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
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99

use std::iter::IntoIterator;

use crate::bounding_volume::Aabb;
use crate::math::{Isometry, Point, Real, Vector, DIM};
use crate::shape::SupportMap;
use na;

/// Computes the [`Aabb`] of an [support mapped shape](SupportMap).
#[cfg(feature = "dim3")]
pub fn support_map_aabb<G>(m: &Isometry<Real>, i: &G) -> Aabb
where
    G: SupportMap,
{
    let mut min = na::zero::<Vector<Real>>();
    let mut max = na::zero::<Vector<Real>>();
    let mut basis = na::zero::<Vector<Real>>();

    for d in 0..DIM {
        // FIXME: this could be further improved iterating on `m`'s columns, and passing
        // Id as the transformation matrix.
        basis[d] = 1.0;
        max[d] = i.support_point(m, &basis)[d];

        basis[d] = -1.0;
        min[d] = i.support_point(m, &basis)[d];

        basis[d] = 0.0;
    }

    Aabb::new(Point::from(min), Point::from(max))
}

/// Computes the [`Aabb`] of an [support mapped shape](SupportMap).
pub fn local_support_map_aabb<G>(i: &G) -> Aabb
where
    G: SupportMap,
{
    let mut min = na::zero::<Vector<Real>>();
    let mut max = na::zero::<Vector<Real>>();
    let mut basis = na::zero::<Vector<Real>>();

    for d in 0..DIM {
        // FIXME: this could be further improved iterating on `m`'s columns, and passing
        // Id as the transformation matrix.
        basis[d] = 1.0;
        max[d] = i.local_support_point(&basis)[d];

        basis[d] = -1.0;
        min[d] = i.local_support_point(&basis)[d];

        basis[d] = 0.0;
    }

    Aabb::new(Point::from(min), Point::from(max))
}

/// Computes the [`Aabb`] of a set of points transformed by `m`.
pub fn point_cloud_aabb<'a, I>(m: &Isometry<Real>, pts: I) -> Aabb
where
    I: IntoIterator<Item = &'a Point<Real>>,
{
    let mut it = pts.into_iter();

    let p0 = it.next().expect(
        "Point cloud Aabb construction: the input iterator should yield at least one point.",
    );
    let wp0 = m.transform_point(p0);
    let mut min: Point<Real> = wp0;
    let mut max: Point<Real> = wp0;

    for pt in it {
        let wpt = m * pt;
        min = min.inf(&wpt);
        max = max.sup(&wpt);
    }

    Aabb::new(min, max)
}

/// Computes the [`Aabb`] of a set of points.
pub fn local_point_cloud_aabb<'a, I>(pts: I) -> Aabb
where
    I: IntoIterator<Item = &'a Point<Real>>,
{
    let mut it = pts.into_iter();

    let p0 = it.next().expect(
        "Point cloud Aabb construction: the input iterator should yield at least one point.",
    );
    let mut min: Point<Real> = *p0;
    let mut max: Point<Real> = *p0;

    for pt in it {
        min = min.inf(pt);
        max = max.sup(pt);
    }

    Aabb::new(min, max)
}