feat: add Aabb::intersects_moving_aabb

src/bounding_volume/aabb.rs

@@ -11,6 +11,7 @@ use num::Bounded;
 #[cfg(not(feature = "std"))]
 use na::ComplexField; // for .abs()
 
+use crate::query::{Ray, RayCast};
 #[cfg(feature = "rkyv")]
 use rkyv::{bytecheck, CheckBytes};
 
@@ -201,6 +202,7 @@ impl Aabb {
         BoundingSphere::new(center, radius)
     }
 
+    /// Does this AABB contains a point expressed in the same coordinate frame as `self`.
     #[inline]
     pub fn contains_local_point(&self, point: &Point<Real>) -> bool {
         for i in 0..DIM {
@@ -212,6 +214,19 @@ impl Aabb {
         true
     }
 
+    /// Does this AABB intersects an AABB `aabb2` moving at velocity `vel12` relative to `self`.
+    #[inline]
+    pub fn intersects_moving_aabb(&self, aabb2: &Self, vel12: Vector<Real>) -> bool {
+        // Minkowski sum.
+        let msum = Aabb {
+            mins: self.mins - aabb2.maxs.coords,
+            maxs: self.maxs - aabb2.mins.coords,
+        };
+        let ray = Ray::new(Point::origin(), vel12);
+
+        msum.intersects_local_ray(&ray, 1.0)
+    }
+
     /// Computes the intersection of this `Aabb` and another one.
     pub fn intersection(&self, other: &Aabb) -> Option<Aabb> {
         let result = Aabb {