1
 2
 3
 4
 5
 6
 7
 8
 9
10
11
12
13
14
15
16
17
18
19
20
21

use crate::bounding_volume;
use crate::bounding_volume::{BoundingSphere, HasBoundingVolume};
use crate::math::Isometry;
use crate::shape::Triangle;
use na::RealField;

impl<N: RealField> HasBoundingVolume<N, BoundingSphere<N>> for Triangle<N> {
    #[inline]
    fn bounding_volume(&self, m: &Isometry<N>) -> BoundingSphere<N> {
        let bv: BoundingSphere<N> = self.local_bounding_volume();
        bv.transform_by(m)
    }

    #[inline]
    fn local_bounding_volume(&self) -> BoundingSphere<N> {
        let pts = [self.a, self.b, self.c];
        let (center, radius) = bounding_volume::point_cloud_bounding_sphere(&pts[..]);

        BoundingSphere::new(center, radius)
    }
}