Refactor the ConstantOrigin shape to the query module.
+use na::{RealField, Unit};
+
+use crate::math::{Isometry, Point, Vector};
+use crate::shape::SupportMap;
+
+/// A support mapping that is always equal to the origin, independently from its transform.
+pub struct ConstantOrigin;
+
+impl<N: RealField> SupportMap<N> for ConstantOrigin {
+ #[inline]
+ fn support_point(&self, _: &Isometry<N>, _: &Vector<N>) -> Point<N> {
+ Point::origin()
+ }
+
+ #[inline]
+ fn support_point_toward(&self, _: &Isometry<N>, _: &Unit<Vector<N>>) -> Point<N> {
+ Point::origin()
+ }
+}
+
+/// The Minkowski sum of a shape and a ball.
+pub struct DilatedShape<'a, N: RealField, S: ?Sized + SupportMap<N>> {
+ /// The shape involved in the Minkowski sum.
+ pub shape: &'a S,
+ /// The radius of the ball involved in the Minkoski sum.
+ pub radius: N,
+}
+
+impl<'a, N: RealField, S: ?Sized + SupportMap<N>> SupportMap<N> for DilatedShape<'a, N, S> {
+ #[inline]
+ fn support_point(&self, m: &Isometry<N>, dir: &Vector<N>) -> Point<N> {
+ self.support_point_toward(m, &Unit::new_normalize(*dir))
+ }
+
+ #[inline]
+ fn support_point_toward(&self, m: &Isometry<N>, dir: &Unit<Vector<N>>) -> Point<N> {
+ self.shape.support_point_toward(m, dir) + **dir * self.radius
+ }
+}
\ No newline at end of file
