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use na;
use query::{PointProjection, PointQuery};
use shape::Plane;
use math::{Isometry, Point};
impl<P: Point, M: Isometry<P>> PointQuery<P, M> for Plane<P::Vector> {
#[inline]
fn project_point(&self, m: &M, pt: &P, solid: bool) -> PointProjection<P> {
let ls_pt = m.inverse_transform_point(pt);
let d = na::dot(self.normal().as_ref(), &ls_pt.coordinates());
let inside = d <= na::zero();
if inside && solid {
PointProjection::new(true, *pt)
} else {
PointProjection::new(inside, *pt + (-*self.normal().as_ref() * d))
}
}
#[inline]
fn distance_to_point(&self, m: &M, pt: &P, solid: bool) -> P::Real {
let ls_pt = m.inverse_transform_point(pt);
let dist = na::dot(self.normal().as_ref(), &ls_pt.coordinates());
if dist < na::zero() && solid {
na::zero()
} else {
dist
}
}
#[inline]
fn contains_point(&self, m: &M, pt: &P) -> bool {
let ls_pt = m.inverse_transform_point(pt);
na::dot(self.normal().as_ref(), &ls_pt.coordinates()) <= na::zero()
}
}