WIP Add support for swept surfaces

src/kernel/geometry/surfaces/mod.rs

@@ -1,6 +1,7 @@
 pub mod plane;
+pub mod swept;
 
-pub use self::plane::Plane;
+pub use self::{plane::Plane, swept::Swept};
 
 use nalgebra::vector;
 use parry3d_f64::math::Isometry;
@@ -14,6 +15,11 @@ use super::points::SurfacePoint;
 pub enum Surface {
  /// A plane
  Plane(Plane),
+
+ /// A swept curve
+ // TASK: Un-suppress warning.
+ #[allow(unused)]
+ Swept(Swept),
 }
 
 impl Surface {
@@ -31,13 +37,15 @@ impl Surface {
  pub fn transform(self, transform: &Isometry<f64>) -> Self {
  match self {
  Self::Plane(surface) => Self::Plane(surface.transform(transform)),
+ Self::Swept(surface) => Self::Swept(surface.transform(transform)),
  }
  }
 
  /// Convert a point in model coordinates to surface coordinates
  pub fn point_model_to_surface(&self, point_3d: Point<3>) -> SurfacePoint {
  let point_2d = match self {
  Self::Plane(surface) => surface.point_model_to_surface(point_3d),
+ Self::Swept(surface) => surface.point_model_to_surface(point_3d),
  };
 
  SurfacePoint {
@@ -50,13 +58,15 @@ impl Surface {
  pub fn point_surface_to_model(&self, point: &Point<2>) -> Point<3> {
  match self {
  Self::Plane(surface) => surface.point_surface_to_model(point),
+ Self::Swept(surface) => surface.point_surface_to_model(point),
  }
  }
 
  /// Convert a vector in surface coordinates to model coordinates
  pub fn vector_surface_to_model(&self, vector: &Vector<2>) -> Vector<3> {
  match self {
  Self::Plane(surface) => surface.vector_surface_to_model(vector),
+ Self::Swept(surface) => surface.vector_surface_to_model(vector),
  }
  }
 }

src/kernel/geometry/surfaces/swept.rs

@@ -0,0 +1,47 @@
+use parry3d_f64::math::Isometry;
+
+use crate::{
+ kernel::geometry::Curve,
+ math::{Point, Vector},
+};
+
+/// A surface that was swept from a curve
+#[derive(Clone, Debug, PartialEq)]
+pub struct Swept {
+ /// The curve that this surface was swept from
+ pub curve: Curve,
+
+ /// The path that the curve was swept along
+ ///
+ /// Currently, only sweeps along the z-axis are supported.
+ pub path: Vector<1>,
+}
+
+impl Swept {
+ /// Transform the surface
+ #[must_use]
+ pub fn transform(self, _transform: &Isometry<f64>) -> Self {
+ // TASK: Implement.
+ todo!()
+ }
+
+ /// Convert a point in model coordinates to surface coordinates
+ pub fn point_model_to_surface(&self, _point: Point<3>) -> Point<2> {
+ // TASK: Implement.
+ todo!()
+ }
+
+ /// Convert a point in surface coordinates to model coordinates
+ pub fn point_surface_to_model(&self, _point: &Point<2>) -> Point<3> {
+ // TASK: Implement.
+ todo!()
+ }
+
+ /// Convert a vector in surface coordinates to model coordinates
+ pub fn vector_surface_to_model(&self, _vector: &Vector<2>) -> Vector<3> {
+ // TASK: Implement.
+ todo!()
+ }
+}
+
+// TASK: Add test suite.