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use crate::math::{Isometry, Point, Real};
use crate::query::ClosestPoints;
use crate::shape::Ball;
#[inline]
pub fn closest_points_ball_ball(
pos12: &Isometry<Real>,
b1: &Ball,
b2: &Ball,
margin: Real,
) -> ClosestPoints {
assert!(
margin >= 0.0,
"The proximity margin must be positive or null."
);
let r1 = b1.radius;
let r2 = b2.radius;
let delta_pos = pos12.translation.vector;
let distance = delta_pos.norm();
let sum_radius = r1 + r2;
if distance - margin <= sum_radius {
if distance <= sum_radius {
ClosestPoints::Intersecting
} else {
let normal = delta_pos.normalize();
let p1 = Point::from(normal * r1);
let p2 = Point::from(pos12.inverse_transform_vector(&normal) * -r2);
ClosestPoints::WithinMargin(p1, p2)
}
} else {
ClosestPoints::Disjoint
}
}