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

use crate::bounding_volume::AABB;
use crate::math::{Isometry, Point};
use crate::query::{Ray, RayCast, RayIntersection};
use crate::shape::Cuboid;
use na::RealField;

impl<N: RealField> RayCast<N> for Cuboid<N> {
    #[inline]
    fn toi_with_ray(&self, m: &Isometry<N>, ray: &Ray<N>, max_toi: N, solid: bool) -> Option<N> {
        let dl = Point::from(-self.half_extents);
        let ur = Point::from(self.half_extents);
        AABB::new(dl, ur).toi_with_ray(m, ray, max_toi, solid)
    }

    #[inline]
    fn toi_and_normal_with_ray(
        &self,
        m: &Isometry<N>,
        ray: &Ray<N>,
        max_toi: N,
        solid: bool,
    ) -> Option<RayIntersection<N>> {
        let dl = Point::from(-self.half_extents);
        let ur = Point::from(self.half_extents);
        AABB::new(dl, ur).toi_and_normal_with_ray(m, ray, max_toi, solid)
    }

    #[cfg(feature = "dim3")]
    #[inline]
    fn toi_and_normal_and_uv_with_ray(
        &self,
        m: &Isometry<N>,
        ray: &Ray<N>,
        max_toi: N,
        solid: bool,
    ) -> Option<RayIntersection<N>> {
        let dl = Point::from(-self.half_extents);
        let ur = Point::from(self.half_extents);
        AABB::new(dl, ur).toi_and_normal_and_uv_with_ray(m, ray, max_toi, solid)
    }
}