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use na::Real;
use bounding_volume::AABB;
use shape::Cuboid;
use query::{Ray, RayCast, RayIntersection};
use math::{Isometry, Point};
impl<N: Real> RayCast<N> for Cuboid<N> {
#[inline]
fn toi_with_ray(&self, m: &Isometry<N>, ray: &Ray<N>, solid: bool) -> Option<N> {
let dl = Point::from_coordinates(-*self.half_extents());
let ur = Point::from_coordinates(*self.half_extents());
AABB::new(dl, ur).toi_with_ray(m, ray, solid)
}
#[inline]
fn toi_and_normal_with_ray(
&self,
m: &Isometry<N>,
ray: &Ray<N>,
solid: bool,
) -> Option<RayIntersection<N>> {
let dl = Point::from_coordinates(-*self.half_extents());
let ur = Point::from_coordinates(*self.half_extents());
AABB::new(dl, ur).toi_and_normal_with_ray(m, ray, solid)
}
#[cfg(feature = "dim3")]
#[inline]
fn toi_and_normal_and_uv_with_ray(
&self,
m: &Isometry<N>,
ray: &Ray<N>,
solid: bool,
) -> Option<RayIntersection<N>> {
let dl = Point::from_coordinates(-*self.half_extents());
let ur = Point::from_coordinates(*self.half_extents());
AABB::new(dl, ur).toi_and_normal_and_uv_with_ray(m, ray, solid)
}
}