distance_composite_shape_shape.rs - source

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meshopt

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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

broad_phase.rs broad_phase_pair_filter.rs dbvt_broad_phase.rs mod.rs

glue

mod.rs query.rs setup.rs update.rs

narrow_phase

object

collision_groups.rs collision_object.rs collision_object_set.rs mod.rs query_type.rs

mod.rs world.rs

procedural

path

arrowhead_cap.rs mod.rs no_cap.rs path.rs polyline_path.rs polyline_pattern.rs

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

query

algorithms

cso_point.rs epa3.rs gjk.rs mod.rs special_support_maps.rs voronoi_simplex3.rs

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

contact.rs contact_ball_ball.rs contact_ball_convex_polyhedron.rs contact_composite_shape_shape.rs contact_kinematic.rs contact_manifold.rs contact_plane_support_map.rs contact_preprocessor.rs contact_shape_shape.rs contact_support_map_support_map.rs mod.rs

distance

distance.rs distance_ball_ball.rs distance_composite_shape_shape.rs distance_plane_support_map.rs distance_support_map_support_map.rs mod.rs

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

mod.rs proximity.rs proximity_ball_ball.rs proximity_composite_shape_shape.rs proximity_plane_support_map.rs proximity_shape_shape.rs proximity_support_map_support_map.rs

ray

mod.rs ray.rs ray_aabb.rs ray_ball.rs ray_bounding_sphere.rs ray_compound.rs ray_cuboid.rs ray_heightfield.rs ray_plane.rs ray_polyline.rs ray_shape.rs ray_support_map.rs ray_triangle.rs ray_trimesh.rs

time_of_impact

mod.rs time_of_impact.rs time_of_impact_ball_ball.rs time_of_impact_composite_shape_shape.rs time_of_impact_plane_support_map.rs time_of_impact_support_map_support_map.rs

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

ball_to_trimesh.rs capsule_to_trimesh.rs cone_to_trimesh.rs cuboid_to_trimesh.rs cylinder_to_trimesh.rs heightfield_to_trimesh.rs mod.rs to_trimesh.rs triangle_to_trimesh.rs

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

utils

as_bytes.rs ccw_face_normal.rs center.rs cleanup.rs deterministic_state.rs hashable_partial_eq.rs isometry_ops.rs median.rs mod.rs point_cloud_support_point.rs point_in_poly2d.rs ref_with_cost.rs sort.rs sorted_pair.rs tetrahedron.rs triangle.rs

nom

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multi

macros.rs mod.rs

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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cast.rs lib.rs pow.rs

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lib.rs linux.rs

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average.rs lib.rs roots.rs

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parking_lot

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linux.rs mod.rs

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pathfinding

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undirected

connected_components.rs kruskal.rs mod.rs

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

pennereq

petgraph

pin_project_lite

pin_utils

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png

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polygon2

ppv_lite86

x86_64

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proc_macro2

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

proc_macro_crate

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

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quote

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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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actions.rs animation_system.rs components.rs lib.rs scene_data.rs textures.rs

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events

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physics

mod.rs rigidbody.rs

postprocessing

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events.rs glfw_window.rs lib.rs window.rs

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rinecs

rinecs_derive

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

serde_derive

internals

ast.rs attr.rs case.rs check.rs ctxt.rs mod.rs receiver.rs respan.rs symbol.rs

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 crate::bounding_volume::AABB;
use crate::math::{Isometry, Point, Vector};
use crate::partitioning::{BestFirstVisitStatus, BestFirstVisitor};
use crate::query::{self, PointQuery};
use crate::shape::{CompositeShape, Shape};
use na::{self, RealField};

/// Smallest distance between a composite shape and any other shape.
pub fn distance_composite_shape_shape<N, G1: ?Sized>(
    m1: &Isometry<N>,
    g1: &G1,
    m2: &Isometry<N>,
    g2: &dyn Shape<N>,
) -> N
where
    N: RealField,
    G1: CompositeShape<N>,
{
    let ls_m2 = m1.inverse() * m2.clone();
    let ls_aabb2 = g2.aabb(&ls_m2);

    let mut visitor = CompositeShapeAgainstAnyDistanceVisitor {
        msum_shift: -ls_aabb2.center().coords,
        msum_margin: ls_aabb2.half_extents(),
        m1: m1,
        g1: g1,
        m2: m2,
        g2: g2,
    };

    g1.bvh()
        .best_first_search(&mut visitor)
        .expect("The composite shape must not be empty.")
        .1
}

/// Smallest distance between a shape and a composite shape.
pub fn distance_shape_composite_shape<N, G2: ?Sized>(
    m1: &Isometry<N>,
    g1: &dyn Shape<N>,
    m2: &Isometry<N>,
    g2: &G2,
) -> N
where
    N: RealField,
    G2: CompositeShape<N>,
{
    distance_composite_shape_shape(m2, g2, m1, g1)
}

struct CompositeShapeAgainstAnyDistanceVisitor<'a, N: 'a + RealField, G1: ?Sized + 'a> {
    msum_shift: Vector<N>,
    msum_margin: Vector<N>,

    m1: &'a Isometry<N>,
    g1: &'a G1,
    m2: &'a Isometry<N>,
    g2: &'a dyn Shape<N>,
}

impl<'a, N, G1: ?Sized> BestFirstVisitor<N, usize, AABB<N>>
    for CompositeShapeAgainstAnyDistanceVisitor<'a, N, G1>
where
    N: RealField,
    G1: CompositeShape<N>,
{
    type Result = N;

    fn visit(
        &mut self,
        best: N,
        bv: &AABB<N>,
        data: Option<&usize>,
    ) -> BestFirstVisitStatus<N, Self::Result> {
        // Compute the minkowski sum of the two AABBs.
        let msum = AABB::new(
            bv.mins + self.msum_shift + (-self.msum_margin),
            bv.maxs + self.msum_shift + self.msum_margin,
        );

        let dist = msum.distance_to_point(&Isometry::identity(), &Point::origin(), true);

        let mut res = BestFirstVisitStatus::Continue {
            cost: dist,
            result: None,
        };

        if let Some(b) = data {
            if dist < best {
                self.g1.map_part_at(*b, self.m1, &mut |m1, g1| {
                    let distance = query::distance(m1, g1, self.m2, self.g2);
                    res = BestFirstVisitStatus::Continue {
                        cost: distance,
                        result: Some(distance),
                    }
                });
            }
        }

        res
    }
}