parry3d_f64/query/visitors/
aabb_sets_interferences_collector.rs

1use crate::math::{Isometry, Matrix, Real};
2use alloc::vec::Vec;
3
4/// Spatial partitioning data structure visitor collecting interferences with a given bounding volume.
5pub struct AabbSetsInterferencesCollector<'a, T: 'a> {
6    /// The transform from the local-space of the second bounding volumes to the local space of the first.
7    pub ls_m2: &'a Isometry<Real>,
8    /// The absolute value of the rotation matrix representing `ls_m2.rotation`.
9    ///
10    /// Equals to `ls_m2.rotation.to_rotation.matrix().matrix().abs()`.
11    pub ls_m2_abs_rot: &'a Matrix<Real>,
12    /// A tolerance applied to the interference tests.
13    ///
14    /// Aabb pairs closer than `tolerance` will be reported as intersecting.
15    pub tolerance: Real,
16    /// The data contained by the nodes with bounding volumes intersecting `self.bv`.
17    pub collector: &'a mut Vec<(T, T)>,
18}
19
20impl<'a, T> AabbSetsInterferencesCollector<'a, T> {
21    /// Creates a new `AabbSetsInterferencesCollector`.
22    #[inline]
23    pub fn new(
24        tolerance: Real,
25        ls_m2: &'a Isometry<Real>,
26        ls_m2_abs_rot: &'a Matrix<Real>,
27        collector: &'a mut Vec<(T, T)>,
28    ) -> AabbSetsInterferencesCollector<'a, T> {
29        AabbSetsInterferencesCollector {
30            tolerance,
31            ls_m2,
32            ls_m2_abs_rot,
33            collector,
34        }
35    }
36}
37
38// impl<'a, T: Clone> SimultaneousVisitor<T, Aabb> for AabbSetsInterferencesCollector<'a, T> {
39//     #[inline]
40//     fn visit(
41//         &mut self,
42//         left_bv: &Aabb,
43//         left_data: Option<&T>,
44//         right_bv: &Aabb,
45//         right_data: Option<&T>,
46//     ) -> VisitStatus {
47//         let ls_right_bv = Aabb::from_half_extents(
48//             self.ls_m2 * right_bv.center(),
49//             self.ls_m2_abs_rot * right_bv.half_extents() + Vector::repeat(self.tolerance),
50//         );
51//
52//         if left_bv.intersects(&ls_right_bv) {
53//             if let (Some(a), Some(b)) = (left_data, right_data) {
54//                 self.collector.push((a.clone(), b.clone()))
55//             }
56//
57//             VisitStatus::Continue
58//         } else {
59//             VisitStatus::Stop
60//         }
61//     }
62// }
parry3d_f64/query/visitors/aabb_sets_interferences_collector.rs

parry3d_f64/query/visitors/
aabb_sets_interferences_collector.rs
