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88 lines
3.9 KiB
88 lines
3.9 KiB
3 months ago
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// David Eberly, Geometric Tools, Redmond WA 98052
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// Copyright (c) 1998-2021
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// Distributed under the Boost Software License, Version 1.0.
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// https://www.boost.org/LICENSE_1_0.txt
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// https://www.geometrictools.com/License/Boost/LICENSE_1_0.txt
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// Version: 4.0.2019.08.13
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#pragma once
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#include <Mathematics/DistSegment3Triangle3.h>
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namespace gte
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{
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template <typename Real>
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class DCPQuery<Real, Triangle3<Real>, Triangle3<Real>>
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{
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public:
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struct Result
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{
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Real distance, sqrDistance;
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Real triangle0Parameter[3], triangle1Parameter[3];
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Vector3<Real> closestPoint[2];
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};
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Result operator()(Triangle3<Real> const& triangle0, Triangle3<Real> const& triangle1)
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{
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Result result;
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DCPQuery<Real, Segment3<Real>, Triangle3<Real>> stQuery;
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typename DCPQuery<Real, Segment3<Real>, Triangle3<Real>>::Result
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stResult;
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result.sqrDistance = std::numeric_limits<Real>::max();
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// Compare edges of triangle0 to the interior of triangle1.
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for (int i0 = 2, i1 = 0; i1 < 3; i0 = i1++)
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{
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Vector3<Real> segCenter = (Real)0.5 * (triangle0.v[i0] + triangle0.v[i1]);
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Vector3<Real> segDirection = triangle0.v[i1] - triangle0.v[i0];
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Real segExtent = (Real)0.5 * Normalize(segDirection);
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Segment3<Real> edge(segCenter, segDirection, segExtent);
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stResult = stQuery(edge, triangle1);
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if (stResult.sqrDistance < result.sqrDistance)
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{
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result.distance = stResult.distance;
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result.sqrDistance = stResult.sqrDistance;
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// ratio is in [-1,1]
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Real ratio = stResult.segmentParameter / segExtent;
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result.triangle0Parameter[i0] = (Real)0.5 * ((Real)1 - ratio);
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result.triangle0Parameter[i1] = (Real)1 - result.triangle0Parameter[i0];
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result.triangle0Parameter[3 - i0 - i1] = (Real)0;
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result.triangle1Parameter[0] = stResult.triangleParameter[0];
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result.triangle1Parameter[1] = stResult.triangleParameter[1];
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result.triangle1Parameter[2] = stResult.triangleParameter[2];
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result.closestPoint[0] = stResult.closestPoint[0];
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result.closestPoint[1] = stResult.closestPoint[1];
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}
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}
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// Compare edges of triangle1 to the interior of triangle0.
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for (int i0 = 2, i1 = 0; i1 < 3; i0 = i1++)
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{
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Vector3<Real> segCenter = (Real)0.5 * (triangle1.v[i0] + triangle1.v[i1]);
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Vector3<Real> segDirection = triangle1.v[i1] - triangle1.v[i0];
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Real segExtent = (Real)0.5 * Normalize(segDirection);
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Segment3<Real> edge(segCenter, segDirection, segExtent);
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stResult = stQuery(edge, triangle0);
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if (stResult.sqrDistance < result.sqrDistance)
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{
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result.distance = stResult.distance;
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result.sqrDistance = stResult.sqrDistance;
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Real ratio = stResult.segmentParameter / segExtent; // in [-1,1]
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result.triangle0Parameter[0] = stResult.triangleParameter[0];
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result.triangle0Parameter[1] = stResult.triangleParameter[1];
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result.triangle0Parameter[2] = stResult.triangleParameter[2];
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result.triangle1Parameter[i0] = (Real)0.5 * ((Real)1 - ratio);
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result.triangle1Parameter[i1] = (Real)1 - result.triangle0Parameter[i0];
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result.triangle1Parameter[3 - i0 - i1] = (Real)0;
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result.closestPoint[0] = stResult.closestPoint[0];
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result.closestPoint[1] = stResult.closestPoint[1];
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}
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}
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return result;
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}
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};
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}
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