You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
75 lines
2.2 KiB
75 lines
2.2 KiB
5 months ago
|
// David Eberly, Geometric Tools, Redmond WA 98052
|
||
|
|
// Copyright (c) 1998-2021
|
||
|
|
// Distributed under the Boost Software License, Version 1.0.
|
||
|
|
// https://www.boost.org/LICENSE_1_0.txt
|
||
|
|
// https://www.geometrictools.com/License/Boost/LICENSE_1_0.txt
|
||
|
|
// Version: 4.0.2019.08.13
|
||
|
|
|
||
|
|
#pragma once
|
||
|
|
|
||
|
|
#include <Mathematics/DCPQuery.h>
|
||
|
|
#include <Mathematics/Rectangle.h>
|
||
|
|
#include <Mathematics/Vector3.h>
|
||
|
|
|
||
|
|
namespace gte
|
||
|
|
{
|
||
|
|
template <typename Real>
|
||
|
|
class DCPQuery<Real, Vector3<Real>, Rectangle3<Real>>
|
||
|
|
{
|
||
|
|
public:
|
||
|
|
struct Result
|
||
|
|
{
|
||
|
|
Real distance, sqrDistance;
|
||
|
|
Real rectangleParameter[2];
|
||
|
|
Vector3<Real> rectangleClosestPoint;
|
||
|
|
};
|
||
|
|
|
||
|
|
Result operator()(Vector3<Real> const& point, Rectangle3<Real> const& rectangle)
|
||
|
|
{
|
||
|
|
Result result;
|
||
|
|
|
||
|
|
Vector3<Real> diff = rectangle.center - point;
|
||
|
|
Real b0 = Dot(diff, rectangle.axis[0]);
|
||
|
|
Real b1 = Dot(diff, rectangle.axis[1]);
|
||
|
|
Real s0 = -b0, s1 = -b1;
|
||
|
|
result.sqrDistance = Dot(diff, diff);
|
||
|
|
|
||
|
|
if (s0 < -rectangle.extent[0])
|
||
|
|
{
|
||
|
|
s0 = -rectangle.extent[0];
|
||
|
|
}
|
||
|
|
else if (s0 > rectangle.extent[0])
|
||
|
|
{
|
||
|
|
s0 = rectangle.extent[0];
|
||
|
|
}
|
||
|
|
result.sqrDistance += s0 * (s0 + (Real)2 * b0);
|
||
|
|
|
||
|
|
if (s1 < -rectangle.extent[1])
|
||
|
|
{
|
||
|
|
s1 = -rectangle.extent[1];
|
||
|
|
}
|
||
|
|
else if (s1 > rectangle.extent[1])
|
||
|
|
{
|
||
|
|
s1 = rectangle.extent[1];
|
||
|
|
}
|
||
|
|
result.sqrDistance += s1 * (s1 + (Real)2 * b1);
|
||
|
|
|
||
|
|
// Account for numerical round-off error.
|
||
|
|
if (result.sqrDistance < (Real)0)
|
||
|
|
{
|
||
|
|
result.sqrDistance = (Real)0;
|
||
|
|
}
|
||
|
|
|
||
|
|
result.distance = std::sqrt(result.sqrDistance);
|
||
|
|
result.rectangleParameter[0] = s0;
|
||
|
|
result.rectangleParameter[1] = s1;
|
||
|
|
result.rectangleClosestPoint = rectangle.center;
|
||
|
|
for (int i = 0; i < 2; ++i)
|
||
|
|
{
|
||
|
|
result.rectangleClosestPoint += result.rectangleParameter[i] * rectangle.axis[i];
|
||
|
|
}
|
||
|
|
return result;
|
||
|
|
}
|
||
|
|
};
|
||
|
|
}
|