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74 lines
2.7 KiB
74 lines
2.7 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/DistLine3AlignedBox3.h>
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#include <Mathematics/Segment.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, Segment3<Real>, AlignedBox3<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;
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Vector3<Real> closestPoint[2];
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};
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Result operator()(Segment3<Real> const& segment, AlignedBox3<Real> const& box)
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{
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Result result;
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Vector3<Real> segCenter, segDirection;
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Real segExtent;
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segment.GetCenteredForm(segCenter, segDirection, segExtent);
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Line3<Real> line(segCenter, segDirection);
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DCPQuery<Real, Line3<Real>, AlignedBox3<Real>> lbQuery;
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auto lbResult = lbQuery(line, box);
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if (lbResult.lineParameter >= -segExtent)
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{
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if (lbResult.lineParameter <= segExtent)
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{
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result.sqrDistance = lbResult.sqrDistance;
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result.distance = lbResult.distance;
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result.segmentParameter = lbResult.lineParameter;
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result.closestPoint[0] = lbResult.closestPoint[0];
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result.closestPoint[1] = lbResult.closestPoint[1];
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}
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else
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{
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DCPQuery<Real, Vector3<Real>, AlignedBox3<Real>> pbQuery;
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Vector3<Real> point = segCenter + segExtent * segDirection;
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auto pbResult = pbQuery(point, box);
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result.sqrDistance = pbResult.sqrDistance;
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result.distance = pbResult.distance;
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result.segmentParameter = segExtent;
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result.closestPoint[0] = point;
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result.closestPoint[1] = pbResult.boxClosest;
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}
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}
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else
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{
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DCPQuery<Real, Vector3<Real>, AlignedBox3<Real>> pbQuery;
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Vector3<Real> point = segCenter - segExtent * segDirection;
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auto pbResult = pbQuery(point, box);
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result.sqrDistance = pbResult.sqrDistance;
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result.distance = pbResult.distance;
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result.segmentParameter = -segExtent;
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result.closestPoint[0] = point;
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result.closestPoint[1] = pbResult.boxClosest;
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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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