1
  2
  3
  4
  5
  6
  7
  8
  9
 10
 11
 12
 13
 14
 15
 16
 17
 18
 19
 20
 21
 22
 23
 24
 25
 26
 27
 28
 29
 30
 31
 32
 33
 34
 35
 36
 37
 38
 39
 40
 41
 42
 43
 44
 45
 46
 47
 48
 49
 50
 51
 52
 53
 54
 55
 56
 57
 58
 59
 60
 61
 62
 63
 64
 65
 66
 67
 68
 69
 70
 71
 72
 73
 74
 75
 76
 77
 78
 79
 80
 81
 82
 83
 84
 85
 86
 87
 88
 89
 90
 91
 92
 93
 94
 95
 96
 97
 98
 99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136

use crate::bounding_volume::AABB;
use crate::math::{Isometry, Point};
use crate::partitioning::{BestFirstVisitStatus, BestFirstVisitor, BVH};
use crate::query::{
    visitors::CompositePointContainmentTest, PointProjection, PointQuery, PointQueryWithLocation,
};
use crate::shape::{FeatureId, Polyline, SegmentPointLocation};
use na::{self, RealField};

impl<N: RealField> PointQuery<N> for Polyline<N> {
    #[inline]
    fn project_point(&self, m: &Isometry<N>, point: &Point<N>, solid: bool) -> PointProjection<N> {
        let (projection, _) = self.project_point_with_location(m, point, solid);
        projection
    }

    #[inline]
    fn project_point_with_feature(
        &self,
        m: &Isometry<N>,
        point: &Point<N>,
    ) -> (PointProjection<N>, FeatureId) {
        let ls_pt = m.inverse_transform_point(point);
        let mut visitor = PolylinePointProjWithFeatureVisitor {
            polyline: self,
            point: &ls_pt,
        };

        let (mut proj, (id, feature)) = self.bvt().best_first_search(&mut visitor).unwrap().1;
        proj.point = m * proj.point;

        let polyline_feature = self.segment_feature_to_polyline_feature(id, feature);

        (proj, polyline_feature)
    }

    // FIXME: implement distance_to_point too?

    #[inline]
    fn contains_point(&self, m: &Isometry<N>, point: &Point<N>) -> bool {
        let ls_pt = m.inverse_transform_point(point);
        let mut visitor = CompositePointContainmentTest {
            shape: self,
            point: &ls_pt,
            found: false,
        };

        self.bvt().visit(&mut visitor);

        visitor.found
    }
}

impl<N: RealField> PointQueryWithLocation<N> for Polyline<N> {
    type Location = (usize, SegmentPointLocation<N>);

    #[inline]
    fn project_point_with_location(
        &self,
        m: &Isometry<N>,
        point: &Point<N>,
        _: bool,
    ) -> (PointProjection<N>, Self::Location) {
        let ls_pt = m.inverse_transform_point(point);
        let mut visitor = PolylinePointProjVisitor {
            polyline: self,
            point: &ls_pt,
        };

        let (mut proj, extra_info) = self.bvt().best_first_search(&mut visitor).unwrap().1;
        proj.point = m * proj.point;

        (proj, extra_info)
    }
}

/*
 * Visitors
 */
macro_rules! gen_visitor(
    ($Visitor: ident, $Location: ty, $project: ident $(, $args: ident)*) => {
        struct $Visitor<'a, N: 'a + RealField> {
            polyline: &'a Polyline<N>,
            point: &'a Point<N>,
        }

        impl<'a, N: RealField> BestFirstVisitor<N, usize, AABB<N>> for $Visitor<'a, N> {
            type Result = (PointProjection<N>, (usize, $Location));

            #[inline]
            fn visit(
                &mut self,
                best: N,
                aabb: &AABB<N>,
                data: Option<&usize>,
            ) -> BestFirstVisitStatus<N, Self::Result> {
                let dist = aabb.distance_to_point(&Isometry::identity(), self.point, true);

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

                if let Some(b) = data {
                    if dist < best {
                        let (proj, extra_info) = self.polyline.segment_at(*b).$project(
                            &Isometry::identity(),
                            self.point
                            $(, $args)*
                        );

                        let extra_info = (*b, extra_info);
                        res = BestFirstVisitStatus::Continue {
                            cost: na::distance(self.point, &proj.point),
                            result: Some((proj, extra_info)),
                        };
                    }
                }

                res
            }
        }
    }
);

gen_visitor!(
    PolylinePointProjVisitor,
    SegmentPointLocation<N>,
    project_point_with_location,
    true
);
gen_visitor!(
    PolylinePointProjWithFeatureVisitor,
    FeatureId,
    project_point_with_feature
);