1
 2
 3
 4
 5
 6
 7
 8
 9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58

use crate::bounding_volume::BoundingSphere;
use crate::math::Isometry;
use crate::query::{Ray, RayCast, RayIntersection};
use crate::shape::Ball;
use na::RealField;

impl<N: RealField> RayCast<N> for BoundingSphere<N> {
    #[inline]
    fn toi_with_ray(&self, m: &Isometry<N>, ray: &Ray<N>, max_toi: N, solid: bool) -> Option<N> {
        let centered_ray = ray.translate_by(-(m * self.center()).coords);

        Ball::new(self.radius()).toi_with_ray(m, &centered_ray, max_toi, solid)
    }

    #[inline]
    fn toi_and_normal_with_ray(
        &self,
        m: &Isometry<N>,
        ray: &Ray<N>,
        max_toi: N,
        solid: bool,
    ) -> Option<RayIntersection<N>> {
        let centered_ray = ray.translate_by(-(m * self.center()).coords);

        Ball::new(self.radius()).toi_and_normal_with_ray(
            &Isometry::identity(),
            &centered_ray,
            max_toi,
            solid,
        )
    }

    #[cfg(feature = "dim3")]
    #[inline]
    fn toi_and_normal_and_uv_with_ray(
        &self,
        m: &Isometry<N>,
        ray: &Ray<N>,
        max_toi: N,
        solid: bool,
    ) -> Option<RayIntersection<N>> {
        let centered_ray = ray.translate_by(-(m * self.center()).coords);

        Ball::new(self.radius()).toi_and_normal_and_uv_with_ray(
            &Isometry::identity(),
            &centered_ray,
            max_toi,
            solid,
        )
    }

    #[inline]
    fn intersects_ray(&self, m: &Isometry<N>, ray: &Ray<N>, max_toi: N) -> bool {
        let centered_ray = ray.translate_by(-(m * self.center()).coords);

        Ball::new(self.radius()).intersects_ray(&Isometry::identity(), &centered_ray, max_toi)
    }
}