1
 2
 3
 4
 5
 6
 7
 8
 9
10
11
12
13
14
15
16
17
18
19

use crate::bounding_volume::{BoundingSphere, HasBoundingVolume};
use crate::math::{Isometry, Point};
use crate::shape::Cuboid;
use na::{self, RealField};

impl<N: RealField> HasBoundingVolume<N, BoundingSphere<N>> for Cuboid<N> {
    #[inline]
    fn bounding_volume(&self, m: &Isometry<N>) -> BoundingSphere<N> {
        let bv: BoundingSphere<N> = self.local_bounding_volume();
        bv.transform_by(m)
    }

    #[inline]
    fn local_bounding_volume(&self) -> BoundingSphere<N> {
        let radius = self.half_extents().norm();

        BoundingSphere::new(Point::origin(), radius)
    }
}