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109 lines
3.6 KiB
109 lines
3.6 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/Cylinder3.h>
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#include <Mathematics/Vector3.h>
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// The queries consider the cylinder to be a solid.
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namespace gte
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{
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template <typename Real>
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class DCPQuery<Real, Vector3<Real>, Cylinder3<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;
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Vector3<Real> cylinderClosest;
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};
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Result operator()(Vector3<Real> const& point, Cylinder3<Real> const& cylinder)
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{
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Result result;
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// Convert the point to the cylinder coordinate system. In this
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// system, the point believes (0,0,0) is the cylinder axis origin
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// and (0,0,1) is the cylinder axis direction.
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Vector3<Real> basis[3];
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basis[0] = cylinder.axis.direction;
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ComputeOrthogonalComplement(1, basis);
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Vector3<Real> delta = point - cylinder.axis.origin;
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Vector3<Real> P
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{
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Dot(basis[1], delta),
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Dot(basis[2], delta),
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Dot(basis[0], delta)
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};
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if (cylinder.height == std::numeric_limits<Real>::max())
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{
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DoQueryInfiniteCylinder(P, cylinder.radius, result);
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}
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else
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{
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DoQueryFiniteCylinder(P, cylinder.radius, cylinder.height, result);
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}
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// Convert the closest point from the cylinder coordinate system
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// to the original coordinate system.
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result.cylinderClosest = cylinder.axis.origin +
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result.cylinderClosest[0] * basis[1] +
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result.cylinderClosest[1] * basis[2] +
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result.cylinderClosest[2] * basis[0];
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return result;
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}
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private:
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void DoQueryInfiniteCylinder(Vector3<Real> const& P, Real radius,
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Result& result)
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{
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Real sqrRadius = radius * radius;
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Real sqrDistance = P[0] * P[0] + P[1] * P[1];
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if (sqrDistance >= sqrRadius)
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{
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// The point is outside the cylinder or on the cylinder wall.
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Real distance = std::sqrt(sqrDistance);
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result.distance = distance - radius;
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Real temp = radius / distance;
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result.cylinderClosest[0] = P[0] * temp;
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result.cylinderClosest[1] = P[1] * temp;
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result.cylinderClosest[2] = P[2];
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}
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else
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{
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// The point is inside the cylinder.
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result.distance = (Real)0;
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result.cylinderClosest = P;
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}
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}
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void DoQueryFiniteCylinder(Vector3<Real> const& P, Real radius,
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Real height, Result& result)
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{
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DoQueryInfiniteCylinder(P, radius, result);
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// Clamp the infinite cylinder's closest point to the finite
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// cylinder.
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if (result.cylinderClosest[2] > height)
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{
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result.cylinderClosest[2] = height;
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result.distance = Length(result.cylinderClosest - P);
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}
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else if (result.cylinderClosest[2] < -height)
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{
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result.cylinderClosest[2] = -height;
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result.distance = Length(result.cylinderClosest - P);
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}
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}
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};
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}
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