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97 lines
3.2 KiB
97 lines
3.2 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/DistSegmentSegment.h>
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#include <Mathematics/IntrIntervals.h>
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#include <Mathematics/IntrLine3Capsule3.h>
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// The queries consider the capsule to be a solid.
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//
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// The test-intersection queries are based on distance computations.
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namespace gte
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{
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template <typename Real>
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class TIQuery<Real, Segment3<Real>, Capsule3<Real>>
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{
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public:
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struct Result
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{
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bool intersect;
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};
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Result operator()(Segment3<Real> const& segment, Capsule3<Real> const& capsule)
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{
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Result result;
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DCPQuery<Real, Segment3<Real>, Segment3<Real>> ssQuery;
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auto ssResult = ssQuery(segment, capsule.segment);
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result.intersect = (ssResult.distance <= capsule.radius);
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return result;
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}
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};
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template <typename Real>
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class FIQuery<Real, Segment3<Real>, Capsule3<Real>>
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:
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public FIQuery<Real, Line3<Real>, Capsule3<Real>>
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{
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public:
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struct Result
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:
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public FIQuery<Real, Line3<Real>, Capsule3<Real>>::Result
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{
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// No additional information to compute.
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};
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Result operator()(Segment3<Real> const& segment, Capsule3<Real> const& capsule)
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{
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Vector3<Real> segOrigin, segDirection;
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Real segExtent;
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segment.GetCenteredForm(segOrigin, segDirection, segExtent);
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Result result;
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DoQuery(segOrigin, segDirection, segExtent, capsule, result);
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for (int i = 0; i < result.numIntersections; ++i)
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{
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result.point[i] = segOrigin + result.parameter[i] * segDirection;
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}
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return result;
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}
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protected:
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void DoQuery(Vector3<Real> const& segOrigin,
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Vector3<Real> const& segDirection, Real segExtent,
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Capsule3<Real> const& capsule, Result& result)
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{
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FIQuery<Real, Line3<Real>, Capsule3<Real>>::DoQuery(segOrigin,
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segDirection, capsule, result);
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if (result.intersect)
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{
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// The line containing the segment intersects the capsule; the
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// t-interval is [t0,t1]. The segment intersects the capsule
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// as long as [t0,t1] overlaps the segment t-interval
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// [-segExtent,+segExtent].
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std::array<Real, 2> segInterval = { -segExtent, segExtent };
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FIQuery<Real, std::array<Real, 2>, std::array<Real, 2>> iiQuery;
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auto iiResult = iiQuery(result.parameter, segInterval);
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if (iiResult.intersect)
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{
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result.numIntersections = iiResult.numIntersections;
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result.parameter = iiResult.overlap;
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}
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else
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{
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result.intersect = false;
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result.numIntersections = 0;
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}
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}
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}
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};
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}
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