.rs

x11

dpms.rs glx.rs internal.rs keysym.rs lib.rs link.rs xcursor.rs xf86vmode.rs xfixes.rs xft.rs xinerama.rs xinput.rs xinput2.rs xlib.rs xlib_xcb.rs xmd.rs xmu.rs xrandr.rs xrecord.rs xrender.rs xss.rs xt.rs xtest.rs

zlib_sys

use std::iter::IntoIterator;

use crate::bounding_volume::AABB;
use crate::math::{Isometry, Point, Vector, DIM};
use crate::shape::SupportMap;
use na::{self, RealField};

/// Computes the AABB of an support mapped shape.
pub fn support_map_aabb<N, G>(m: &Isometry<N>, i: &G) -> AABB<N>
where
    N: RealField,
    G: SupportMap<N>,
{
    let mut min = na::zero::<Vector<N>>();
    let mut max = na::zero::<Vector<N>>();
    let mut basis = na::zero::<Vector<N>>();

    for d in 0..DIM {
        // FIXME: this could be further improved iterating on `m`'s columns, and passing
        // Id as the transformation matrix.
        basis[d] = na::one();
        max[d] = i.support_point(m, &basis)[d];

        basis[d] = -na::one::<N>();
        min[d] = i.support_point(m, &basis)[d];

        basis[d] = na::zero();
    }

    AABB::new(Point::from(min), Point::from(max))
}

/// Computes the AABB of an support mapped shape.
pub fn local_support_map_aabb<N, G>(i: &G) -> AABB<N>
where
    N: RealField,
    G: SupportMap<N>,
{
    let mut min = na::zero::<Vector<N>>();
    let mut max = na::zero::<Vector<N>>();
    let mut basis = na::zero::<Vector<N>>();

    for d in 0..DIM {
        // FIXME: this could be further improved iterating on `m`'s columns, and passing
        // Id as the transformation matrix.
        basis[d] = na::one();
        max[d] = i.local_support_point(&basis)[d];

        basis[d] = -na::one::<N>();
        min[d] = i.local_support_point(&basis)[d];

        basis[d] = na::zero();
    }

    AABB::new(Point::from(min), Point::from(max))
}

/// Computes the AABB of a set of points transformed by `m`.
pub fn point_cloud_aabb<'a, N: RealField, I>(m: &Isometry<N>, pts: I) -> AABB<N>
where
    I: IntoIterator<Item = &'a Point<N>>,
{
    let mut it = pts.into_iter();

    let p0 = it.next().expect(
        "Point cloud AABB construction: the input iterator should yield at least one point.",
    );
    let wp0 = m.transform_point(&p0);
    let mut min: Point<N> = wp0;
    let mut max: Point<N> = wp0;

    for pt in it {
        let wpt = m * pt;
        min = min.inf(&wpt);
        max = max.sup(&wpt);
    }

    AABB::new(min, max)
}

/// Computes the AABB of a set of points.
pub fn local_point_cloud_aabb<'a, N: RealField, I>(pts: I) -> AABB<N>
where
    I: IntoIterator<Item = &'a Point<N>>,
{
    let mut it = pts.into_iter();

    let p0 = it.next().expect(
        "Point cloud AABB construction: the input iterator should yield at least one point.",
    );
    let mut min: Point<N> = *p0;
    let mut max: Point<N> = *p0;

    for pt in it {
        min = min.inf(&pt);
        max = max.sup(&pt);
    }

    AABB::new(min, max)
}