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use na::Unit;
use crate::math::{Isometry, Point, Real, Vector};
use crate::shape::SupportMap;
#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
#[derive(PartialEq, Debug, Copy, Clone)]
pub struct Ball {
pub radius: Real,
}
impl Ball {
#[inline]
pub fn new(radius: Real) -> Ball {
Ball { radius }
}
}
impl SupportMap for Ball {
#[inline]
fn support_point(&self, m: &Isometry<Real>, dir: &Vector<Real>) -> Point<Real> {
self.support_point_toward(m, &Unit::new_normalize(*dir))
}
#[inline]
fn support_point_toward(&self, m: &Isometry<Real>, dir: &Unit<Vector<Real>>) -> Point<Real> {
Point::from(m.translation.vector) + **dir * self.radius
}
#[inline]
fn local_support_point(&self, dir: &Vector<Real>) -> Point<Real> {
self.local_support_point_toward(&Unit::new_normalize(*dir))
}
#[inline]
fn local_support_point_toward(&self, dir: &Unit<Vector<Real>>) -> Point<Real> {
Point::from(**dir * self.radius)
}
}