oxiphysics_collision/query/
querysphere_traits.rs

1// # QuerySphere - Trait Implementations
2//
3// This module contains trait implementations for `QuerySphere`.
4//
5// ## Implemented Traits
6//
7// - `ShapeQuery`
8//
9// 🤖 Generated with [SplitRS](https://github.com/cool-japan/splitrs)
10
11use super::functions::*;
12use super::types::{PointQueryResult, QuerySphere, RayCastResult};
13
14impl ShapeQuery for QuerySphere {
15    fn ray_cast(
16        &self,
17        ray_origin: [f64; 3],
18        ray_dir: [f64; 3],
19        max_toi: f64,
20    ) -> Option<RayCastResult> {
21        let m = sub(ray_origin, self.center);
22        let b = dot(m, ray_dir);
23        let c = dot(m, m) - self.radius * self.radius;
24        let disc = b * b - c;
25        if disc < 0.0 {
26            return None;
27        }
28        let sqrt_disc = disc.sqrt();
29        let t0 = -b - sqrt_disc;
30        let t1 = -b + sqrt_disc;
31        let toi = if t0 >= 0.0 {
32            t0
33        } else if t1 >= 0.0 {
34            t1
35        } else {
36            return None;
37        };
38        if toi > max_toi {
39            return None;
40        }
41        let point = add(ray_origin, scale(ray_dir, toi));
42        let normal = normalize(sub(point, self.center));
43        Some(RayCastResult { toi, normal, point })
44    }
45    fn point_query(&self, point: [f64; 3]) -> PointQueryResult {
46        let d = sub(point, self.center);
47        let dist_from_center = norm(d);
48        let signed_dist = dist_from_center - self.radius;
49        let inside = signed_dist < 0.0;
50        let closest = if dist_from_center < 1e-15 {
51            add(self.center, [self.radius, 0.0, 0.0])
52        } else {
53            add(self.center, scale(normalize(d), self.radius))
54        };
55        PointQueryResult {
56            point: closest,
57            distance: signed_dist,
58            inside,
59        }
60    }
61    fn aabb(&self) -> ([f64; 3], [f64; 3]) {
62        let r = self.radius;
63        let c = self.center;
64        (
65            [c[0] - r, c[1] - r, c[2] - r],
66            [c[0] + r, c[1] + r, c[2] + r],
67        )
68    }
69}
oxiphysics_collision/query/querysphere_traits.rs

oxiphysics_collision/query/
querysphere_traits.rs
