parry3d 0.26.0

3 dimensional collision detection library in Rust.
Documentation 
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use crate::bounding_volume;
use crate::bounding_volume::BoundingSphere;
use crate::math::Pose;
use crate::shape::ConvexPolyhedron;

impl ConvexPolyhedron {
    /// Computes the world-space bounding sphere of this convex polyhedron, transformed by `pos`.
    #[inline]
    pub fn bounding_sphere(&self, pos: &Pose) -> BoundingSphere {
        let bv: BoundingSphere = self.local_bounding_sphere();
        bv.transform_by(pos)
    }

    /// Computes the local-space bounding sphere of this convex polyhedron.
    #[inline]
    pub fn local_bounding_sphere(&self) -> BoundingSphere {
        bounding_volume::details::point_cloud_bounding_sphere(self.points())
    }
}