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.
57 lines
1.8 KiB
57 lines
1.8 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/DistLine3AlignedBox3.h>
|
|
#include <Mathematics/Line.h>
|
|
#include <Mathematics/OrientedBox.h>
|
|
|
|
namespace gte
|
|
{
|
|
template <typename Real>
|
|
class DCPQuery<Real, Line3<Real>, OrientedBox3<Real>>
|
|
:
|
|
public DCPQuery<Real, Line3<Real>, AlignedBox3<Real>>
|
|
{
|
|
public:
|
|
struct Result
|
|
:
|
|
public DCPQuery<Real, Line3<Real>, AlignedBox3<Real>>::Result
|
|
{
|
|
// No additional information to compute.
|
|
};
|
|
|
|
Result operator()(Line3<Real> const& line, OrientedBox3<Real> const& box)
|
|
{
|
|
// Transform the line to the coordinate system of the oriented
|
|
// box. In this system, the box is axis-aligned with center at
|
|
// the origin.
|
|
Vector3<Real> diff = line.origin - box.center;
|
|
Vector3<Real> point, direction;
|
|
for (int i = 0; i < 3; ++i)
|
|
{
|
|
point[i] = Dot(diff, box.axis[i]);
|
|
direction[i] = Dot(line.direction, box.axis[i]);
|
|
}
|
|
|
|
Result result;
|
|
this->DoQuery(point, direction, box.extent, result);
|
|
|
|
// Compute the closest point on the line.
|
|
result.closestPoint[0] = line.origin + result.lineParameter * line.direction;
|
|
|
|
// Compute the closest point on the box.
|
|
result.closestPoint[1] = box.center;
|
|
for (int i = 0; i < 3; ++i)
|
|
{
|
|
result.closestPoint[1] += point[i] * box.axis[i];
|
|
}
|
|
return result;
|
|
}
|
|
};
|
|
}
|
|
|