You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
112 lines
4.0 KiB
112 lines
4.0 KiB
// David Eberly, Geometric Tools, Redmond WA 98052
|
|
// Copyright (c) 1998-2021
|
|
// Distributed under the Boost Software License, Version 1.0.
|
|
// https://www.boost.org/LICENSE_1_0.txt
|
|
// https://www.geometrictools.com/License/Boost/LICENSE_1_0.txt
|
|
// Version: 4.0.2019.08.13
|
|
|
|
#pragma once
|
|
|
|
#include <Mathematics/IntrSegment2AlignedBox2.h>
|
|
#include <Mathematics/OrientedBox.h>
|
|
|
|
// The queries consider the box to be a solid.
|
|
//
|
|
// The test-intersection queries use the method of separating axes.
|
|
// https://www.geometrictools.com/Documentation/MethodOfSeparatingAxes.pdf
|
|
// The find-intersection queries use parametric clipping against the four
|
|
// edges of the box.
|
|
|
|
namespace gte
|
|
{
|
|
template <typename Real>
|
|
class TIQuery<Real, Segment2<Real>, OrientedBox2<Real>>
|
|
:
|
|
public TIQuery<Real, Segment2<Real>, AlignedBox2<Real>>
|
|
{
|
|
public:
|
|
struct Result
|
|
:
|
|
public TIQuery<Real, Segment2<Real>, AlignedBox2<Real>>::Result
|
|
{
|
|
// No additional information to compute.
|
|
};
|
|
|
|
Result operator()(Segment2<Real> const& segment, OrientedBox2<Real> const& box)
|
|
{
|
|
// Transform the segment to the oriented-box coordinate system.
|
|
Vector2<Real> tmpOrigin, tmpDirection;
|
|
Real segExtent;
|
|
segment.GetCenteredForm(tmpOrigin, tmpDirection, segExtent);
|
|
Vector2<Real> diff = tmpOrigin - box.center;
|
|
Vector2<Real> segOrigin
|
|
{
|
|
Dot(diff, box.axis[0]),
|
|
Dot(diff, box.axis[1])
|
|
};
|
|
Vector2<Real> segDirection
|
|
{
|
|
Dot(tmpDirection, box.axis[0]),
|
|
Dot(tmpDirection, box.axis[1])
|
|
};
|
|
|
|
Result result;
|
|
this->DoQuery(segOrigin, segDirection, segExtent, box.extent, result);
|
|
return result;
|
|
}
|
|
};
|
|
|
|
template <typename Real>
|
|
class FIQuery<Real, Segment2<Real>, OrientedBox2<Real>>
|
|
:
|
|
public FIQuery<Real, Segment2<Real>, AlignedBox2<Real>>
|
|
{
|
|
public:
|
|
struct Result
|
|
:
|
|
public FIQuery<Real, Segment2<Real>, AlignedBox2<Real>>::Result
|
|
{
|
|
// The base class parameter[] values are t-values for the
|
|
// segment parameterization (1-t)*p[0] + t*p[1], where t in [0,1].
|
|
// The values in this class are s-values for the centered form
|
|
// C + s * D, where s in [-e,e] and e is the extent of the
|
|
// segment.
|
|
std::array<Real, 2> cdeParameter;
|
|
};
|
|
|
|
Result operator()(Segment2<Real> const& segment, OrientedBox2<Real> const& box)
|
|
{
|
|
// Transform the segment to the oriented-box coordinate system.
|
|
Vector2<Real> tmpOrigin, tmpDirection;
|
|
Real segExtent;
|
|
segment.GetCenteredForm(tmpOrigin, tmpDirection, segExtent);
|
|
Vector2<Real> diff = tmpOrigin - box.center;
|
|
Vector2<Real> segOrigin
|
|
{
|
|
Dot(diff, box.axis[0]),
|
|
Dot(diff, box.axis[1])
|
|
};
|
|
Vector2<Real> segDirection
|
|
{
|
|
Dot(tmpDirection, box.axis[0]),
|
|
Dot(tmpDirection, box.axis[1])
|
|
};
|
|
|
|
Result result;
|
|
this->DoQuery(segOrigin, segDirection, segExtent, box.extent, result);
|
|
for (int i = 0; i < result.numIntersections; ++i)
|
|
{
|
|
// Compute the segment in the aligned-box coordinate system
|
|
// and then translate it back to the original coordinates
|
|
// using the box cener.
|
|
result.point[i] = box.center + (segOrigin + result.parameter[i] * segDirection);
|
|
result.cdeParameter[i] = result.parameter[i];
|
|
|
|
// Convert the parameters from the centered form to the
|
|
// endpoint form.
|
|
result.parameter[i] = (result.parameter[i] / segExtent + (Real)1) * (Real)0.5;
|
|
}
|
|
return result;
|
|
}
|
|
};
|
|
}
|
|
|