parry3d 0.28.0

3 dimensional collision detection library in Rust.
Documentation 
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use crate::math::{Pose, Real, Vector};
use crate::query::epa::EPA;
use crate::query::gjk::{self, CsoPoint, GJKResult, VoronoiSimplex};
use crate::query::Contact;
use crate::shape::SupportMap;

/// Contact between support-mapped shapes (`Cuboid`, `ConvexHull`, etc.)
pub fn contact_support_map_support_map<G1, G2>(
    pos12: &Pose,
    g1: &G1,
    g2: &G2,
    prediction: Real,
) -> Option<Contact>
where
    G1: ?Sized + SupportMap,
    G2: ?Sized + SupportMap,
{
    let simplex = &mut VoronoiSimplex::new();
    match contact_support_map_support_map_with_params(pos12, g1, g2, prediction, simplex, None) {
        GJKResult::ClosestPoints(point1, point2_1, normal1) => {
            let dist = (point2_1 - point1).dot(normal1);
            let point2 = pos12.inverse_transform_point(point2_1);
            let normal2 = pos12.rotation.inverse() * -normal1;
            Some(Contact::new(point1, point2, normal1, normal2, dist))
        }
        GJKResult::NoIntersection(_) => None,
        GJKResult::Intersection => unreachable!(),
        GJKResult::Proximity(_) => unreachable!(),
    }
}

/// Contact between support-mapped shapes (`Cuboid`, `ConvexHull`, etc.)
///
/// This allows a more fine grained control other the underlying GJK algorigtm.
/// The vector-typed result is the vector that should be passed as `init` for
/// subsequent executions of the algorithm. It is also the contact
/// normal (that points toward the outside of the first solid).
pub fn contact_support_map_support_map_with_params<G1, G2>(
    pos12: &Pose,
    g1: &G1,
    g2: &G2,
    prediction: Real,
    simplex: &mut VoronoiSimplex,
    init_dir: Option<Vector>,
) -> GJKResult
where
    G1: ?Sized + SupportMap,
    G2: ?Sized + SupportMap,
{
    let dir = if let Some(init_dir) = init_dir {
        init_dir
    } else if let Some(init_dir) = (pos12.translation).try_normalize() {
        init_dir
    } else {
        Vector::X
    };

    simplex.reset(CsoPoint::from_shapes(pos12, g1, g2, dir));

    let cpts = gjk::closest_points(pos12, g1, g2, prediction, true, simplex);
    if cpts != GJKResult::Intersection {
        return cpts;
    }

    // The point is inside of the CSO: use the fallback algorithm
    let mut epa = EPA::new();
    if let Some((p1, p2, n)) = epa.closest_points(pos12, g1, g2, simplex) {
        return GJKResult::ClosestPoints(p1, p2, n);
    }

    // Everything failed
    GJKResult::NoIntersection(Vector::X)
}

#[cfg(all(test, feature = "dim2"))]
mod test {
    use crate::bounding_volume::Aabb;
    use crate::math::{Pose, Vector};
    use crate::query::contact;
    use crate::shape::{Cuboid, Segment};

    /// Regression test for <https://github.com/dimforge/parry/issues/415>: a segment overlapping
    /// a cuboid must report a penetrating contact. An absolute tolerance used in EPA's `FaceId`
    /// construction used to spuriously reject valid faces (and make `contact` return `None`) when
    /// using `f64` precision with large coordinates.
    ///
    /// NOTE: this is not in the `tests` directory since we want it for both f32 and f64 versions.
    #[test]
    fn contact_segment_cuboid_issue_415() {
        let segment = Segment {
            a: Vector::new(60.0, 10.0),
            b: Vector::new(10.0, 0.0),
        };
        let aabb = Aabb {
            mins: Vector::new(40.0, -50.0),
            maxs: Vector::new(60.0, 150.0),
        };
        let cuboid = Cuboid::new(aabb.half_extents());
        let pos_cuboid = Pose::from_translation(aabb.center());

        let contact = contact(&Pose::IDENTITY, &segment, &pos_cuboid, &cuboid, 1.0)
            .unwrap()
            .expect("the overlapping segment and cuboid must report a contact");
        assert!(
            contact.dist < 0.0,
            "expected a penetrating contact, got dist = {}",
            contact.dist
        );
    }
}