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// Geometric Tools, LLC
// Copyright (c) 1998-2014
// Distributed under the Boost Software License, Version 1.0.
// http://www.boost.org/LICENSE_1_0.txt
// http://www.geometrictools.com/License/Boost/LICENSE_1_0.txt
//
// File Version: 5.0.1 (2010/10/01)
#include "Wm5MathematicsPCH.h"
#include "Wm5DistLine2Line2.h"
namespace Wm5
{
//----------------------------------------------------------------------------
template <typename Real>
DistLine2Line2<Real>::DistLine2Line2 (const Line2<Real>& rkLine0,
const Line2<Real>& rkLine1)
:
mLine0(&rkLine0),
mLine1(&rkLine1)
{
}
//----------------------------------------------------------------------------
template <typename Real>
const Line2<Real>& DistLine2Line2<Real>::GetLine0 () const
{
return *mLine0;
}
//----------------------------------------------------------------------------
template <typename Real>
const Line2<Real>& DistLine2Line2<Real>::GetLine1 () const
{
return *mLine1;
}
//----------------------------------------------------------------------------
template <typename Real>
Real DistLine2Line2<Real>::Get ()
{
Real sqrDist = GetSquared();
return Math<Real>::Sqrt(sqrDist);
}
//----------------------------------------------------------------------------
template <typename Real>
Real DistLine2Line2<Real>::GetSquared ()
{
Vector2<Real> diff = mLine0->Origin - mLine1->Origin;
Real a01 = -mLine0->Direction.Dot(mLine1->Direction);
Real b0 = diff.Dot(mLine0->Direction);
Real c = diff.SquaredLength();
Real det = Math<Real>::FAbs((Real)1 - a01*a01);
Real b1, s0, s1, sqrDist;
if (det >= Math<Real>::ZERO_TOLERANCE)
{
// Lines are not parallel.
b1 = -diff.Dot(mLine1->Direction);
Real invDet = ((Real)1)/det;
s0 = (a01*b1 - b0)*invDet;
s1 = (a01*b0 - b1)*invDet;
sqrDist = (Real)0;
}
else
{
// Lines are parallel, select any closest pair of points.
s0 = -b0;
s1 = (Real)0;
sqrDist = b0*s0 + c;
// Account for numerical round-off errors.
if (sqrDist < (Real)0)
{
sqrDist = (Real)0;
}
}
mClosestPoint0 = mLine0->Origin + s0*mLine0->Direction;
mClosestPoint1 = mLine1->Origin + s1*mLine1->Direction;
return sqrDist;
}
//----------------------------------------------------------------------------
template <typename Real>
Real DistLine2Line2<Real>::Get (Real t, const Vector2<Real>& velocity0,
const Vector2<Real>& velocity1)
{
Vector2<Real> movedOrigin0 = mLine0->Origin + t*velocity0;
Vector2<Real> movedOrigin1 = mLine1->Origin + t*velocity1;
Line2<Real> movedLine0(movedOrigin0, mLine0->Direction);
Line2<Real> movedLine1(movedOrigin1, mLine1->Direction);
return DistLine2Line2<Real>(movedLine0, movedLine1).Get();
}
//----------------------------------------------------------------------------
template <typename Real>
Real DistLine2Line2<Real>::GetSquared (Real t,
const Vector2<Real>& velocity0, const Vector2<Real>& velocity1)
{
Vector2<Real> movedOrigin0 = mLine0->Origin + t*velocity0;
Vector2<Real> movedOrigin1 = mLine1->Origin + t*velocity1;
Line2<Real> movedLine0(movedOrigin0, mLine0->Direction);
Line2<Real> movedLine1(movedOrigin1, mLine1->Direction);
return DistLine2Line2<Real>(movedLine0, movedLine1).GetSquared();
}
//----------------------------------------------------------------------------
//----------------------------------------------------------------------------
// Explicit instantiation.
//----------------------------------------------------------------------------
template WM5_MATHEMATICS_ITEM
class DistLine2Line2<float>;
template WM5_MATHEMATICS_ITEM
class DistLine2Line2<double>;
//----------------------------------------------------------------------------
}
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