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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 "Wm5DistLine3Ray3.h"
namespace Wm5
{
//----------------------------------------------------------------------------
template <typename Real>
DistLine3Ray3<Real>::DistLine3Ray3 (const Line3<Real>& rkLine,
const Ray3<Real>& rkRay)
:
mLine(&rkLine),
mRay(&rkRay)
{
}
//----------------------------------------------------------------------------
template <typename Real>
const Line3<Real>& DistLine3Ray3<Real>::GetLine () const
{
return *mLine;
}
//----------------------------------------------------------------------------
template <typename Real>
const Ray3<Real>& DistLine3Ray3<Real>::GetRay () const
{
return *mRay;
}
//----------------------------------------------------------------------------
template <typename Real>
Real DistLine3Ray3<Real>::Get ()
{
return Math<Real>::Sqrt(GetSquared());
}
//----------------------------------------------------------------------------
template <typename Real>
Real DistLine3Ray3<Real>::GetSquared ()
{
Vector3<Real> kDiff = mLine->Origin - mRay->Origin;
Real a01 = -mLine->Direction.Dot(mRay->Direction);
Real b0 = kDiff.Dot(mLine->Direction);
Real c = kDiff.SquaredLength();
Real det = Math<Real>::FAbs((Real)1 - a01*a01);
Real b1, s0, s1, sqrDist;
if (det >= Math<Real>::ZERO_TOLERANCE)
{
b1 = -kDiff.Dot(mRay->Direction);
s1 = a01*b0 - b1;
if (s1 >= (Real)0)
{
// Two interior points are closest, one on line and one on ray.
Real invDet = ((Real)1)/det;
s0 = (a01*b1 - b0)*invDet;
s1 *= invDet;
sqrDist = s0*(s0 + a01*s1 + ((Real)2)*b0) +
s1*(a01*s0 + s1 + ((Real)2)*b1) + c;
}
else
{
// Origin of ray and interior point of line are closest.
s0 = -b0;
s1 = (Real)0;
sqrDist = b0*s0 + c;
}
}
else
{
// Lines are parallel, closest pair with one point at ray origin.
s0 = -b0;
s1 = (Real)0;
sqrDist = b0*s0 + c;
}
mClosestPoint0 = mLine->Origin + s0*mLine->Direction;
mClosestPoint1 = mRay->Origin + s1*mRay->Direction;
mLineParameter = s0;
mRayParameter = s1;
// Account for numerical round-off errors.
if (sqrDist < (Real)0)
{
sqrDist = (Real)0;
}
return sqrDist;
}
//----------------------------------------------------------------------------
template <typename Real>
Real DistLine3Ray3<Real>::Get (Real t, const Vector3<Real>& velocity0,
const Vector3<Real>& velocity1)
{
Vector3<Real> movedOrigin0 = mLine->Origin + t*velocity0;
Vector3<Real> movedOrigin1 = mRay->Origin + t*velocity1;
Line3<Real> movedLine(movedOrigin0, mLine->Direction);
Ray3<Real> movedRay(movedOrigin1, mRay->Direction);
return DistLine3Ray3<Real>(movedLine, movedRay).Get();
}
//----------------------------------------------------------------------------
template <typename Real>
Real DistLine3Ray3<Real>::GetSquared (Real t,
const Vector3<Real>& velocity0, const Vector3<Real>& velocity1)
{
Vector3<Real> movedOrigin0 = mLine->Origin + t*velocity0;
Vector3<Real> movedOrigin1 = mRay->Origin + t*velocity1;
Line3<Real> movedLine(movedOrigin0, mLine->Direction);
Ray3<Real> movedRay(movedOrigin1, mRay->Direction);
return DistLine3Ray3<Real>(movedLine, movedRay).GetSquared();
}
//----------------------------------------------------------------------------
template <typename Real>
Real DistLine3Ray3<Real>::GetLineParameter () const
{
return mLineParameter;
}
//----------------------------------------------------------------------------
template <typename Real>
Real DistLine3Ray3<Real>::GetRayParameter () const
{
return mRayParameter;
}
//----------------------------------------------------------------------------
//----------------------------------------------------------------------------
// Explicit instantiation.
//----------------------------------------------------------------------------
template WM5_MATHEMATICS_ITEM
class DistLine3Ray3<float>;
template WM5_MATHEMATICS_ITEM
class DistLine3Ray3<double>;
//----------------------------------------------------------------------------
}
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