extern crate nalgebra as na;

use na::{Isometry3, Vector3};
use parry3d::bounding_volume::BoundingVolume;
use parry3d::shape::Cuboid;

fn main() {
    /*
     * Initialize the shapes.
     */
    let cube1 = Cuboid::new(Vector3::repeat(0.5));
    let cube2 = Cuboid::new(Vector3::new(0.5, 1.0, 0.5));

    let cube1_pos = Isometry3::translation(0.0, 0.0, 1.0); // 1.0 along the `z` axis.
    let cube2_pos = Isometry3::identity(); // Identity matrix.

    /*
     * Compute their bounding spheres.
     */
    let bounding_sphere_cube1 = cube1.bounding_sphere(&cube1_pos);
    let bounding_sphere_cube2 = cube2.bounding_sphere(&cube2_pos);

    // Merge the two spheres.
    let bounding_bounding_sphere = bounding_sphere_cube1.merged(&bounding_sphere_cube2);

    // Enlarge the cube2 bounding sphere.
    let loose_bounding_sphere_cube2 = bounding_sphere_cube2.loosened(1.0);

    // Intersection and inclusion tests.
    assert!(bounding_sphere_cube1.intersects(&bounding_sphere_cube2));
    assert!(bounding_bounding_sphere.contains(&bounding_sphere_cube1));
    assert!(bounding_bounding_sphere.contains(&bounding_sphere_cube2));
    assert!(!bounding_sphere_cube2.contains(&bounding_bounding_sphere));
    assert!(!bounding_sphere_cube1.contains(&bounding_bounding_sphere));
    assert!(loose_bounding_sphere_cube2.contains(&bounding_sphere_cube2));
}