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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 "Wm5DistPoint3Rectangle3.h"
namespace Wm5
{
//----------------------------------------------------------------------------
template <typename Real>
DistPoint3Rectangle3<Real>::DistPoint3Rectangle3 (const Vector3<Real>& point,
const Rectangle3<Real>& rectangle)
:
mPoint(&point),
mRectangle(&rectangle)
{
}
//----------------------------------------------------------------------------
template <typename Real>
const Vector3<Real>& DistPoint3Rectangle3<Real>::GetPoint () const
{
return *mPoint;
}
//----------------------------------------------------------------------------
template <typename Real>
const Rectangle3<Real>& DistPoint3Rectangle3<Real>::GetRectangle () const
{
return *mRectangle;
}
//----------------------------------------------------------------------------
template <typename Real>
Real DistPoint3Rectangle3<Real>::Get ()
{
return Math<Real>::Sqrt(GetSquared());
}
//----------------------------------------------------------------------------
template <typename Real>
Real DistPoint3Rectangle3<Real>::GetSquared ()
{
Vector3<Real> diff = mRectangle->Center - *mPoint;
Real b0 = diff.Dot(mRectangle->Axis[0]);
Real b1 = diff.Dot(mRectangle->Axis[1]);
Real s0 = -b0, s1 = -b1;
Real sqrDistance = diff.SquaredLength();
if (s0 < -mRectangle->Extent[0])
{
s0 = -mRectangle->Extent[0];
}
else if (s0 > mRectangle->Extent[0])
{
s0 = mRectangle->Extent[0];
}
sqrDistance += s0*(s0 + ((Real)2)*b0);
if (s1 < -mRectangle->Extent[1])
{
s1 = -mRectangle->Extent[1];
}
else if (s1 > mRectangle->Extent[1])
{
s1 = mRectangle->Extent[1];
}
sqrDistance += s1*(s1 + ((Real)2)*b1);
// Account for numerical round-off error.
if (sqrDistance < (Real)0)
{
sqrDistance = (Real)0;
}
mClosestPoint0 = *mPoint;
mClosestPoint1 = mRectangle->Center + s0*mRectangle->Axis[0] +
s1*mRectangle->Axis[1];
mRectCoord[0] = s0;
mRectCoord[1] = s1;
return sqrDistance;
}
//----------------------------------------------------------------------------
template <typename Real>
Real DistPoint3Rectangle3<Real>::Get (Real t,
const Vector3<Real>& velocity0, const Vector3<Real>& velocity1)
{
Vector3<Real> movedPoint = *mPoint + t*velocity0;
Vector3<Real> movedCenter = mRectangle->Center + t*velocity1;
Rectangle3<Real> movedRectangle(movedCenter, mRectangle->Axis[0],
mRectangle->Axis[1], mRectangle->Extent[0], mRectangle->Extent[1]);
return DistPoint3Rectangle3<Real>(movedPoint,movedRectangle).Get();
}
//----------------------------------------------------------------------------
template <typename Real>
Real DistPoint3Rectangle3<Real>::GetSquared (Real t,
const Vector3<Real>& velocity0, const Vector3<Real>& velocity1)
{
Vector3<Real> movedPoint = *mPoint + t*velocity0;
Vector3<Real> movedCenter = mRectangle->Center + t*velocity1;
Rectangle3<Real> movedRectangle(movedCenter, mRectangle->Axis[0],
mRectangle->Axis[1], mRectangle->Extent[0], mRectangle->Extent[1]);
return DistPoint3Rectangle3<Real>(movedPoint,movedRectangle).GetSquared();
}
//----------------------------------------------------------------------------
template <typename Real>
Real DistPoint3Rectangle3<Real>::GetRectangleCoordinate (int i) const
{
return mRectCoord[i];
}
//----------------------------------------------------------------------------
//----------------------------------------------------------------------------
// Explicit instantiation.
//----------------------------------------------------------------------------
template WM5_MATHEMATICS_ITEM
class DistPoint3Rectangle3<float>;
template WM5_MATHEMATICS_ITEM
class DistPoint3Rectangle3<double>;
//----------------------------------------------------------------------------
}
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