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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: 5.0.2 (2011/04/16)
#include "Wm5MathematicsPCH.h"
#include "Wm5DistTriangle3Rectangle3.h"
#include "Wm5DistSegment3Triangle3.h"
#include "Wm5DistSegment3Rectangle3.h"
namespace Wm5
{
//----------------------------------------------------------------------------
template <typename Real>
DistTriangle3Rectangle3<Real>::DistTriangle3Rectangle3 (
const Triangle3<Real>& rkTriangle, const Rectangle3<Real>& rkRectangle)
:
mTriangle(&rkTriangle),
mRectangle(&rkRectangle)
{
}
//----------------------------------------------------------------------------
template <typename Real>
const Triangle3<Real>& DistTriangle3Rectangle3<Real>::GetTriangle () const
{
return *mTriangle;
}
//----------------------------------------------------------------------------
template <typename Real>
const Rectangle3<Real>& DistTriangle3Rectangle3<Real>::GetRectangle () const
{
return *mRectangle;
}
//----------------------------------------------------------------------------
template <typename Real>
Real DistTriangle3Rectangle3<Real>::Get ()
{
return Math<Real>::Sqrt(GetSquared());
}
//----------------------------------------------------------------------------
template <typename Real>
Real DistTriangle3Rectangle3<Real>::GetSquared ()
{
// Compare edges of triangle to the interior of rectangle.
Real sqrDist = Math<Real>::MAX_REAL, sqrDistTmp;
Segment3<Real> edge;
int i0, i1;
for (i0 = 2, i1 = 0; i1 < 3; i0 = i1++)
{
edge.Center = ((Real)0.5)*(mTriangle->V[i0] +
mTriangle->V[i1]);
edge.Direction = mTriangle->V[i1] - mTriangle->V[i0];
edge.Extent = ((Real)0.5)*edge.Direction.Normalize();
edge.ComputeEndPoints();
DistSegment3Rectangle3<Real> querySR(edge, *mRectangle);
sqrDistTmp = querySR.GetSquared();
if (sqrDistTmp < sqrDist)
{
// The triangle point is reported in mClosestPoint0 and the
// rectangle point is reported in mClosestPoint1. The querySR
// calculator is for triangleEdge-rectangle, so GetClosestPoint0()
// and GetClosestPoint1() must be called as listed next.
mClosestPoint0 = querySR.GetClosestPoint0();
mClosestPoint1 = querySR.GetClosestPoint1();
sqrDist = sqrDistTmp;
}
}
// Compare edges of rectangle to the interior of triangle.
for (i1 = 0; i1 < 2; ++i1)
{
for (i0 = -1; i0 <= 1; i0 += 2)
{
edge.Center = mRectangle->Center +
(i0*mRectangle->Extent[1-i1]) *
mRectangle->Axis[1-i1];
edge.Direction = mRectangle->Axis[i1];
edge.Extent = mRectangle->Extent[i1];
edge.ComputeEndPoints();
DistSegment3Triangle3<Real> queryST(edge, *mTriangle);
sqrDistTmp = queryST.GetSquared();
if (sqrDistTmp < sqrDist)
{
// The triangle point is reported in mClosestPoint0 and the
// rectangle point is reported in mClosestPoint1. The queryST
// calculator is for rectangleEdge-triangle, so
// GetClosestPoint1() and GetClosestPoint0() must be called as
// listed next.
mClosestPoint0 = queryST.GetClosestPoint1();
mClosestPoint1 = queryST.GetClosestPoint0();
sqrDist = sqrDistTmp;
}
}
}
return sqrDist;
}
//----------------------------------------------------------------------------
template <typename Real>
Real DistTriangle3Rectangle3<Real>::Get (Real t,
const Vector3<Real>& velocity0, const Vector3<Real>& velocity1)
{
Vector3<Real> movedV0 = mTriangle->V[0] + t*velocity0;
Vector3<Real> movedV1 = mTriangle->V[1] + t*velocity0;
Vector3<Real> movedV2 = mTriangle->V[2] + t*velocity0;
Vector3<Real> movedCenter = mRectangle->Center + t*velocity1;
Triangle3<Real> movedTri(movedV0, movedV1, movedV2);
Rectangle3<Real> movedRect(movedCenter, mRectangle->Axis,
mRectangle->Extent);
return DistTriangle3Rectangle3<Real>(movedTri, movedRect).Get();
}
//----------------------------------------------------------------------------
template <typename Real>
Real DistTriangle3Rectangle3<Real>::GetSquared (Real t,
const Vector3<Real>& velocity0, const Vector3<Real>& velocity1)
{
Vector3<Real> movedV0 = mTriangle->V[0] + t*velocity0;
Vector3<Real> movedV1 = mTriangle->V[1] + t*velocity0;
Vector3<Real> movedV2 = mTriangle->V[2] + t*velocity0;
Vector3<Real> movedCenter = mRectangle->Center + t*velocity1;
Triangle3<Real> movedTri(movedV0, movedV1, movedV2);
Rectangle3<Real> movedRect(movedCenter, mRectangle->Axis,
mRectangle->Extent);
return DistTriangle3Rectangle3<Real>(movedTri, movedRect).GetSquared();
}
//----------------------------------------------------------------------------
//----------------------------------------------------------------------------
// Explicit instantiation.
//----------------------------------------------------------------------------
template WM5_MATHEMATICS_ITEM
class DistTriangle3Rectangle3<float>;
template WM5_MATHEMATICS_ITEM
class DistTriangle3Rectangle3<double>;
//----------------------------------------------------------------------------
}
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