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83 lines
2.6 KiB
83 lines
2.6 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/Segment.h>
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namespace gte
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{
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template <int N, typename Real>
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class DCPQuery<Real, Vector<N, Real>, Segment<N, 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 segmentParameter; // t in [0,1]
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Vector<N, Real> segmentClosest; // (1-t)*p[0] + t*p[1]
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};
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Result operator()(Vector<N, Real> const& point, Segment<N, Real> const& segment)
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{
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Result result;
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// The direction vector is not unit length. The normalization is
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// deferred until it is needed.
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Vector<N, Real> direction = segment.p[1] - segment.p[0];
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Vector<N, Real> diff = point - segment.p[1];
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Real t = Dot(direction, diff);
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if (t >= (Real)0)
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{
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result.segmentParameter = (Real)1;
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result.segmentClosest = segment.p[1];
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}
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else
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{
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diff = point - segment.p[0];
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t = Dot(direction, diff);
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if (t <= (Real)0)
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{
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result.segmentParameter = (Real)0;
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result.segmentClosest = segment.p[0];
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}
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else
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{
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Real sqrLength = Dot(direction, direction);
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if (sqrLength > (Real)0)
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{
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t /= sqrLength;
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result.segmentParameter = t;
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result.segmentClosest = segment.p[0] + t * direction;
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}
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else
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{
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result.segmentParameter = (Real)0;
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result.segmentClosest = segment.p[0];
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}
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}
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}
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diff = point - result.segmentClosest;
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result.sqrDistance = Dot(diff, diff);
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result.distance = std::sqrt(result.sqrDistance);
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return result;
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}
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};
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// Template aliases for convenience.
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template <int N, typename Real>
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using DCPPointSegment = DCPQuery<Real, Vector<N, Real>, Segment<N, Real>>;
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template <typename Real>
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using DCPPoint2Segment2 = DCPPointSegment<2, Real>;
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template <typename Real>
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using DCPPoint3Segment3 = DCPPointSegment<3, Real>;
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}
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