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61 lines
1.9 KiB
61 lines
1.9 KiB
3 months ago
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// 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/ExtremalQuery3.h>
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namespace gte
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{
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template <typename Real>
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class ExtremalQuery3PRJ : public ExtremalQuery3<Real>
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{
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public:
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// Construction.
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ExtremalQuery3PRJ(Polyhedron3<Real> const& polytope)
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:
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ExtremalQuery3<Real>(polytope)
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{
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mCentroid = this->mPolytope.ComputeVertexAverage();
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}
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// Disallow copying and assignment.
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ExtremalQuery3PRJ(ExtremalQuery3PRJ const&) = delete;
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ExtremalQuery3PRJ& operator=(ExtremalQuery3PRJ const&) = delete;
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// Compute the extreme vertices in the specified direction and return
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// the indices of the vertices in the polyhedron vertex array.
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virtual void GetExtremeVertices(Vector3<Real> const& direction,
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int& positiveDirection, int& negativeDirection) override
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{
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Real minValue = std::numeric_limits<Real>::max(), maxValue = -minValue;
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negativeDirection = -1;
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positiveDirection = -1;
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auto vertexPool = this->mPolytope.GetVertexPool();
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for (auto i : this->mPolytope.GetUniqueIndices())
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{
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Vector3<Real> diff = vertexPool.get()->at(i) - mCentroid;
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Real dot = Dot(direction, diff);
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if (dot < minValue)
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{
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negativeDirection = i;
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minValue = dot;
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}
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if (dot > maxValue)
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{
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positiveDirection = i;
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maxValue = dot;
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}
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}
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}
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private:
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Vector3<Real> mCentroid;
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};
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}
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