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93 lines
3.7 KiB
93 lines
3.7 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/DistSegment3Rectangle3.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, Rectangle3<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 rectangle0Parameter[2], rectangle1Parameter[2];
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Vector3<Real> closestPoint[2];
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};
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Result operator()(Rectangle3<Real> const& rectangle0, Rectangle3<Real> const& rectangle1)
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{
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Result result;
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DCPQuery<Real, Segment3<Real>, Rectangle3<Real>> srQuery;
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typename DCPQuery<Real, Segment3<Real>, Rectangle3<Real>>::Result srResult;
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result.sqrDistance = std::numeric_limits<Real>::max();
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// Compare edges of rectangle0 to the interior of rectangle1.
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for (int i1 = 0; i1 < 2; ++i1)
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{
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for (int i0 = -1; i0 <= 1; i0 += 2)
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{
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Real s = i0 * rectangle0.extent[1 - i1];
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Vector3<Real> segCenter = rectangle0.center +
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s * rectangle0.axis[1 - i1];
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Segment3<Real> edge(segCenter, rectangle0.axis[i1],
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rectangle0.extent[i1]);
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srResult = srQuery(edge, rectangle1);
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if (srResult.sqrDistance < result.sqrDistance)
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{
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result.distance = srResult.distance;
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result.sqrDistance = srResult.sqrDistance;
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result.rectangle0Parameter[i1] = s;
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result.rectangle0Parameter[1 - i1] =
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srResult.segmentParameter;
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result.rectangle1Parameter[0] =
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srResult.rectangleParameter[0];
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result.rectangle1Parameter[1] =
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srResult.rectangleParameter[1];
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result.closestPoint[0] = srResult.closestPoint[0];
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result.closestPoint[1] = srResult.closestPoint[1];
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}
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}
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}
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// Compare edges of rectangle1 to the interior of rectangle0.
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for (int i1 = 0; i1 < 2; ++i1)
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{
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for (int i0 = -1; i0 <= 1; i0 += 2)
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{
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Real s = i0 * rectangle1.extent[1 - i1];
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Vector3<Real> segCenter = rectangle1.center +
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s * rectangle1.axis[1 - i1];
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Segment3<Real> edge(segCenter, rectangle0.axis[i1],
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rectangle0.extent[i1]);
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srResult = srQuery(edge, rectangle0);
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if (srResult.sqrDistance < result.sqrDistance)
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{
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result.distance = srResult.distance;
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result.sqrDistance = srResult.sqrDistance;
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result.rectangle0Parameter[0] =
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srResult.rectangleParameter[0];
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result.rectangle0Parameter[1] =
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srResult.rectangleParameter[1];
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result.rectangle1Parameter[i1] = s;
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result.rectangle1Parameter[1 - i1] =
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srResult.segmentParameter;
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result.closestPoint[0] = srResult.closestPoint[1];
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result.closestPoint[1] = srResult.closestPoint[0];
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}
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}
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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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