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115 lines
3.9 KiB
115 lines
3.9 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/IntrSegment3AlignedBox3.h>
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#include <Mathematics/OrientedBox.h>
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// The test-intersection queries use the method of separating axes.
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// https://www.geometrictools.com/Documentation/MethodOfSeparatingAxes.pdf
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// The find-intersection queries use parametric clipping against the six
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// faces of the box. The find-intersection queries use Liang-Barsky
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// clipping. The queries consider the box to be a solid. The algorithms
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// are described in
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// https://www.geometrictools.com/Documentation/IntersectionLineBox.pdf
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namespace gte
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{
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template <typename Real>
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class TIQuery<Real, Segment3<Real>, OrientedBox3<Real>>
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:
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public TIQuery<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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public TIQuery<Real, Segment3<Real>, AlignedBox3<Real>>::Result
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{
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// No additional information to compute.
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};
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Result operator()(Segment3<Real> const& segment, OrientedBox3<Real> const& box)
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{
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// Transform the segment to the oriented-box coordinate system.
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Vector3<Real> tmpOrigin, tmpDirection;
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Real segExtent;
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segment.GetCenteredForm(tmpOrigin, tmpDirection, segExtent);
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Vector3<Real> diff = tmpOrigin - box.center;
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Vector3<Real> segOrigin
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{
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Dot(diff, box.axis[0]),
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Dot(diff, box.axis[1]),
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Dot(diff, box.axis[2])
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};
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Vector3<Real> segDirection
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{
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Dot(tmpDirection, box.axis[0]),
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Dot(tmpDirection, box.axis[1]),
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Dot(tmpDirection, box.axis[2])
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};
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Result result;
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this->DoQuery(segOrigin, segDirection, segExtent, box.extent, result);
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return result;
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}
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};
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template <typename Real>
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class FIQuery<Real, Segment3<Real>, OrientedBox3<Real>>
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:
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public FIQuery<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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public FIQuery<Real, Segment3<Real>, AlignedBox3<Real>>::Result
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{
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// No additional relevant information to compute.
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};
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Result operator()(Segment3<Real> const& segment, OrientedBox3<Real> const& box)
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{
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// Transform the segment to the oriented-box coordinate system.
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Vector3<Real> tmpOrigin, tmpDirection;
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Real segExtent;
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segment.GetCenteredForm(tmpOrigin, tmpDirection, segExtent);
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Vector3<Real> diff = tmpOrigin - box.center;
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Vector3<Real> segOrigin
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{
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Dot(diff, box.axis[0]),
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Dot(diff, box.axis[1]),
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Dot(diff, box.axis[2])
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};
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Vector3<Real> segDirection
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{
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Dot(tmpDirection, box.axis[0]),
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Dot(tmpDirection, box.axis[1]),
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Dot(tmpDirection, box.axis[2])
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};
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Result result;
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this->DoQuery(segOrigin, segDirection, segExtent, box.extent, result);
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for (int i = 0; i < result.numPoints; ++i)
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{
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// Compute the intersection point in the oriented-box
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// coordinate system.
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Vector3<Real> y = segOrigin + result.lineParameter[i] * segDirection;
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// Transform the intersection point to the original coordinate
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// system.
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result.point[i] = box.center;
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for (int j = 0; j < 3; ++j)
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{
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result.point[i] += y[j] * box.axis[j];
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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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