proximity_shape_shape.rs - source

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linalg

ncollide3d

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interpolation

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partitioning

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glue

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procedural

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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

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

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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

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

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utils

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nom

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lib.rs linux.rs

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parking_lot

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parking_lot_core

thread_parker

linux.rs mod.rs

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pathfinding

directed

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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

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png

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polygon2

ppv_lite86

x86_64

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proc_macro2

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proc_macro_crate

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

proc_macro_nested

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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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regex

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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

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postprocessing

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changes.rs component.rs debug.rs debug_param_fn.rs filter.rs hierarchical.rs hierarchical_oneton.rs lib.rs oneton.rs onetoone.rs

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ringui_derive

rustc_demangle

legacy.rs lib.rs v0.rs

rusty_pool

ryu

buffer

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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semver

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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

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internals

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serde_json

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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

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smallvec

std140_data

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lib.rs sources.rs

strsim

syn

synstructure

lib.rs macros.rs

thiserror

aserror.rs display.rs lib.rs

thiserror_impl

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thread_local

cached.rs lib.rs thread_id.rs unreachable.rs

tiff

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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 na::RealField;

use crate::math::{Isometry, Point};
use crate::query::{self, Proximity};
use crate::shape::{Ball, Plane, Shape};

/// Tests whether two shapes are in intersecting or separated by a distance smaller than `margin`.
pub fn proximity<N: RealField>(
    m1: &Isometry<N>,
    g1: &dyn Shape<N>,
    m2: &Isometry<N>,
    g2: &dyn Shape<N>,
    margin: N,
) -> Proximity {
    if let (Some(b1), Some(b2)) = (g1.as_shape::<Ball<N>>(), g2.as_shape::<Ball<N>>()) {
        let p1 = Point::from(m1.translation.vector);
        let p2 = Point::from(m2.translation.vector);

        query::proximity_ball_ball(&p1, b1, &p2, b2, margin)
    } else if let (Some(p1), Some(s2)) = (g1.as_shape::<Plane<N>>(), g2.as_support_map()) {
        query::proximity_plane_support_map(m1, p1, m2, s2, margin)
    } else if let (Some(s1), Some(p2)) = (g1.as_support_map(), g2.as_shape::<Plane<N>>()) {
        query::proximity_support_map_plane(m1, s1, m2, p2, margin)
    } else if let (Some(s1), Some(s2)) = (g1.as_support_map(), g2.as_support_map()) {
        query::proximity_support_map_support_map(m1, s1, m2, s2, margin)
    } else if let Some(c1) = g1.as_composite_shape() {
        query::proximity_composite_shape_shape(m1, c1, m2, g2, margin)
    } else if let Some(c2) = g2.as_composite_shape() {
        query::proximity_shape_composite_shape(m1, g1, m2, c2, margin)
    } else {
        panic!("No algorithm known to compute proximity between the given pair of shapes.")
    }
}