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74 lines
2.2 KiB
74 lines
2.2 KiB
// 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/DCPQuery.h>
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#include <Mathematics/Rectangle.h>
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#include <Mathematics/Vector3.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, Vector3<Real>, Rectangle3<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 rectangleParameter[2];
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Vector3<Real> rectangleClosestPoint;
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};
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Result operator()(Vector3<Real> const& point, Rectangle3<Real> const& rectangle)
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{
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Result result;
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Vector3<Real> diff = rectangle.center - point;
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Real b0 = Dot(diff, rectangle.axis[0]);
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Real b1 = Dot(diff, rectangle.axis[1]);
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Real s0 = -b0, s1 = -b1;
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result.sqrDistance = Dot(diff, diff);
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if (s0 < -rectangle.extent[0])
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{
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s0 = -rectangle.extent[0];
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}
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else if (s0 > rectangle.extent[0])
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{
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s0 = rectangle.extent[0];
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}
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result.sqrDistance += s0 * (s0 + (Real)2 * b0);
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if (s1 < -rectangle.extent[1])
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{
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s1 = -rectangle.extent[1];
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}
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else if (s1 > rectangle.extent[1])
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{
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s1 = rectangle.extent[1];
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}
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result.sqrDistance += s1 * (s1 + (Real)2 * b1);
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// Account for numerical round-off error.
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if (result.sqrDistance < (Real)0)
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{
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result.sqrDistance = (Real)0;
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}
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result.distance = std::sqrt(result.sqrDistance);
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result.rectangleParameter[0] = s0;
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result.rectangleParameter[1] = s1;
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result.rectangleClosestPoint = rectangle.center;
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for (int i = 0; i < 2; ++i)
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{
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result.rectangleClosestPoint += result.rectangleParameter[i] * rectangle.axis[i];
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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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