bounding_volume.rs - source

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linalg

ncollide3d

bounding_volume

interpolation

mod.rs rigid_motion.rs

partitioning

bvh.rs bvt.rs dbvt.rs mod.rs visitor.rs

pipeline

broad_phase

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glue

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narrow_phase

object

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mod.rs world.rs

procedural

path

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bezier.rs capsule.rs cone.rs cuboid.rs cylinder.rs mod.rs quad.rs sphere.rs trimesh.rs utils.rs

query

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closest_points

closest_points.rs closest_points_ball_ball.rs closest_points_composite_shape_shape.rs closest_points_line_line.rs closest_points_plane_support_map.rs closest_points_segment_segment.rs closest_points_shape_shape.rs closest_points_support_map_support_map.rs mod.rs

contact

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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

mod.rs point_aabb.rs point_ball.rs point_bounding_sphere.rs point_capsule.rs point_compound.rs point_cuboid.rs point_heightfield.rs point_plane.rs point_polyline.rs point_query.rs point_segment.rs point_shape.rs point_support_map.rs point_tetrahedron.rs point_triangle.rs point_trimesh.rs

proximity

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ray

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time_of_impact

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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

transformation

to_trimesh

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convex_hull2.rs convex_hull3.rs convex_hull_utils.rs hacd.rs mod.rs

utils

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nom

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number

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error.rs internal.rs lib.rs methods.rs str.rs traits.rs util.rs whitespace.rs

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lib.rs linux.rs

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parking_lot

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linux.rs mod.rs

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pathfinding

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grid.rs kuhn_munkres.rs lib.rs matrix.rs utils.rs

pennereq

petgraph

pin_project_lite

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png

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polygon2

ppv_lite86

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proc_macro2

detection.rs fallback.rs lib.rs marker.rs parse.rs wrapper.rs

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join

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physics

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postprocessing

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ringui_derive

rustc_demangle

legacy.rs lib.rs v0.rs

rusty_pool

ryu

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pretty

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

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seitan

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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

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ser

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

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slab

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smallvec

std140_data

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thiserror

aserror.rs display.rs lib.rs

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tiff

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toml

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typenum

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unchecked_unwrap

unicode_xid

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vec2

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vec3

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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 crate::math::{Isometry, Point};
use na::RealField;

/// Traits of objects having a bounding volume.
pub trait HasBoundingVolume<N: RealField, BV> {
    /// The bounding volume of `self` transformed by `m`.
    fn bounding_volume(&self, m: &Isometry<N>) -> BV;
    /// The bounding volume of `self`.
    fn local_bounding_volume(&self) -> BV {
        self.bounding_volume(&Isometry::identity())
    }
}

/// Trait of bounding volumes.
///
/// Bounding volumes are coarse approximations of shapes. It usually have constant time
/// intersection, inclusion test. Two bounding volume must also be mergeable into a bigger bounding
/// volume.
pub trait BoundingVolume<N: RealField>: std::fmt::Debug {
    // FIXME: keep that ? What about non-spacial bounding volumes (e.g. bounding cones, curvature
    // bounds, etc.) ?
    /// Returns a point inside of this bounding volume. This is ideally its center.
    fn center(&self) -> Point<N>;

    /// Checks if this bounding volume intersect with another one.
    fn intersects(&self, _: &Self) -> bool;

    /// Checks if this bounding volume contains another one.
    fn contains(&self, _: &Self) -> bool;

    /// Merges this bounding volume with another one. The merge is done in-place.
    fn merge(&mut self, _: &Self);

    /// Merges this bounding volume with another one.
    fn merged(&self, _: &Self) -> Self;

    /// Enlarges this bounding volume.
    fn loosen(&mut self, _: N);

    /// Creates a new, enlarged version, of this bounding volume.
    fn loosened(&self, _: N) -> Self;

    /// Tighten this bounding volume.
    fn tighten(&mut self, _: N);

    /// Creates a new, tightened version, of this bounding volume.
    fn tightened(&self, _: N) -> Self;
}