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use cgmath::{BaseFloat, Point3, Vector2, Vector3};
use cgmath::prelude::*;
use {Aabb3, Ray3, Sphere};
use prelude::*;
use primitive::util::get_max_point;
#[derive(Debug, Clone, PartialEq)]
#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
pub struct Quad<S> {
dim: Vector2<S>,
half_dim: Vector2<S>,
corners: [Point3<S>; 4],
}
impl<S> Quad<S>
where
S: BaseFloat,
{
pub fn new(dim_x: S, dim_y: S) -> Self {
Self::new_impl(Vector2::new(dim_x, dim_y))
}
pub fn new_impl(dim: Vector2<S>) -> Self {
let half_dim = dim / (S::one() + S::one());
Quad {
dim,
half_dim,
corners: Self::generate_corners(&half_dim),
}
}
pub fn dim(&self) -> &Vector2<S> {
&self.dim
}
pub fn half_dim(&self) -> &Vector2<S> {
&self.half_dim
}
fn generate_corners(half_dim: &Vector2<S>) -> [Point3<S>; 4] {
[
Point3::new(half_dim.x, half_dim.y, S::zero()),
Point3::new(-half_dim.x, half_dim.y, S::zero()),
Point3::new(-half_dim.x, -half_dim.y, S::zero()),
Point3::new(half_dim.x, -half_dim.y, S::zero()),
]
}
}
impl<S> Primitive for Quad<S>
where
S: BaseFloat,
{
type Point = Point3<S>;
fn support_point<T>(&self, direction: &Vector3<S>, transform: &T) -> Point3<S>
where
T: Transform<Point3<S>>,
{
get_max_point(self.corners.iter(), direction, transform)
}
}
impl<S> ComputeBound<Aabb3<S>> for Quad<S>
where
S: BaseFloat,
{
fn compute_bound(&self) -> Aabb3<S> {
Aabb3::new(
Point3::new(-self.half_dim.x, -self.half_dim.y, S::zero()),
Point3::new(self.half_dim.x, self.half_dim.y, S::zero()),
)
}
}
impl<S> ComputeBound<Sphere<S>> for Quad<S>
where
S: BaseFloat,
{
fn compute_bound(&self) -> Sphere<S> {
Sphere {
center: Point3::origin(),
radius: self.half_dim.x.max(self.half_dim.y),
}
}
}
impl<S> Discrete<Ray3<S>> for Quad<S>
where
S: BaseFloat,
{
fn intersects(&self, ray: &Ray3<S>) -> bool {
let aabb: Aabb3<S> = self.compute_bound();
aabb.intersects(ray)
}
}
impl<S> Continuous<Ray3<S>> for Quad<S>
where
S: BaseFloat,
{
type Result = Point3<S>;
fn intersection(&self, ray: &Ray3<S>) -> Option<Point3<S>> {
let aabb: Aabb3<S> = self.compute_bound();
aabb.intersection(ray)
}
}
#[cfg(test)]
mod tests {
use super::*;
use algorithm::minkowski::GJK3;
use cgmath::{Decomposed, Quaternion};
use primitive::Cuboid;
fn transform(x: f32, y: f32, z: f32) -> Decomposed<Vector3<f32>, Quaternion<f32>> {
Decomposed {
disp: Vector3::new(x, y, z),
rot: Quaternion::one(),
scale: 1.,
}
}
#[test]
fn test_plane_cuboid_intersect() {
let quad = Quad::new(2., 2.);
let cuboid = Cuboid::new(1., 1., 1.);
let transform_1 = transform(0., 0., 1.);
let transform_2 = transform(0., 0., 1.1);
let gjk = GJK3::new();
assert!(
gjk.intersect(&quad, &transform_1, &cuboid, &transform_2)
.is_some()
);
}
}