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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 "Wm5DistPoint3Box3.h"
namespace Wm5
{
//----------------------------------------------------------------------------
template <typename Real>
DistPoint3Box3<Real>::DistPoint3Box3 (const Vector3<Real>& point,
const Box3<Real>& box)
:
mPoint(&point),
mBox(&box)
{
}
//----------------------------------------------------------------------------
template <typename Real>
const Vector3<Real>& DistPoint3Box3<Real>::GetPoint () const
{
return *mPoint;
}
//----------------------------------------------------------------------------
template <typename Real>
const Box3<Real>& DistPoint3Box3<Real>::GetBox () const
{
return *mBox;
}
//----------------------------------------------------------------------------
template <typename Real>
Real DistPoint3Box3<Real>::Get ()
{
return Math<Real>::Sqrt(GetSquared());
}
//----------------------------------------------------------------------------
template <typename Real>
Real DistPoint3Box3<Real>::GetSquared ()
{
// Work in the box's coordinate system.
Vector3<Real> diff = *mPoint - mBox->Center;
// Compute squared distance and closest point on box.
Real sqrDistance = (Real)0;
Real delta;
Vector3<Real> closest;
int i;
for (i = 0; i < 3; ++i)
{
closest[i] = diff.Dot(mBox->Axis[i]);
if (closest[i] < -mBox->Extent[i])
{
delta = closest[i] + mBox->Extent[i];
sqrDistance += delta*delta;
closest[i] = -mBox->Extent[i];
}
else if (closest[i] > mBox->Extent[i])
{
delta = closest[i] - mBox->Extent[i];
sqrDistance += delta*delta;
closest[i] = mBox->Extent[i];
}
}
mClosestPoint0 = *mPoint;
mClosestPoint1 = mBox->Center;
for (i = 0; i < 3; ++i)
{
mClosestPoint1 += closest[i]*mBox->Axis[i];
}
return sqrDistance;
}
//----------------------------------------------------------------------------
template <typename Real>
Real DistPoint3Box3<Real>::Get (Real t, const Vector3<Real>& velocity0,
const Vector3<Real>& velocity1)
{
Vector3<Real> movedPoint = *mPoint + t*velocity0;
Vector3<Real> movedCenter = mBox->Center + t*velocity1;
Box3<Real> movedBox(movedCenter, mBox->Axis, mBox->Extent);
return DistPoint3Box3<Real>(movedPoint, movedBox).Get();
}
//----------------------------------------------------------------------------
template <typename Real>
Real DistPoint3Box3<Real>::GetSquared (Real t,
const Vector3<Real>& velocity0, const Vector3<Real>& velocity1)
{
Vector3<Real> movedPoint = *mPoint + t*velocity0;
Vector3<Real> movedCenter = mBox->Center + t*velocity1;
Box3<Real> movedBox(movedCenter, mBox->Axis, mBox->Extent);
return DistPoint3Box3<Real>(movedPoint, movedBox).GetSquared();
}
//----------------------------------------------------------------------------
//----------------------------------------------------------------------------
// Explicit instantiation.
//----------------------------------------------------------------------------
template WM5_MATHEMATICS_ITEM
class DistPoint3Box3<float>;
template WM5_MATHEMATICS_ITEM
class DistPoint3Box3<double>;
//----------------------------------------------------------------------------
}
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