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use na::{self, Real};
use utils::IsometryOps;
use query::{PointProjection, PointQuery};
use bounding_volume::AABB;
use shape::{CompositeShape, Compound, FeatureId};
use partitioning::{BVTCostFn, BVTVisitor};
use math::{Isometry, Point};
impl<N: Real> PointQuery<N> for Compound<N> {
#[inline]
fn project_point(&self, m: &Isometry<N>, point: &Point<N>, solid: bool) -> PointProjection<N> {
let ls_pt = m.inverse_transform_point(point);
let mut cost_fn = CompoundPointProjCostFn {
compound: self,
point: &ls_pt,
solid: solid,
};
let mut proj = self.bvt().best_first_search(&mut cost_fn).unwrap().1;
proj.point = m * proj.point;
proj
}
#[inline]
fn project_point_with_feature(
&self,
_: &Isometry<N>,
_: &Point<N>,
) -> (PointProjection<N>, FeatureId) {
unimplemented!()
}
#[inline]
fn contains_point(&self, m: &Isometry<N>, point: &Point<N>) -> bool {
let ls_pt = m.inverse_transform_point(point);
let mut test = PointContainementTest {
compound: self,
point: &ls_pt,
found: false,
};
self.bvt().visit(&mut test);
test.found
}
}
struct CompoundPointProjCostFn<'a, N: 'a + Real> {
compound: &'a Compound<N>,
point: &'a Point<N>,
solid: bool,
}
impl<'a, N: Real> BVTCostFn<N, usize, AABB<N>> for CompoundPointProjCostFn<'a, N> {
type UserData = PointProjection<N>;
#[inline]
fn compute_bv_cost(&mut self, aabb: &AABB<N>) -> Option<N> {
Some(aabb.distance_to_point(&Isometry::identity(), self.point, true))
}
#[inline]
fn compute_b_cost(&mut self, b: &usize) -> Option<(N, PointProjection<N>)> {
let mut res = None;
self.compound.map_part_at(*b, &mut |_, objm, obj| {
let proj = obj.project_point(objm, self.point, self.solid);
res = Some((na::distance(self.point, &proj.point), proj));
});
res
}
}
struct PointContainementTest<'a, N: 'a + Real> {
compound: &'a Compound<N>,
point: &'a Point<N>,
found: bool,
}
impl<'a, N: Real> BVTVisitor<usize, AABB<N>> for PointContainementTest<'a, N> {
#[inline]
fn visit_internal(&mut self, bv: &AABB<N>) -> bool {
!self.found && bv.contains_point(&Isometry::identity(), self.point)
}
#[inline]
fn visit_leaf(&mut self, b: &usize, bv: &AABB<N>) {
if !self.found && bv.contains_point(&Isometry::identity(), self.point) {
self.compound.map_part_at(*b, &mut |_, objm, obj| {
self.found = obj.contains_point(objm, self.point)
})
}
}
}