collide-capsule 0.5.1

Capsule collider implementation for the collide crate
Documentation 
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use collide::Bounded;
use collide_sphere::Sphere;
use inner_space::InnerSpace;
use scalars::One;

use crate::Capsule;

impl<V: Copy + InnerSpace> Bounded<Sphere<V>> for Capsule<V> {
    fn bounding_volume(&self) -> Sphere<V> {
        let center = self.start + (self.end - self.start) / (V::Scalar::one() + V::Scalar::one());
        let half_length =
            (self.end - self.start).magnitude() / (V::Scalar::one() + V::Scalar::one());
        Sphere::new(center, half_length + self.rad)
    }
}

#[cfg(test)]
mod tests {
    use super::*;
    use simple_vectors::Vector;

    type Vec3 = Vector<f32, 3>;

    #[test]
    fn capsule_bounding_sphere_contains_endpoints() {
        let capsule = Capsule::new(
            0.5,
            Vec3::from([-2.0, 0.0, 0.0]),
            Vec3::from([2.0, 0.0, 0.0]),
        );
        let sphere: Sphere<Vec3> = capsule.bounding_volume();

        assert!((sphere.center - Vec3::from([0.0, 0.0, 0.0])).magnitude() < 0.001);
        assert!((sphere.radius - 2.5).abs() < 0.001);
    }

    #[test]
    fn sphere_capsule_bounding_sphere() {
        let capsule = Capsule::sphere(Vec3::from([1.0, 0.0, 0.0]), 2.0);
        let sphere: Sphere<Vec3> = capsule.bounding_volume();

        assert!((sphere.center - Vec3::from([1.0, 0.0, 0.0])).magnitude() < 0.001);
        assert!((sphere.radius - 2.0).abs() < 0.001);
    }
}