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73 lines
2.8 KiB
73 lines
2.8 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/DCPQuery.h>
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#include <Mathematics/AlignedBox.h>
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#include <Mathematics/IntrIntervals.h>
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namespace gte
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{
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template <int N, typename Real>
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class DCPQuery<Real, AlignedBox<N, Real>, AlignedBox<N, 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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// To compute a single closest point on each box, use
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// Vector<N, Real> closest0 =
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// (closestPoints[0].min + closestPoints[0].max)/2;
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// Vector<N, Real> closest1 =
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// (closestPoints[1].min + closestPoints[1].max)/2;
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AlignedBox<N, Real> closestPoints[2];
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};
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Result operator()(AlignedBox<N, Real> const& box0, AlignedBox<N, Real> const& box1)
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{
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Result result;
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result.sqrDistance = (Real)0;
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for (int i = 0; i < N; ++i)
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{
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if (box0.min[i] >= box1.max[i])
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{
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Real delta = box0.min[i] - box1.min[i];
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result.sqrDistance += delta * delta;
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result.closestPoints[0].min[i] = box0.min[i];
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result.closestPoints[0].max[i] = box0.min[i];
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result.closestPoints[1].min[i] = box1.max[i];
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result.closestPoints[1].max[i] = box1.max[i];
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}
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else if (box1.min[i] >= box0.max[i])
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{
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Real delta = box1.min[i] - box0.max[i];
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result.sqrDistance += delta * delta;
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result.closestPoints[0].min[i] = box0.max[i];
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result.closestPoints[0].max[i] = box0.max[i];
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result.closestPoints[1].min[i] = box1.min[i];
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result.closestPoints[1].max[i] = box1.min[i];
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}
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else
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{
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std::array<Real, 2> intr0 = { box0.min[i], box0.max[i] };
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std::array<Real, 2> intr1 = { box1.min[i], box1.max[i] };
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FIQuery<Real, std::array<Real, 2>, std::array<Real, 2>> query;
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auto iiResult = query(intr0, intr1);
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for (int j = 0; j < 2; ++j)
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{
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result.closestPoints[j].min[i] = iiResult.overlap[0];
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result.closestPoints[j].max[i] = iiResult.overlap[1];
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}
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}
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}
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result.distance = std::sqrt(result.sqrDistance);
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return result;
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}
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};
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}
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