Add helper function for calculating closest points between GlobalTransform and colliders.

src/core.rs

@@ -471,6 +471,14 @@ impl From<&dyn PointLike> for (i32, i32) {
 
 pub trait GlobalTransformExt {
     fn yaw(&self) -> Angle;
+
+    fn closest_points(
+        &self,
+        collider: &Collider,
+        other: &GlobalTransform,
+        other_collider: &Collider,
+    ) -> ClosestPoints;
+
     fn collider_direction_and_distance(
         &self,
         collider: &Collider,
@@ -485,6 +493,25 @@ impl GlobalTransformExt for GlobalTransform {
         Angle::Radians(forward.y.atan2(forward.x))
     }
 
+    fn closest_points(
+        &self,
+        collider: &Collider,
+        other: &GlobalTransform,
+        other_collider: &Collider,
+    ) -> ClosestPoints {
+        use bevy::math::Vec3Swizzles;
+        let scale = PHYSICS_SCALE.read().unwrap();
+        let pos1 = Isometry::new(
+            (self.translation() / *scale).xy().into(),
+            self.yaw().radians(),
+        );
+        let pos2 = Isometry::new(
+            (other.translation() / *scale).xy().into(),
+            other.yaw().radians(),
+        );
+        closest_points(&pos1, &*collider.raw, &pos2, &*other_collider.raw, f32::MAX).unwrap()
+    }
+
     fn collider_direction_and_distance(
         &self,
         collider: &Collider,
@@ -501,8 +528,7 @@ impl GlobalTransformExt for GlobalTransform {
             (other.translation() / *scale).xy().into(),
             other.yaw().radians(),
         );
-        let closest =
+        let closest = self.closest_points(collider, other, other_collider);
-            closest_points(&pos1, &*collider.raw, &pos2, &*other_collider.raw, f32::MAX).unwrap();
         let distance = distance(&pos1, &*collider.raw, &pos2, &*other_collider.raw).unwrap() as u32;
         let tile_or_tiles = if distance == 1 { "tile" } else { "tiles" };
         if distance > 0 {