parry3d_f64/query/intersection_test/
intersection_test.rs

1use crate::math::{Isometry, Real};
2use crate::query::{DefaultQueryDispatcher, QueryDispatcher, Unsupported};
3use crate::shape::Shape;
4
5/// Tests whether two shapes are intersecting.
6pub fn intersection_test(
7    pos1: &Isometry<Real>,
8    g1: &dyn Shape,
9    pos2: &Isometry<Real>,
10    g2: &dyn Shape,
11) -> Result<bool, Unsupported> {
12    let pos12 = pos1.inv_mul(pos2);
13    DefaultQueryDispatcher.intersection_test(&pos12, g1, g2)
14}