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use na;
use simba::scalar::RealField;

use crate::math::{Isometry, Point};
use crate::query::{PointProjection, PointQuery};
use crate::shape::{Ball, FeatureId};

impl<N: RealField> PointQuery<N> for Ball<N> {
    #[inline]
    fn project_point(&self, m: &Isometry<N>, pt: &Point<N>, solid: bool) -> PointProjection<N> {
        let ls_pt = m.inverse_transform_point(pt);
        let distance_squared = ls_pt.coords.norm_squared();

        let inside = distance_squared <= self.radius * self.radius;

        if inside && solid {
            PointProjection::new(true, *pt)
        } else {
            let ls_proj = Point::from(ls_pt.coords * (self.radius / distance_squared.sqrt()));
            PointProjection::new(inside, m * ls_proj)
        }
    }

    #[inline]
    fn project_point_with_feature(
        &self,
        m: &Isometry<N>,
        pt: &Point<N>,
    ) -> (PointProjection<N>, FeatureId) {
        (self.project_point(m, pt, false), FeatureId::Face(0))
    }

    #[inline]
    fn distance_to_point(&self, m: &Isometry<N>, pt: &Point<N>, solid: bool) -> N {
        let dist = m.inverse_transform_point(pt).coords.norm() - self.radius;

        if solid && dist < na::zero() {
            na::zero()
        } else {
            dist
        }
    }

    #[inline]
    fn contains_point(&self, m: &Isometry<N>, pt: &Point<N>) -> bool {
        m.inverse_transform_point(pt).coords.norm_squared() <= self.radius * self.radius
    }
}