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// Copyright (c) 1998-2021
// Utrecht University (The Netherlands),
// ETH Zurich (Switzerland),
// INRIA Sophia-Antipolis (France),
// Max-Planck-Institute Saarbruecken (Germany),
// and Tel-Aviv University (Israel). All rights reserved.
//
// This file is part of CGAL (www.cgal.org)
//
// $URL: https://github.com/CGAL/cgal/blob/v6.1.1/Distance_3/include/CGAL/Distance_3/Segment_3_Line_3.h $
// $Id: include/CGAL/Distance_3/Segment_3_Line_3.h 08b27d3db14 $
// SPDX-License-Identifier: LGPL-3.0-or-later OR LicenseRef-Commercial
//
//
// Author(s) : Geert-Jan Giezeman, Andreas Fabri
#ifndef CGAL_DISTANCE_3_SEGMENT_3_LINE_3_H
#define CGAL_DISTANCE_3_SEGMENT_3_LINE_3_H
#include <CGAL/Distance_3/internal/squared_distance_utils_3.h>
#include <CGAL/Line_3.h>
#include <CGAL/Segment_3.h>
namespace CGAL {
namespace internal {
template <class K>
typename K::FT
squared_distance(const typename K::Segment_3& seg,
const typename K::Line_3& line,
const K& k)
{
typedef typename K::RT RT;
typedef typename K::Point_3 Point_3;
typedef typename K::Vector_3 Vector_3;
typename K::Construct_vector_3 vector = k.construct_vector_3_object();
typename K::Compute_squared_distance_3 sq_dist = k.compute_squared_distance_3_object();
//Probably writable with less if than currently
const Point_3& linepoint = line.point();
const Point_3& start = seg.source();
const Point_3& end = seg.target();
if(start == end)
return sq_dist(start, line);
const Vector_3 linedir = line.direction().vector();
const Vector_3 segdir = seg.direction().vector();
const Vector_3 normal = wcross(segdir, linedir, k);
if(is_null(normal, k))
return squared_distance_to_line(linedir, vector(linepoint,start), k);
bool crossing;
const Vector_3 perpend2line = wcross(linedir, normal, k);
const Vector_3 start_min_lp = vector(linepoint, start);
const Vector_3 end_min_lp = vector(linepoint, end);
const RT sdm_ss2l = wdot(perpend2line, start_min_lp, k);
const RT sdm_se2l = wdot(perpend2line, end_min_lp, k);
crossing = (sdm_ss2l*sdm_se2l) <= RT(0);
if(crossing)
return squared_distance_to_plane(normal, start_min_lp, k);
else
return (min)(squared_distance_to_line(linedir, start_min_lp, k), squared_distance_to_line(linedir, end_min_lp, k));
}
template <class K>
typename K::FT
squared_distance(const typename K::Line_3& line,
const typename K::Segment_3& seg,
const K& k)
{
return squared_distance(seg, line, k);
}
template <class K>
typename K::Comparison_result
compare_squared_distance(const typename K::Segment_3& seg,
const typename K::Line_3& line,
const K& k,
const typename K::FT& d2)
{
// Perform an early exit was slower
return ::CGAL::compare(squared_distance(seg, line, k), d2);
}
template <class K>
typename K::Comparison_result
compare_squared_distance(const typename K::Line_3& line,
const typename K::Segment_3& seg,
const K& k,
const typename K::FT& d2)
{
return compare_squared_distance(seg, line, k, d2);
}
} // namespace internal
} // namespace CGAL
#endif // CGAL_DISTANCE_3_SEGMENT_3_LINE_3_H
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