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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 "Wm5DistRay3Ray3.h"
namespace Wm5
{
//----------------------------------------------------------------------------
template <typename Real>
DistRay3Ray3<Real>::DistRay3Ray3 (const Ray3<Real>& ray0,
const Ray3<Real>& ray1)
:
mRay0(&ray0),
mRay1(&ray1)
{
}
//----------------------------------------------------------------------------
template <typename Real>
const Ray3<Real>& DistRay3Ray3<Real>::GetRay0 () const
{
return *mRay0;
}
//----------------------------------------------------------------------------
template <typename Real>
const Ray3<Real>& DistRay3Ray3<Real>::GetRay1 () const
{
return *mRay1;
}
//----------------------------------------------------------------------------
template <typename Real>
Real DistRay3Ray3<Real>::Get ()
{
return Math<Real>::Sqrt(GetSquared());
}
//----------------------------------------------------------------------------
template <typename Real>
Real DistRay3Ray3<Real>::GetSquared ()
{
Vector3<Real> diff = mRay0->Origin - mRay1->Origin;
Real a01 = -mRay0->Direction.Dot(mRay1->Direction);
Real b0 = diff.Dot(mRay0->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)
{
// Rays are not parallel.
b1 = -diff.Dot(mRay1->Direction);
s0 = a01*b1 - b0;
s1 = a01*b0 - b1;
if (s0 >= (Real)0)
{
if (s1 >= (Real)0) // region 0 (interior)
{
// Minimum at two interior points of rays.
Real invDet = ((Real)1)/det;
s0 *= invDet;
s1 *= invDet;
sqrDist = s0*(s0 + a01*s1 + ((Real)2)*b0) +
s1*(a01*s0 + s1 + ((Real)2)*b1) + c;
}
else // region 3 (side)
{
s1 = (Real)0;
if (b0 >= (Real)0)
{
s0 = (Real)0;
sqrDist = c;
}
else
{
s0 = -b0;
sqrDist = b0*s0 + c;
}
}
}
else
{
if (s1 >= (Real)0) // region 1 (side)
{
s0 = (Real)0;
if (b1 >= (Real)0)
{
s1 = (Real)0;
sqrDist = c;
}
else
{
s1 = -b1;
sqrDist = b1*s1 + c;
}
}
else // region 2 (corner)
{
if (b0 < (Real)0)
{
s0 = -b0;
s1 = (Real)0;
sqrDist = b0*s0 + c;
}
else
{
s0 = (Real)0;
if (b1 >= (Real)0)
{
s1 = (Real)0;
sqrDist = c;
}
else
{
s1 = -b1;
sqrDist = b1*s1 + c;
}
}
}
}
}
else
{
// Rays are parallel.
if (a01 > (Real)0)
{
// Opposite direction vectors.
s1 = (Real)0;
if (b0 >= (Real)0)
{
s0 = (Real)0;
sqrDist = c;
}
else
{
s0 = -b0;
sqrDist = b0*s0 + c;
}
}
else
{
// Same direction vectors.
if (b0 >= (Real)0)
{
b1 = -diff.Dot(mRay1->Direction);
s0 = (Real)0;
s1 = -b1;
sqrDist = b1*s1 + c;
}
else
{
s0 = -b0;
s1 = (Real)0;
sqrDist = b0*s0 + c;
}
}
}
mClosestPoint0 = mRay0->Origin + s0*mRay0->Direction;
mClosestPoint1 = mRay1->Origin + s1*mRay1->Direction;
mRay0Parameter = s0;
mRay1Parameter = s1;
// Account for numerical round-off errors.
if (sqrDist < (Real)0)
{
sqrDist = (Real)0;
}
return sqrDist;
}
//----------------------------------------------------------------------------
template <typename Real>
Real DistRay3Ray3<Real>::Get (Real t, const Vector3<Real>& velocity0,
const Vector3<Real>& velocity1)
{
Vector3<Real> movedOrigin0 = mRay0->Origin + t*velocity0;
Vector3<Real> movedOrigin1 = mRay1->Origin + t*velocity1;
Ray3<Real> movedRay0(movedOrigin0, mRay0->Direction);
Ray3<Real> movedRay1(movedOrigin1, mRay1->Direction);
return DistRay3Ray3<Real>(movedRay0, movedRay1).Get();
}
//----------------------------------------------------------------------------
template <typename Real>
Real DistRay3Ray3<Real>::GetSquared (Real t,
const Vector3<Real>& velocity0, const Vector3<Real>& velocity1)
{
Vector3<Real> movedOrigin0 = mRay0->Origin + t*velocity0;
Vector3<Real> movedOrigin1 = mRay1->Origin + t*velocity1;
Ray3<Real> movedRay0(movedOrigin0, mRay0->Direction);
Ray3<Real> movedRay1(movedOrigin1, mRay1->Direction);
return DistRay3Ray3<Real>(movedRay0, movedRay1).GetSquared();
}
//----------------------------------------------------------------------------
template <typename Real>
Real DistRay3Ray3<Real>::GetRay0Parameter () const
{
return mRay0Parameter;
}
//----------------------------------------------------------------------------
template <typename Real>
Real DistRay3Ray3<Real>::GetRay1Parameter () const
{
return mRay1Parameter;
}
//----------------------------------------------------------------------------
//----------------------------------------------------------------------------
// Explicit instantiation.
//----------------------------------------------------------------------------
template WM5_MATHEMATICS_ITEM
class DistRay3Ray3<float>;
template WM5_MATHEMATICS_ITEM
class DistRay3Ray3<double>;
//----------------------------------------------------------------------------
}
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