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43 lines
1.4 KiB
43 lines
1.4 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/TIQuery.h>
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#include <Mathematics/Capsule.h>
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#include <Mathematics/Halfspace.h>
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// Queries for intersection of objects with halfspaces. These are useful for
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// containment testing, object culling, and clipping.
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namespace gte
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{
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template <typename Real>
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class TIQuery<Real, Halfspace3<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()(Halfspace3<Real> const& halfspace, Capsule3<Real> const& capsule)
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{
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Result result;
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// Project the capsule onto the normal line. The plane of the
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// halfspace occurs at the origin (zero) of the normal line.
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Real e0 = Dot(halfspace.normal, capsule.segment.p[0]) - halfspace.constant;
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Real e1 = Dot(halfspace.normal, capsule.segment.p[1]) - halfspace.constant;
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// The capsule and halfspace intersect when the projection
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// interval maximum is nonnegative.
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result.intersect = (std::max(e0, e1) + capsule.radius >= (Real)0);
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return result;
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}
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};
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}
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