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use crate::bounding_volume::AABB;
use crate::math::{Isometry, Point};
use crate::partitioning::{BestFirstVisitStatus, BestFirstVisitor, BVH};
use crate::query::{
visitors::CompositePointContainmentTest, PointProjection, PointQuery, PointQueryWithLocation,
};
use crate::shape::{FeatureId, Polyline, SegmentPointLocation};
use na::{self, RealField};
impl<N: RealField> PointQuery<N> for Polyline<N> {
#[inline]
fn project_point(&self, m: &Isometry<N>, point: &Point<N>, solid: bool) -> PointProjection<N> {
let (projection, _) = self.project_point_with_location(m, point, solid);
projection
}
#[inline]
fn project_point_with_feature(
&self,
m: &Isometry<N>,
point: &Point<N>,
) -> (PointProjection<N>, FeatureId) {
let ls_pt = m.inverse_transform_point(point);
let mut visitor = PolylinePointProjWithFeatureVisitor {
polyline: self,
point: &ls_pt,
};
let (mut proj, (id, feature)) = self.bvt().best_first_search(&mut visitor).unwrap().1;
proj.point = m * proj.point;
let polyline_feature = self.segment_feature_to_polyline_feature(id, feature);
(proj, polyline_feature)
}
#[inline]
fn contains_point(&self, m: &Isometry<N>, point: &Point<N>) -> bool {
let ls_pt = m.inverse_transform_point(point);
let mut visitor = CompositePointContainmentTest {
shape: self,
point: &ls_pt,
found: false,
};
self.bvt().visit(&mut visitor);
visitor.found
}
}
impl<N: RealField> PointQueryWithLocation<N> for Polyline<N> {
type Location = (usize, SegmentPointLocation<N>);
#[inline]
fn project_point_with_location(
&self,
m: &Isometry<N>,
point: &Point<N>,
_: bool,
) -> (PointProjection<N>, Self::Location) {
let ls_pt = m.inverse_transform_point(point);
let mut visitor = PolylinePointProjVisitor {
polyline: self,
point: &ls_pt,
};
let (mut proj, extra_info) = self.bvt().best_first_search(&mut visitor).unwrap().1;
proj.point = m * proj.point;
(proj, extra_info)
}
}
macro_rules! gen_visitor(
($Visitor: ident, $Location: ty, $project: ident $(, $args: ident)*) => {
struct $Visitor<'a, N: 'a + RealField> {
polyline: &'a Polyline<N>,
point: &'a Point<N>,
}
impl<'a, N: RealField> BestFirstVisitor<N, usize, AABB<N>> for $Visitor<'a, N> {
type Result = (PointProjection<N>, (usize, $Location));
#[inline]
fn visit(
&mut self,
best: N,
aabb: &AABB<N>,
data: Option<&usize>,
) -> BestFirstVisitStatus<N, Self::Result> {
let dist = aabb.distance_to_point(&Isometry::identity(), self.point, true);
let mut res = BestFirstVisitStatus::Continue {
cost: dist,
result: None,
};
if let Some(b) = data {
if dist < best {
let (proj, extra_info) = self.polyline.segment_at(*b).$project(
&Isometry::identity(),
self.point
$(, $args)*
);
let extra_info = (*b, extra_info);
res = BestFirstVisitStatus::Continue {
cost: na::distance(self.point, &proj.point),
result: Some((proj, extra_info)),
};
}
}
res
}
}
}
);
gen_visitor!(
PolylinePointProjVisitor,
SegmentPointLocation<N>,
project_point_with_location,
true
);
gen_visitor!(
PolylinePointProjWithFeatureVisitor,
FeatureId,
project_point_with_feature
);