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| author | Crozet Sébastien <developer@crozet.re> | 2020-10-20 11:55:33 +0200 |
|---|---|---|
| committer | Crozet Sébastien <developer@crozet.re> | 2020-10-20 11:56:09 +0200 |
| commit | 865ce8a8e5301b23ca474adaaffe8b43e725803e (patch) | |
| tree | 67b57d0c63d11a6d5e4a23c6f1242f72efc721b9 /src/geometry/sat.rs | |
| parent | 947c4813c9666fd8215743de298fe17780fa3ef2 (diff) | |
| download | rapier-865ce8a8e5301b23ca474adaaffe8b43e725803e.tar.gz rapier-865ce8a8e5301b23ca474adaaffe8b43e725803e.tar.bz2 rapier-865ce8a8e5301b23ca474adaaffe8b43e725803e.zip | |
Collider shape: use a trait-object instead of an enum.
Diffstat (limited to 'src/geometry/sat.rs')
| -rw-r--r-- | src/geometry/sat.rs | 20 |
1 files changed, 10 insertions, 10 deletions
diff --git a/src/geometry/sat.rs b/src/geometry/sat.rs index 0666c04..e2548dd 100644 --- a/src/geometry/sat.rs +++ b/src/geometry/sat.rs @@ -58,8 +58,8 @@ pub fn cuboid_cuboid_find_local_separating_edge_twoway( let y2 = pos12 * Vector::y(); let z2 = pos12 * Vector::z(); - // We have 3 * 3 = 9 axii to test. - let axii = [ + // We have 3 * 3 = 9 axes to test. + let axes = [ // Vector::{x, y ,z}().cross(y2) Vector::new(0.0, -x2.z, x2.y), Vector::new(x2.z, 0.0, -x2.x), @@ -74,7 +74,7 @@ pub fn cuboid_cuboid_find_local_separating_edge_twoway( Vector::new(-z2.y, z2.x, 0.0), ]; - for axis1 in &axii { + for axis1 in &axes { let norm1 = axis1.norm(); if norm1 > f32::default_epsilon() { let (separation, axis1) = cuboid_cuboid_compute_separation_wrt_local_line( @@ -149,7 +149,7 @@ pub fn cube_support_map_compute_separation_wrt_local_line<S: SupportMap<f32>>( pub fn cube_support_map_find_local_separating_edge_twoway( cube1: &Cuboid, shape2: &impl SupportMap<f32>, - axii: &[Vector<f32>], + axes: &[Vector<f32>], pos12: &Isometry<f32>, pos21: &Isometry<f32>, ) -> (f32, Vector<f32>) { @@ -157,7 +157,7 @@ pub fn cube_support_map_find_local_separating_edge_twoway( let mut best_separation = -std::f32::MAX; let mut best_dir = Vector::zeros(); - for axis1 in axii { + for axis1 in axes { if let Some(axis1) = Unit::try_new(*axis1, f32::default_epsilon()) { let (separation, axis1) = cube_support_map_compute_separation_wrt_local_line( cube1, shape2, pos12, pos21, &axis1, @@ -184,8 +184,8 @@ pub fn cube_triangle_find_local_separating_edge_twoway( let y2 = pos12 * (triangle2.c - triangle2.b); let z2 = pos12 * (triangle2.a - triangle2.c); - // We have 3 * 3 = 3 axii to test. - let axii = [ + // We have 3 * 3 = 3 axes to test. + let axes = [ // Vector::{x, y ,z}().cross(y2) Vector::new(0.0, -x2.z, x2.y), Vector::new(x2.z, 0.0, -x2.x), @@ -200,7 +200,7 @@ pub fn cube_triangle_find_local_separating_edge_twoway( Vector::new(-z2.y, z2.x, 0.0), ]; - cube_support_map_find_local_separating_edge_twoway(cube1, triangle2, &axii, pos12, pos21) + cube_support_map_find_local_separating_edge_twoway(cube1, triangle2, &axes, pos12, pos21) } #[cfg(feature = "dim3")] @@ -212,14 +212,14 @@ pub fn cube_segment_find_local_separating_edge_twoway( ) -> (f32, Vector<f32>) { let x2 = pos12 * (segment2.b - segment2.a); - let axii = [ + let axes = [ // Vector::{x, y ,z}().cross(y2) Vector::new(0.0, -x2.z, x2.y), Vector::new(x2.z, 0.0, -x2.x), Vector::new(-x2.y, x2.x, 0.0), ]; - cube_support_map_find_local_separating_edge_twoway(cube1, segment2, &axii, pos12, pos21) + cube_support_map_find_local_separating_edge_twoway(cube1, segment2, &axes, pos12, pos21) } pub fn cube_support_map_find_local_separating_normal_oneway<S: SupportMap<f32>>( |